diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index cfb6856..2e04977 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -322,17 +322,26 @@ namespace Plane.CommunicationManagement
             //await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
             byte[] senddata = packet;
 
-            for (int times = 0; times < 3; times++)
+            for (int times = 0; times < 4; times++)
             {
                 senddata = senddata.Concat(packet).ToArray();
             }
 
 
+
+
             temp = !temp;
             while (temp)
             {
-                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
-                await Task.Delay(1000).ConfigureAwait(false);
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
+                await Task.Delay(50).ConfigureAwait(false);
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
+                await Task.Delay(50).ConfigureAwait(false);
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
+                await Task.Delay(50).ConfigureAwait(false);
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
+                await Task.Delay(50).ConfigureAwait(false);
+                await Task.Delay(800).ConfigureAwait(false);
             } 
         }
 
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 286897d..5922b42 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -627,7 +627,9 @@ namespace Plane.CommunicationManagement
 
                 // set the length
                 gps.len = (byte)copy;
+                
                 byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_GPS_RTCM_DATA, gps);
+                Console.WriteLine($"{DateTime.Now.ToLongTimeString()}---发送给张伟的数据长度 = {packet.Length}");
                 await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
             } }
 
diff --git a/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs b/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
index c07b5cb..2f727eb 100644
--- a/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
+++ b/PlaneGcsSdk_Shared/Copters/EHCopter.InternalCopterEventHandlers.cs
@@ -36,7 +36,8 @@ namespace Plane.Copters
                         CommModuleMode = (FlightMode)_internalCopter.commModuleMode;
                         CommModuleVersion = _internalCopter.commModuleVersion;
                         IsUnlocked = _internalCopter.isUnlocked;
-                        Yaw = _internalCopter.yaw;
+                        //Yaw = _internalCopter.yaw;
+                        Heading = _internalCopter.heading;
                         HeartbeatCount++;
 
                         if (SatCount > 8)
diff --git a/PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs b/PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs
index 283d96e..93b93a6 100644
--- a/PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs
+++ b/PlaneGcsSdk_Shared/Copters/PlaneCopter.PacketAnalysis.cs
@@ -390,8 +390,9 @@ namespace Plane.Copters
             isUnlocked = info.lock_status == 1;
 
             battery_voltage = ((float)info.battery_voltage) / 1000;
-            yaw = ((float)info.yaw / 100) % 360;
 
+            heading = (short)((info.heading / 100) % 360);
+            
             commModuleVersion = version;
 
             retain = info.retain;
diff --git a/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs b/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
index 1006063..ea21ca8 100644
--- a/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
+++ b/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
@@ -152,7 +152,7 @@ namespace Plane.Protocols
             public byte lock_status;
             public byte gps_num_sats;
             public Int16 battery_voltage;
-            public Int16 yaw;
+            public Int16 heading;
 
         };