diff --git a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
index 7a6aaf0..e16b8ef 100644
--- a/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
+++ b/src/rm_auto_aim/armor_yolo_detect/src/armor_yolo_detector_node.cpp
@@ -624,7 +624,12 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration(
 
   // Get YOLO detection for ROIs
   auto yolo_objects = detector_->detectRaw(img);
+
+  // If YOLO doesn't detect anything, stop calibration this frame
+  // Calibration will resume when YOLO detects again
   if (yolo_objects.empty()) {
+    FYT_INFO("armor_yolo_detect", "Calibration: waiting for YOLO detection...");
+    calib_frame_count_ = 0;  // Reset counter when YOLO loses detection
     return;
   }
 
@@ -707,10 +712,11 @@ void ArmorYoloDetectorNode::performBinaryThresCalibration(
     }
   }
 
-  // Update binary threshold with optimal value
+  // Only count frames where we got valid YOLO detection
   calib_frame_count_++;
+  FYT_INFO("armor_yolo_detect", "Calibration progress: {}/10", calib_frame_count_);
+
   if (calib_frame_count_ >= 10) {
-    // Use median of recent errors to confirm stable calibration
     calib_done_ = true;
     detector_->binary_thres = best_thres;