diff --git a/doc/zh-Hans/spec_control_api.md b/doc/zh-Hans/spec_control_api.md
index 65cce67..7a294a0 100644
--- a/doc/zh-Hans/spec_control_api.md
+++ b/doc/zh-Hans/spec_control_api.md
@@ -16,8 +16,8 @@
 
 | 名称 | 字段 | 字节数 |  默认值 | 最小值 | 最大值 | 是否储存 | Flash 地址 | 所属通道 | 通道地址 | 说明 |
 | :----- | :----- | :-------- | :-------- | :-------- | :-------- | :----------- | :----------- | :----------- | :----------- | :----- |
-| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 0x0100 | |
-| IMU 频率 | imu_frequency | 2 | 200 | 200 | 500 | √ | 0x23 | XU_CAM_CTRL | 0x0100 | |
+| 图像帧率 | frame_rate | 2 | 25 | 10 | 60 | √ | 0x21 | XU_CAM_CTRL | 0x0100 | 步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} |
+| IMU 频率 | imu_frequency | 2 | 200 | 100 | 500 | √ | 0x23 | XU_CAM_CTRL | 0x0100 | 有效值为{100,200,250,333,500} |
 | 曝光模式 | exposure_mode | 1 | 0 | 0 | 1 | √ | 0x0F | XU_CAM_CTRL | 0x0100 | 0：开启自动曝光； 1：关闭 |
 | 最大增益 | max_gain | 2 | 48 | 0 | 48 | √ | 0x1D | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
 | 最大曝光时间 | max_exposure_time | 2 | 240 | 0 | 240 | √ | 0x1B | XU_CAM_CTRL | 0x0100 | 开始自动曝光，可设定的阈值 |
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index d9cf38b..f7960fd 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -5,6 +5,8 @@
 #include <bitset>
 #include <chrono>
 #include <iomanip>
+#include <iterator>
+#include <sstream>
 #include <stdexcept>
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -152,6 +154,19 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
     }
     return true;
   };
+  auto in_values = [&option, &value](std::vector<std::int32_t> values) {
+    if (std::find(values.begin(), values.end(), value) != values.end()) {
+      return true;
+    } else {
+      std::ostringstream ss;
+      std::copy(
+          values.begin(), values.end(),
+          std::ostream_iterator<std::int32_t>(ss, ","));
+      LOG(WARNING) << option << " set value invalid, must be {" << ss.str()
+                   << "}";
+      return false;
+    }
+  };
   switch (option) {
     case Option::GAIN:
     case Option::BRIGHTNESS:
@@ -162,8 +177,17 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
         LOG(WARNING) << option << " set value failed";
       }
     } break;
-    case Option::FRAME_RATE:
-    case Option::IMU_FREQUENCY:
+    case Option::FRAME_RATE: {
+      if (!in_range() ||
+          !in_values({10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
+    case Option::IMU_FREQUENCY: {
+      if (!in_range() || !in_values({100, 200, 250, 333, 500}))
+        break;
+      XuCamCtrlSet(option, value);
+    } break;
     case Option::EXPOSURE_MODE:
     case Option::MAX_GAIN:
     case Option::MAX_EXPOSURE_TIME:
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index 0250024..ec071a1 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -17,23 +17,23 @@
 
   <!-- device options, -1 will not set the value -->
 
-  <!-- gain range: [0,48]-->
+  <!-- gain range: [0,48] -->
   <arg name="gain" default="-1" />
   <!-- <arg name="gain" default="24" /> -->
 
-  <!-- brightness range: [0,240]-->
+  <!-- brightness range: [0,240] -->
   <arg name="brightness" default="-1" />
   <!-- <arg name="brightness" default="120" /> -->
 
-  <!-- contrast range: [0,255]-->
+  <!-- contrast range: [0,255] -->
   <arg name="contrast" default="-1" />
   <!-- <arg name="contrast" default="127" /> -->
 
-  <!-- frame_rate range: [10,60]-->
+  <!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
   <arg name="frame_rate" default="-1" />
   <!-- <arg name="frame_rate" default="25" /> -->
 
-  <!-- imu_frequency range: [200,500]-->
+  <!-- imu_frequency range: {100,200,250,333,500} -->
   <arg name="imu_frequency" default="-1" />
   <!-- <arg name="imu_frequency" default="200" /> -->
 
@@ -41,19 +41,19 @@
   <arg name="exposure_mode" default="-1" />
   <!-- <arg name="exposure_mode" default="0" /> -->
 
-  <!-- max_gain range: [0,48]-->
+  <!-- max_gain range: [0,48] -->
   <arg name="max_gain" default="-1" />
   <!-- <arg name="max_gain" default="48" /> -->
 
-  <!-- max_exposure_time range: [0,240]-->
+  <!-- max_exposure_time range: [0,240] -->
   <arg name="max_exposure_time" default="-1" />
   <!-- <arg name="max_exposure_time" default="240" /> -->
 
-  <!-- desired_brightness range: [0,255]-->
+  <!-- desired_brightness range: [0,255] -->
   <arg name="desired_brightness" default="-1" />
   <!-- <arg name="desired_brightness" default="192" /> -->
 
-  <!-- ir_control range: [0,160]-->
+  <!-- ir_control range: [0,160] -->
   <arg name="ir_control" default="-1" />
   <!-- <arg name="ir_control" default="0" /> -->