diff --git a/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs b/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs
index d6ec450..3fdf0c9 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs
+++ b/PlaneGcsSdk.Contract_Shared/Copters/ICopterActions.cs
@@ -130,5 +130,9 @@ namespace Plane.Copters
         /// </summary>
         /// <returns>表示此命令异步发送操作的 <see cref="Task"/> 实例。</returns>
         Task StopPairingAsync();
+
+
+        Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7);
+        
     }
 }
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 0ea4a46..cd58d36 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -19,7 +19,7 @@ namespace Plane.CommunicationManagement
         private bool starttime = false;
         private bool rtcm_run = false;
         //是否使用专用传输模块
-        private bool UseTransModule = true;
+        public bool UseTransModule = true;
 
         private byte[] SetChannels(ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null, ushort? ch5 = null, ushort? ch6 = null, ushort? ch7 = null, ushort? ch8 = null)
         {
@@ -493,7 +493,10 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.UnlockAsync();
+            }
         }
 
         /// <summary>
@@ -516,7 +519,15 @@ namespace Plane.CommunicationManagement
                 });
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                Task.Run(async () =>
+                {
+                    foreach (var vcopter in copters)
+                        await vcopter.LEDAsync();
+                });
+
+            }
+
         }
 
 
@@ -542,7 +553,8 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                Windows.Messages.Message.Show($"未开发完成！！");
+                foreach (var vcopter in copters)
+                    await vcopter.SetParamAsync(paramname, value);
                 return 0;
             }
         }
@@ -554,11 +566,11 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task<int> SetMultipleParamAsync(params string[] param)
         {
+            if (param.Length % 2 == 1)
+                return 0;
             if (UseTransModule)
             {
-               if (param.Length % 2 == 1)
-                    return 0;
-
+  
                 byte[] packet = null;
                 int packetNum = 0;
                 for (int i = 0; i < param.Length; i += 2)
@@ -574,7 +586,20 @@ namespace Plane.CommunicationManagement
             }
             else
             {
-                Windows.Messages.Message.Show($"未开发完成！！");
+                byte[] packet = null;
+                int packetNum = 0;
+                for (int i = 0; i < param.Length; i += 2)
+                {
+                    string paramname = param[i];
+                    float value = float.Parse(param[i + 1]);
+                   // foreach (var vcopter in Copters  )
+                    //    await vcopter.SetParamAsync(paramname, value);
+
+                }
+
+
+
+
                 return 0;
             }
         }
@@ -628,7 +653,11 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.TakeOffAsync();
+               
+            }
         }
 
         /// <summary>
@@ -648,11 +677,16 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.ReturnToLaunchAsync ();
+
+            }
+
         }
 
 
-       
+
 
         /// <summary>
         /// 获取飞机版本
@@ -673,7 +707,11 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
             else
+            {
+
                 Windows.Messages.Message.Show($"未开发完成！！");
+            }
+
         }
         /// <summary>
         /// 降落
@@ -691,7 +729,12 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.LandAsync();
+
+            }
+
         }
 
         /// <summary>
@@ -715,7 +758,12 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.LockAsync();
+
+            }
+
         }
 
         /// <summary>
@@ -741,7 +789,17 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                {
+                    await vcopter.MotorTestAsync(1);
+                    await vcopter.MotorTestAsync(2);
+                    await vcopter.MotorTestAsync(3);
+                    await vcopter.MotorTestAsync(4);
+                }
+
+            }
+
         }
 
         /// <summary>
@@ -764,7 +822,12 @@ namespace Plane.CommunicationManagement
                 await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
             }
             else
-                Windows.Messages.Message.Show($"未开发完成！！");
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.HoverAsync();
+
+            }
+
         }
 
         /// <summary>
@@ -774,12 +837,21 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task FloatAsync(IEnumerable<ICopter> copters = null)
         {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
+            if (UseTransModule)
+            {
+                short copterId = 0;
+                byte[] batchPacket = null;
+                GetCopterIds(copters, out copterId, out batchPacket);
 
-            byte[] packet = SetModeAsync(FlightMode.ALT_HOLD);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+                byte[] packet = SetModeAsync(FlightMode.ALT_HOLD);
+                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            }
+            else
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.FloatAsync();
+
+            }
         }
 
         /// <summary>
@@ -789,12 +861,21 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task DoStartPreflightCompassAsync(IEnumerable<ICopter> copters = null)
         {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
+            if (UseTransModule)
+            {
+                short copterId = 0;
+                byte[] batchPacket = null;
+                GetCopterIds(copters, out copterId, out batchPacket);
 
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+                byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
+                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            }
+            else
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
+
+            }
         }
 
         /// <summary>
@@ -804,16 +885,24 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
         {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
+            if (UseTransModule)
+            {
+                short copterId = 0;
+                byte[] batchPacket = null;
+                GetCopterIds(copters, out copterId, out batchPacket);
 
-            MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
-            req.command = 1;
-            req.result = 1;
+                MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
+                req.command = 1;
+                req.result = 1;
 
-            byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+                byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
+                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            }
+            else
+            {
+                Windows.Messages.Message.Show($"未开发完成！！");
+
+            }
         }
 
         /// <summary>
@@ -823,12 +912,21 @@ namespace Plane.CommunicationManagement
         /// <returns></returns>
         public async Task DoCalibrationCompassAsync(IEnumerable<ICopter> copters = null)
         {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
+            if (UseTransModule)
+            {
+                short copterId = 0;
+                byte[] batchPacket = null;
+                GetCopterIds(copters, out copterId, out batchPacket);
 
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+                byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
+                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            }
+            else
+            {
+                foreach (var vcopter in copters)
+                    await vcopter.DoCommandAsync((int)MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
+
+            }
         }
 
         /// <summary>
diff --git a/PlaneGcsSdk_Shared/Copters/EmptyCopter.Mission.cs b/PlaneGcsSdk_Shared/Copters/EmptyCopter.Mission.cs
index d3371fa..0fa5d5e 100644
--- a/PlaneGcsSdk_Shared/Copters/EmptyCopter.Mission.cs
+++ b/PlaneGcsSdk_Shared/Copters/EmptyCopter.Mission.cs
@@ -24,5 +24,14 @@ namespace Plane.Copters
         {
             return Task.FromResult(true);
         }
+        public async Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
+        {
+
+            await Task.Delay(50).ConfigureAwait(false);
+
+
+        }
+
+
     }
 }
diff --git a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
index f750363..ecdb6e0 100644
--- a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
@@ -295,6 +295,13 @@ namespace Plane.Copters
 
         }
 
+        public async Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
+        {
+
+            await Task.Delay(50).ConfigureAwait(false);
+           
+
+        }
         public Task SetParamAsync(string paramName, float value, int millisecondsTimeout = Timeout.Infinite)
         {
             // TODO: 林俊清, 20150807, 实现仿真的 SetParamAsync。
diff --git a/PlaneGcsSdk_Shared/Copters/PLCopter.cs b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
index 904c66a..471672e 100644
--- a/PlaneGcsSdk_Shared/Copters/PLCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
@@ -356,6 +356,12 @@ namespace Plane.Copters
             }
         }
 
+
+        public async Task DoCommandAsync(int actionid, float p1, float p2, float p3, float p4, float p5, float p6, float p7)
+        {
+           await _internalCopter.DoCommandAsync((MAVLink.MAV_CMD)actionid, p1, p2, p3, p4, p5, p6, p7).ConfigureAwait(false);
+        }
+
         public async Task LEDAsync()
         {