diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
index 2bb8344b7..7fae7ce15 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -526,7 +526,7 @@ static void MX_FDCAN1_Init(void)
   hfdcan1.Init.DataTimeSeg1 = 7;
   hfdcan1.Init.DataTimeSeg2 = 2;
   hfdcan1.Init.MessageRAMOffset = 0;
-  hfdcan1.Init.StdFiltersNbr = 1;
+  hfdcan1.Init.StdFiltersNbr = 0;
   hfdcan1.Init.ExtFiltersNbr = 1;
   hfdcan1.Init.RxFifo0ElmtsNbr = 1;
   hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_64;
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_core.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_core.cpp
index 2c0565145..c96709124 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_core.cpp
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/CAN/can_core.cpp
@@ -78,20 +78,20 @@ namespace CAN {
   {
     hfdcan_ = hfdcan;
 
-    /* message filter for message with standard id */
-    FDCAN_FilterTypeDef sFilterConfig;
-    sFilterConfig.IdType = FDCAN_STANDARD_ID;
-    sFilterConfig.FilterIndex = 0;
-    sFilterConfig.FilterType = FDCAN_FILTER_MASK;
-    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
-    sFilterConfig.FilterID1 = 0x000;
-    sFilterConfig.FilterID2 = 0x000;
-    HAL_FDCAN_ConfigFilter(hfdcan_, &sFilterConfig);
+    // /* message filter for message with standard id */
+    // FDCAN_FilterTypeDef sFilterConfig;
+    // sFilterConfig.IdType = FDCAN_STANDARD_ID;
+    // sFilterConfig.FilterIndex = 0;
+    // sFilterConfig.FilterType = FDCAN_FILTER_MASK;
+    // sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+    // sFilterConfig.FilterID1 = 0x000;
+    // sFilterConfig.FilterID2 = 0x000;
+    // HAL_FDCAN_ConfigFilter(hfdcan_, &sFilterConfig);
 
     /* message filter for message with extended id */
     FDCAN_FilterTypeDef eFilterConfig;
     eFilterConfig.IdType = FDCAN_EXTENDED_ID;
-    eFilterConfig.FilterIndex = 1;
+    eFilterConfig.FilterIndex = 0;
     eFilterConfig.FilterType = FDCAN_FILTER_MASK;
     eFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
     eFilterConfig.FilterID1 = 0x000;