diff --git a/Code/Control/Laptop_Code/main_keyboard.py b/Code/Control/Laptop_Code/main_keyboard.py
index d1436398643b6c480532b27dc32979af53441a32..b38848bd07bdbda15da2956fab6a4e27886c8be0 100644
--- a/Code/Control/Laptop_Code/main_keyboard.py
+++ b/Code/Control/Laptop_Code/main_keyboard.py
@@ -667,6 +667,18 @@ def test_function1():
     print("tx,ty,tz:{},{},{}".format(tx,ty,tz))
     print("rx,ry,rz:{},{},{}".format(rx,ry,rz))
 
+def manual_in_auto(Ctl_com, serial_port):
+    if get_key('m'):
+        flag = 12
+    while (flag == 12):
+        manual_control(Ctl_com, serial_port)
+        flag = manual_return2auto('r')
+    return flag
+
+def manual_return2auto(key_press):
+    if get_key(key_press):
+        flag_r = 1
+    return flag_r
 
 
 # ===== Main Function =====
@@ -725,6 +737,8 @@ if __name__ == '__main__':
                 print('auto_control')
                 auto_control(serial_port,gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist1, LIDAR_dist2, debugM,count_h)
                 flag, print_count = keyboard_stop(flag,print_count)
+                flag = manual_in_auto(Ctl_com, serial_port)
+
         elif get_key('s'):
             pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = stop_all()
             serial_port_out(serial_port, pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4)