diff --git a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
index fc01eb5..9b8451a 100644
--- a/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
+++ b/Plane.FormationCreator/Formation/FlightTask_FlyTo.cs
@@ -143,18 +143,26 @@ namespace Plane.FormationCreator.Formation
             if (info.Copter.State != Plane.Copters.CopterState.CommandMode)
                 await info.Copter.GuidAsync();
 
-            
 
 
-         /*
-             for (int i = 0; i < 5; i++)
+
+            /*
+                for (int i = 0; i < 5; i++)
+               {
+                   await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
+                   await Task.Delay(10).ConfigureAwait(false);
+               }
+           */
+            double targetLat = info.TargetLat;
+            double targetLng = info.TargetLng;
+            if (info.IsLandWaypoint)
             {
-                await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
-                await Task.Delay(10).ConfigureAwait(false);
+                targetLat = info.Copter.TakeOffPoint.Latitude;
+                targetLng = info.Copter.TakeOffPoint.Longitude;
             }
-        */
            //发送目标航点1次
-            await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
+         
+            await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
             await Task.Delay(10).ConfigureAwait(false);
 
             dtNow = DateTime.Now;
@@ -231,7 +239,7 @@ namespace Plane.FormationCreator.Formation
                     sendFlyToTimes++;
                     for (int i = 0; i < 2; i++)
                     {
-                        await info.Copter.FlyToAsync(info.TargetLat, info.TargetLng, info.TargetAlt);
+                        await info.Copter.FlyToAsync(targetLat, targetLng, info.TargetAlt);
                         await Task.Delay(10).ConfigureAwait(false);
                     }