diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
index 1b6c13e..e12e296 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
@@ -3,7 +3,7 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 17:23:48
+ * @LastEditTime: 2023-12-06 10:27:59
  * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
  */
 #include "AT10_gimbal_driver.h"
@@ -380,9 +380,10 @@ void AT10GimbalDriver::getExtRxPack(void)
     }
 }
 
-void AT10GimbalDriver::parserStart(pAmovGimbalStateInvoke callback)
+void AT10GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
 {
     this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
 
     std::thread parser(&AT10GimbalDriver::parserLoop, this);
     std::thread getStdRxPackLoop(&AT10GimbalDriver::getStdRxPack, this);
diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
index f2560b7..f08e2ea 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
@@ -3,12 +3,11 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 16:30:42
+ * @LastEditTime: 2023-12-06 10:27:48
  * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
  */
 #ifndef __AT10_DRIVER_H
 #define __AT10_DRIVER_H
-
 #include "../amov_gimbal_private.h"
 #include "AT10_gimbal_struct.h"
 #include <mutex>
@@ -31,7 +30,7 @@ private:
     void sendHeart(void);
     void sendStd(void);
 
-    void parserStart(pAmovGimbalStateInvoke callback);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
     void parserLoop(void);
     void getExtRxPack(void);
     void getStdRxPack(void);
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
index 74ead00..a284999 100644
--- a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
@@ -3,7 +3,7 @@
  * @Author: L LC @amov
  * @Date: 2023-10-20 16:08:17
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 17:37:59
+ * @LastEditTime: 2023-12-06 10:27:28
  * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
  */
 #include <string.h>
@@ -51,9 +51,10 @@ void GX40GimbalDriver::nopSend(void)
  * pointer type. It is used to specify a callback function that will be invoked when the gimbal state
  * is updated.
  */
-void GX40GimbalDriver::parserStart(pAmovGimbalStateInvoke callback)
+void GX40GimbalDriver::parserStart(pAmovGimbalStateInvoke callback, void *caller)
 {
     this->updateGimbalStateCallback = callback;
+    this->updataCaller = caller;
 
     std::thread mainLoop(&GX40GimbalDriver::mainLoop, this);
     std::thread sendNop(&GX40GimbalDriver::nopSend, this);
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
index bfe4825..21e16e7 100644
--- a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
@@ -4,13 +4,11 @@
  * @Author: L LC @amov
  * @Date: 2023-10-20 16:08:13
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-12-05 16:29:20
+ * @LastEditTime: 2023-12-06 10:27:05
  * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
  */
-
 #ifndef __GX40_DRIVER_H
 #define __GX40_DRIVER_H
-
 #include "../amov_gimbal_private.h"
 #include "GX40_gimbal_struct.h"
 #include <mutex>
@@ -36,7 +34,7 @@ class GX40GimbalDriver : public amovGimbal::amovGimbalBase
 
     std::thread::native_handle_type nopSendThreadHandle;
     void nopSend(void);
-    void parserStart(pAmovGimbalStateInvoke callback);
+    void parserStart(pAmovGimbalStateInvoke callback, void *caller);
 
 public:
     uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);