diff --git a/main.py b/main.py
index a85e106..4974bae 100644
--- a/main.py
+++ b/main.py
@@ -64,8 +64,6 @@ def main():
         else:
             run_task_3(Ctrl, msg)
 
-        return
-
         turn_degree_v2(Ctrl, msg, degree=90, absolute=True)
         run_task_5(Ctrl, msg, direction=arrow_direction)
 
diff --git a/task_3/task_3.py b/task_3/task_3.py
index f21996c..df103bc 100644
--- a/task_3/task_3.py
+++ b/task_3/task_3.py
@@ -191,6 +191,7 @@ def pass_up_down(ctrl, msg):
     # msg.life_count += 1
     # ctrl.Send_cmd(msg)
     turn_degree_v2(ctrl, msg, 90, absolute=True)
+    center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False)
     go_straight(ctrl, msg, distance=0.5, speed=0.5, observe=True)
     time.sleep(1)
     # go_to_x_v2(ctrl, msg, 2, speed=0.5, precision=True, observe=True)
@@ -501,17 +502,15 @@ def run_task_3(ctrl, msg):
     section('任务3：上下坡', "启动")
     info('开始执行任务3...', "启动")
 
-    # turn_degree_v2(ctrl, msg, 90, absolute=True)
-    # go_lateral(ctrl, msg, distance=0.2, speed=0.1, observe=True)
+    turn_degree_v2(ctrl, msg, 90, absolute=True)
+    go_lateral(ctrl, msg, distance=0.2, speed=0.1, observe=True)
 
-    # section('任务3-1：up', "开始")
-    # pass_up_down(ctrl, msg)
+    section('任务3-1：up', "开始")
+    pass_up_down(ctrl, msg)
 
     turn_degree_v2(ctrl, msg, 90, absolute=True)
     center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False)
 
-    return
-
     section('任务3-2：yellow stop', "开始")
     go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3)
     
diff --git a/utils/detect_dual_track_lines.py b/utils/detect_dual_track_lines.py
index 669fe92..c883f19 100644
--- a/utils/detect_dual_track_lines.py
+++ b/utils/detect_dual_track_lines.py
@@ -544,11 +544,11 @@ def detect_dual_track_lines(image, observe=False, delay=1000, save_log=True,
                     
                     # 计算拟合误差
                     predicted_xs = poly_func(center_ys)
-                    error = np.mean(np.abs(predicted_xs - center_xs))
+                    err = np.mean(np.abs(predicted_xs - center_xs))
                     
                     # 如果误差更小，更新最佳拟合
-                    if error < best_error:
-                        best_error = error
+                    if err < best_error:
+                        best_error = err
                         best_poly_coeffs = poly_coeffs
                 except:
                     continue