diff --git a/src/commser.cpp b/src/commser.cpp
index 8bbc5cb..7f30cb5 100644
--- a/src/commser.cpp
+++ b/src/commser.cpp
@@ -795,6 +795,27 @@ void mavlink_receiveCallback(uint8_t c)
     }
     break;
 
+    case MAVLINK_MSG_ID_ADSB_VEHICLE: // #246 ADSB
+    {
+      mavlink_adsb_vehicle_t adsb;
+      mavlink_msg_adsb_vehicle_decode(&msg, &adsb);
+
+      // 提取并转换数据
+      uint32_t icao = adsb.ICAO_address;
+      float lat = adsb.lat / 1e7;
+      float lon = adsb.lon / 1e7;
+      int alt = adsb.altitude;
+      float heading = adsb.heading / 10.0f;
+
+      // 构建 JSON 字符串
+      char jsonString[256];
+      snprintf(jsonString, sizeof(jsonString), "{\"icao\":%u,\"lat\":%.7f,\"lon\":%.7f,\"alt\":%d,\"heading\":%.1f}", icao, lat, lon, alt, heading);
+
+      // 发送 MQTT 消息
+      fc.pubMQTTmsg("ceshi", jsonString);
+    }
+    break;
+
     case MAVLINK_MSG_ID_STATUSTEXT: // #253 文本信息
     {
       char buf[51]; // 定义一个局部缓冲区，大小为 51