diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 26ea810..dd15f5c 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -11,26 +11,12 @@ namespace Plane.CommunicationManagement
 {
     public partial class CommModuleManager
     {
-        public int packetcount = 0;    
-
-        /// <summary>
-        /// 设置通道
-        /// </summary>
-        /// <param name="id"></param>
-        /// <param name="ch1"></param>
-        /// <param name="ch2"></param>
-        /// <param name="ch3"></param>
-        /// <param name="ch4"></param>
-        /// <returns></returns>
-        public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-            
-            byte[] packet = SetChannels(ch1, ch2, ch3, ch4);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-        }
+        public int packetcount = 0;
+        private static object lock_rtcm = new object();//互锁量
+        private List<byte[]> rtcm_packets = new List<byte[]>();
+        private DateTime waitRtcmTime = DateTime.Now;
+        private bool starttime = false;
+        private bool rtcm_run = false;
 
         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)
         {
@@ -40,7 +26,7 @@ namespace Plane.CommunicationManagement
             rc.chan1_raw = ch1 ?? 1500;
             rc.chan2_raw = ch2 ?? 1500;
             rc.chan3_raw = ch3 ?? 1500;
-            rc.chan4_raw = ch4 ?? 1500; 
+            rc.chan4_raw = ch4 ?? 1500;
             rc.chan5_raw = 1500;
             rc.chan6_raw = 1500;
             rc.chan7_raw = 1500;
@@ -48,400 +34,6 @@ namespace Plane.CommunicationManagement
             return GeneratePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc);
         }
 
-        public async Task<bool> WriteMissionListAsync(short id, List<IMission> missions)
-        {
-            missions.Insert(0, PLCopter.PRE_TAKE_OFF_MISSION);
-            List<MAVLink.mavlink_mission_item_t> mission_list = new List<MAVLink.mavlink_mission_item_t>();
-            foreach (IMission mission in missions)
-            {
-                var frame = mission.Command == FlightCommand.Waypoint && mission.Sequence == 0 ? MAVLink.MAV_FRAME.GLOBAL : MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
-
-                var req = new MAVLink.mavlink_mission_item_t();
-
-                req.target_system = 1;
-                req.target_component = 1;
-
-                req.command = (byte)mission.Command;
-
-                req.current = 0;
-                req.autocontinue = 1;
-
-                req.frame = (byte)frame;
-                if (mission.Command == FlightCommand.LEDControl)
-                {
-                    req.x = mission.R;
-                    req.y = mission.G;
-                    req.z = mission.B;
-                }
-                else
-                {
-                    req.x = (float)mission.Latitude;
-                    req.y = (float)mission.Longitude;
-                    req.z = mission.Altitude;
-                }
-
-                req.param1 = mission.Param1;
-                req.param2 = mission.Param2;
-                req.param3 = mission.Param3;
-                req.param4 = mission.Param4;
-
-                req.seq = mission.Sequence;
-                mission_list.Add(req);
-            }
-
-            bool result =  await MissionPacket(id, (byte)MavComm.COMM_DOWNLOAD_MODE, mission_list.ToArray());
-            
-            lock(MissinLocker)
-            {
-                if (missionWriteState.ContainsKey(id))
-                {
-                    missionWriteState[id].StateReturn = MissionErrorId;
-                    missionWriteState[id].ErrorCode = ErrorCode;
-                    missionWriteState[id].SendAchieved = result;
-                    missionWriteState[id].WriteSucceed = false;
-                }
-                else
-                {
-                    CommWriteMissinState state = new CommWriteMissinState(result);
-                    state.StateReturn = MissionErrorId;
-                    state.ErrorCode = ErrorCode;
-                    missionWriteState.Add(id, state);
-                }
-                return result;
-            }
-        }
-
-        /// <summary>
-        /// 开始任务
-        /// </summary>
-        public async Task DoMissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
-        {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, -1);
-            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 暂停任务
-        /// </summary>
-        public async Task DoMissionPauseAsync()
-        {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
-            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 恢复任务
-        /// </summary>
-        public async Task DoMissionResumeAsync(int hour_utc, int minute_utc, int second_utc)
-        {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0 , 2, 0);
-            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 解锁
-        /// </summary>
-        /// <param name="armit"></param>
-        /// <returns></returns>
-        public async Task UnlockAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters,out copterId, out batchPacket);
-
-            byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
-            
-            byte[] packet2 = SetModeAsync(FlightMode.ALT_HOLD);
-
-            byte[] packet3 = DoARMAsync(true);
-
-            byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// LED闪烁白灯
-        /// </summary>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public void LED_FlickerAsync(IEnumerable<ICopter> copters = null)
-        {
-            Task.Run(async () =>
-            {
-                short copterId = 0;
-                byte[] batchPacket = null;
-                GetCopterIds(copters, out copterId, out batchPacket);
-
-                byte[] packet = DoLEDCommandAsync();
-                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-            });
-        }
-
-
-        /// <summary>
-        /// 设置参数
-        /// </summary>
-        /// <param name="paramname"></param>
-        /// <param name="value"></param>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public async Task<int> SetParamAsync(string paramname, float value, IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-           
-            byte[] packet = SetParam2Async(paramname, value);
-            int packetNum = packet[2];
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-            return packetNum;
-        }
-
-        public async Task<int> SetMultipleParamAsync(params string[] param)
-        {
-            if (param.Length % 2 == 1)
-                return 0;
-
-            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]);
-                byte[] data = SetParam2Async(paramname, value);
-                packetNum = data[2];
-                packet = packet == null ? data : packet.Concat(data).ToArray();
-            }
-            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-            return packetNum;
-        }
-
-
-        /// <summary>
-        /// 读取参数
-        /// </summary>
-        /// <param name="paramname"></param>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            byte[] packet = GetParam2Async(paramname);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 起飞测试
-        /// </summary>
-        /// <param name="alt"></param>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public async Task TakeOffAsync(float alt, IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            byte[] packet1 = SetModeAsync(FlightMode.GUIDED);
-
-            byte[] packet2 = SetChannels(1500, 1500, 1500, 1500);
-
-            byte[] packet3 = DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt);
-
-            byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 返航
-        /// </summary>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public async Task ReturnToLaunchAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            byte[] packet = SetModeAsync(FlightMode.RTL);
-            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-        }
-
-
-       
-
-        /// <summary>
-        /// 获取版本
-        /// </summary>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public async Task GetVersionsAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            MAVLink.mavlink_sversion_request req = new MAVLink.mavlink_sversion_request();
-            req.version = 0;
-            byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
-            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-        }
-        /// <summary>
-        /// 降落
-        /// </summary>
-        /// <returns></returns>
-        public async Task LandAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            byte[] packet = SetModeAsync(FlightMode.LAND);
-            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 加锁
-        /// </summary>
-        /// <param name="armit"></param>
-        /// <returns></returns>
-        public async Task LockAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
-          
-            byte[] packet2 = DoARMAsync(false);
-
-            byte[] data = packet1.Concat(packet2).ToArray();
-            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 测试电机
-        /// </summary>
-        /// <param name="motor"></param>
-        /// <returns></returns>
-        public async Task MotorTestAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            //1-4代表1-4电机
-            byte[] data1 = DoMotorTestAsync(1, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
-            byte[] data2 = DoMotorTestAsync(2, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
-            byte[] data3 = DoMotorTestAsync(3, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
-            byte[] data4 = DoMotorTestAsync(4, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
-
-            byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
-        }
-
-        /// <summary>
-        /// 悬停
-        /// </summary>
-        /// <returns></returns>
-        public async Task HoverAsync(IEnumerable<ICopter> copters = null)
-        {
-            short copterId = 0;
-            byte[] batchPacket = null;
-            GetCopterIds(copters, out copterId, out batchPacket);
-
-            byte[] packet1 = SetChannels(1500, 1500, 1500, 1500);
-
-            byte[] packet2 = SetModeAsync(FlightMode.LOITER);
-
-            byte[] data = packet1.Concat(packet2).ToArray();
-            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 手动
-        /// </summary>
-        /// <param name="copters"></param>
-        /// <returns></returns>
-        public async Task FloatAsync(IEnumerable<ICopter> copters = null)
-        {
-            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);
-        }
-
-        /// <summary>
-        /// 校准加速计
-        /// </summary>
-        /// <param name="copterId"></param>
-        /// <returns></returns>
-        public async Task DoStartPreflightCompassAsync(IEnumerable<ICopter> copters = null)
-        {
-            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);
-        }
-
-        /// <summary>
-        /// 校准加速计下一步
-        /// </summary>
-        /// <param name="copterId"></param>
-        /// <returns></returns>
-        public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
-        {
-            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;
-
-            byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
-        }
-
-        /// <summary>
-        /// 校准指南针
-        /// </summary>
-        /// <param name="copterId"></param>
-        /// <returns></returns>
-        public async Task DoCalibrationCompassAsync(IEnumerable<ICopter> copters = null)
-        {
-            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);
-        }
-
-        /// <summary>
-        /// 放弃校准指南针
-        /// </summary>
-        /// <param name="copterId"></param>
-        /// <returns></returns>
-        public async Task DoCancelCalibrationCompassAsync(short copterId)
-        {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-        }
-
-        public async Task DoAcceptCalibrationCompassAsync(short copterId)
-        {
-            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_ACCEPT_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-        }
-
         private byte[] SetModeAsync(FlightMode mode)
         {
             return SetModeAsync(mode.ToAC2Mode());
@@ -475,7 +67,7 @@ namespace Plane.CommunicationManagement
             req.param5 = p5;
             req.param6 = p6;
             req.param7 = p7;
-            
+
             return GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_LONG, req); ;
         }
 
@@ -558,6 +150,577 @@ namespace Plane.CommunicationManagement
             return true;
         }
 
+        private byte[] SetParam2Async(string paramname, float value)
+        {
+            // param type is set here, however it is always sent over the air as a float 100int = 100f.
+            var req = new MAVLink.mavlink_param_set_t { target_system = 1, target_component = 1, param_type = 4 };
+
+            byte[] temp = Encoding.GetEncoding("ASCII").GetBytes(paramname);
+
+            Array.Resize(ref temp, 16);
+            req.param_id = temp;
+            req.param_value = (value);
+
+            return GeneratePacket((byte)MAVLink.MAVLINK_MSG_ID_PARAM_SET, req);
+        }
+
+        private byte[] GetParam2Async(string paramname)
+        {
+            var paramId = Encoding.ASCII.GetBytes(paramname);
+            Array.Resize(ref paramId, 16);
+
+            var req = new MAVLink.mavlink_param_request_read_t
+            {
+                param_index = -1,
+                target_system = 1,
+                target_component = 1,
+                param_id = paramId
+            };
+
+            return GeneratePacket(MAVLink.MAVLINK_MSG_ID_PARAM_REQUEST_READ, req);
+        }
+
+        private byte[] DoLEDCommandAsync()
+        {
+            MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
+            led.target_system = 1;
+            led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
+            led.instance = 0;
+            led.pattern = 0;
+            led.custom_len = 4;
+            led.custom_bytes = new byte[24];
+            led.custom_bytes[0] = 255;
+            led.custom_bytes[1] = 255;
+            led.custom_bytes[2] = 255;
+            led.custom_bytes[3] = 3;
+
+            return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
+        }
+
+        private byte[] BatchCopterIdData(IEnumerable<ICopter> copters)
+        {
+            byte[] BatchByte = null;
+            List<ICopter> copterList = copters.OrderBy(c => int.Parse(c.Id)).ToList();
+            for (int i = 0; i < copterList.Count; i++)
+            {
+                byte[] tempByte;
+                int id = int.Parse(copterList[i].Id);
+                int count = 1;
+                while (i + 1 < copterList.Count && int.Parse(copterList[i + 1].Id) == id + count)
+                {
+                    count++;
+                    i++;
+                }
+
+                if (count == 1)
+                {
+                    short curId = (short)(0 << 12 ^ id);
+                    tempByte = BitConverter.GetBytes(curId);
+                }
+                else
+                {
+                    short beginId = (short)(2 << 12 ^ id);
+                    tempByte = BitConverter.GetBytes(beginId);
+
+                    short numCount = (short)(4 << 12 ^ count);
+                    tempByte = tempByte.Concat(BitConverter.GetBytes(numCount)).ToArray();
+                }
+
+                if (BatchByte == null)
+                    BatchByte = tempByte;
+                else
+                    BatchByte = BatchByte.Concat(tempByte).ToArray();
+            }
+            return BatchByte;
+        }
+
+        private void GetCopterIds(IEnumerable<ICopter> copters, out short copterId, out byte[] batchPacket)
+        {
+            copterId = 0;
+            batchPacket = null;
+
+            if (copters != null)
+            {
+                if (copters.Count() == 1)
+                    copterId = short.Parse(copters.FirstOrDefault().Id);
+                else
+                {
+                    batchPacket = BatchCopterIdData(copters);
+                }
+            }
+        }
+
+        private async Task RtcmLoop()
+        {
+            while (rtcm_run)
+            {
+                byte[] sendDate = new byte[0];
+                lock (lock_rtcm)
+                {
+                    if (rtcm_packets.Count >= 3 ||
+                        (starttime && waitRtcmTime.AddMilliseconds(200) <= DateTime.Now))
+                    {
+                        if (rtcm_packets.Count > 0)
+                        {
+                            Windows.Messages.Message.Show($"rtcm_packets.Count = {rtcm_packets.Count}");
+                            for (int i = 0; i < rtcm_packets.Count; i++)
+                            {
+                                sendDate = sendDate.Concat(rtcm_packets[i]).ToArray();
+                            }
+                            rtcm_packets.Clear();
+                            starttime = false;
+                        }
+                    }
+                }
+
+                if (sendDate != null && sendDate.Length > 0)
+                {
+                    Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 通信数据长度 = {sendDate.Length}");
+                    await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, sendDate).ConfigureAwait(false);
+                }
+
+                await Task.Delay(10);
+            }
+        }
+
+        /////////////////////////////////////////////////////////////公开输出函数
+        /// <summary>
+        /// 设置通道
+        /// </summary>
+        /// <param name="id"></param>
+        /// <param name="ch1"></param>
+        /// <param name="ch2"></param>
+        /// <param name="ch3"></param>
+        /// <param name="ch4"></param>
+        /// <returns></returns>
+        public async Task SetChannelsAsync(IEnumerable<ICopter> copters = null, ushort? ch1 = null, ushort? ch2 = null, ushort? ch3 = null, ushort? ch4 = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+            
+            byte[] packet = SetChannels(ch1, ch2, ch3, ch4);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 开始写任务
+        /// </summary>
+        /// <param name="id">飞机ID</param>
+        /// <param name="missions">任务列表</param>
+        /// <returns></returns>
+        public async Task<bool> WriteMissionListAsync(short id, List<IMission> missions)
+        {
+            missions.Insert(0, PLCopter.PRE_TAKE_OFF_MISSION);
+            List<MAVLink.mavlink_mission_item_t> mission_list = new List<MAVLink.mavlink_mission_item_t>();
+            foreach (IMission mission in missions)
+            {
+                var frame = mission.Command == FlightCommand.Waypoint && mission.Sequence == 0 ? MAVLink.MAV_FRAME.GLOBAL : MAVLink.MAV_FRAME.GLOBAL_RELATIVE_ALT;
+
+                var req = new MAVLink.mavlink_mission_item_t();
+
+                req.target_system = 1;
+                req.target_component = 1;
+
+                req.command = (byte)mission.Command;
+
+                req.current = 0;
+                req.autocontinue = 1;
+
+                req.frame = (byte)frame;
+                if (mission.Command == FlightCommand.LEDControl)
+                {
+                    req.x = mission.R;
+                    req.y = mission.G;
+                    req.z = mission.B;
+                }
+                else
+                {
+                    req.x = (float)mission.Latitude;
+                    req.y = (float)mission.Longitude;
+                    req.z = mission.Altitude;
+                }
+
+                req.param1 = mission.Param1;
+                req.param2 = mission.Param2;
+                req.param3 = mission.Param3;
+                req.param4 = mission.Param4;
+
+                req.seq = mission.Sequence;
+                mission_list.Add(req);
+            }
+
+            bool result =  await MissionPacket(id, (byte)MavComm.COMM_DOWNLOAD_MODE, mission_list.ToArray());
+            
+            lock(MissinLocker)
+            {
+                if (missionWriteState.ContainsKey(id))
+                {
+                    missionWriteState[id].StateReturn = MissionErrorId;
+                    missionWriteState[id].ErrorCode = ErrorCode;
+                    missionWriteState[id].SendAchieved = result;
+                    missionWriteState[id].WriteSucceed = false;
+                }
+                else
+                {
+                    CommWriteMissinState state = new CommWriteMissinState(result);
+                    state.StateReturn = MissionErrorId;
+                    state.ErrorCode = ErrorCode;
+                    missionWriteState.Add(id, state);
+                }
+                return result;
+            }
+        }
+
+        /// <summary>
+        /// 开始执行任务
+        /// </summary>
+        /// <param name="hour_utc">开始执行的小时</param>
+        /// <param name="minute_utc">开始执行的分钟</param>
+        /// <param name="second_utc">开始执行的秒</param>
+        /// <param name="Missionlng">任务原点经度</param>
+        /// <param name="Missionlat">任务原点纬度</param>
+        /// <returns></returns>
+
+        public async Task DoMissionStartAsync(int hour_utc, int minute_utc, int second_utc, double Missionlng, double Missionlat)
+        {
+            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, (float)Missionlng, (float)Missionlat, 0, -1);
+            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 暂停任务
+        /// </summary>
+        public async Task DoMissionPauseAsync()
+        {
+            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, 0, 0, 0, 0, 0, 1, 0);
+            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 恢复任务
+        /// </summary>
+        public async Task DoMissionResumeAsync(int hour_utc, int minute_utc, int second_utc)
+        {
+            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.MISSION_START, hour_utc, minute_utc, second_utc, 0, 0 , 2, 0);
+            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 解锁
+        /// </summary>
+        /// <param name="copters">要解锁的飞机</param>
+        /// <returns></returns>
+        public async Task UnlockAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters,out copterId, out batchPacket);
+
+            byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
+            
+            byte[] packet2 = SetModeAsync(FlightMode.ALT_HOLD);
+
+            byte[] packet3 = DoARMAsync(true);
+
+            byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// LED闪烁白灯
+        /// </summary>
+        /// <param name="copters">要闪烁的飞机</param>
+        /// <returns></returns>
+        public void LED_FlickerAsync(IEnumerable<ICopter> copters = null)
+        {
+            Task.Run(async () =>
+            {
+                short copterId = 0;
+                byte[] batchPacket = null;
+                GetCopterIds(copters, out copterId, out batchPacket);
+
+                byte[] packet = DoLEDCommandAsync();
+                await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            });
+        }
+
+
+        /// <summary>
+        /// 设置参数
+        /// </summary>
+        /// <param name="paramname"></param>
+        /// <param name="value"></param>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task<int> SetParamAsync(string paramname, float value, IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+           
+            byte[] packet = SetParam2Async(paramname, value);
+            int packetNum = packet[2];
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+            return packetNum;
+        }
+
+        /// <summary>
+        /// 广播设置多个参数
+        /// </summary>
+        /// <param name="param"></param>
+        /// <returns></returns>
+        public async Task<int> SetMultipleParamAsync(params string[] param)
+        {
+            if (param.Length % 2 == 1)
+                return 0;
+
+            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]);
+                byte[] data = SetParam2Async(paramname, value);
+                packetNum = data[2];
+                packet = packet == null ? data : packet.Concat(data).ToArray();
+            }
+            await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            return packetNum;
+        }
+
+
+        /// <summary>
+        /// 读取参数
+        /// </summary>
+        /// <param name="paramname"></param>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task ReadParamAsnyc(string paramname, IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] packet = GetParam2Async(paramname);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 起飞测试
+        /// </summary>
+        /// <param name="alt">起飞高度</param>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task TakeOffAsync(float alt, IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] packet1 = SetModeAsync(FlightMode.GUIDED);
+
+            byte[] packet2 = SetChannels(1500, 1500, 1500, 1500);
+
+            byte[] packet3 = DoCommandAsync(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, alt);
+
+            byte[] data = packet1.Concat(packet2).Concat(packet3).ToArray();
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 返航
+        /// </summary>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task ReturnToLaunchAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] packet = SetModeAsync(FlightMode.RTL);
+            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+        }
+
+
+       
+
+        /// <summary>
+        /// 获取飞机版本
+        /// </summary>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task GetVersionsAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            MAVLink.mavlink_sversion_request req = new MAVLink.mavlink_sversion_request();
+            req.version = 0;
+            byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST, req);
+            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+        }
+        /// <summary>
+        /// 降落
+        /// </summary>
+        /// <returns></returns>
+        public async Task LandAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] packet = SetModeAsync(FlightMode.LAND);
+            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 加锁
+        /// </summary>
+        /// <param name="armit"></param>
+        /// <returns></returns>
+        public async Task LockAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] packet1 = SetChannels(1500, 1500, 1100, 1500);
+          
+            byte[] packet2 = DoARMAsync(false);
+
+            byte[] data = packet1.Concat(packet2).ToArray();
+            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 测试电机
+        /// </summary>
+        /// <param name="motor"></param>
+        /// <returns></returns>
+        public async Task MotorTestAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            //1-4代表1-4电机
+            byte[] data1 = DoMotorTestAsync(1, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
+            byte[] data2 = DoMotorTestAsync(2, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
+            byte[] data3 = DoMotorTestAsync(3, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
+            byte[] data4 = DoMotorTestAsync(4, MAVLink.MOTOR_TEST_THROTTLE_TYPE.MOTOR_TEST_THROTTLE_PERCENT, 5, 5);
+
+            byte[] data = data1.Concat(data2).Concat(data3).Concat(data4).ToArray();
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket);
+        }
+
+        /// <summary>
+        /// 切换悬停模式
+        /// </summary>
+        /// <returns></returns>
+        public async Task HoverAsync(IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] packet1 = SetChannels(1500, 1500, 1500, 1500);
+
+            byte[] packet2 = SetModeAsync(FlightMode.LOITER);
+
+            byte[] data = packet1.Concat(packet2).ToArray();
+            await WriteCommPacketAsync((short)copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 切换手动模式
+        /// </summary>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task FloatAsync(IEnumerable<ICopter> copters = null)
+        {
+            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);
+        }
+
+        /// <summary>
+        /// 校准加速计
+        /// </summary>
+        /// <param name="copterId"></param>
+        /// <returns></returns>
+        public async Task DoStartPreflightCompassAsync(IEnumerable<ICopter> copters = null)
+        {
+            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);
+        }
+
+        /// <summary>
+        /// 校准加速计下一步
+        /// </summary>
+        /// <param name="copterId"></param>
+        /// <returns></returns>
+        public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
+        {
+            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;
+
+            byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
+        }
+
+        /// <summary>
+        /// 校准指南针
+        /// </summary>
+        /// <param name="copterId"></param>
+        /// <returns></returns>
+        public async Task DoCalibrationCompassAsync(IEnumerable<ICopter> copters = null)
+        {
+            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);
+        }
+
+        /// <summary>
+        /// 放弃校准指南针
+        /// </summary>
+        /// <param name="copterId"></param>
+        /// <returns></returns>
+        public async Task DoCancelCalibrationCompassAsync(short copterId)
+        {
+            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_CANCEL_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+        }
+        /// <summary>
+        /// 确认校准磁罗盘
+        /// </summary>
+        /// <param name="copterId"></param>
+        /// <returns></returns>
+        public async Task DoAcceptCalibrationCompassAsync(short copterId)
+        {
+            byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_ACCEPT_MAG_CAL, 0, 0, 1, 0, 0, 0, 0);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+        }
+
+   
+
 
         /// <summary>
         ///广播Rtk
@@ -586,7 +749,12 @@ namespace Plane.CommunicationManagement
 
         int inject_seq_no = 0;
 
-       
+        /// <summary>
+        /// 插入RTK数据
+        /// </summary>
+        /// <param name="data"></param>
+        /// <param name="length"></param>
+        /// <returns></returns>
         public async Task InjectGpsRTCMDataAsync(byte[] data, int length)
         {
             MAVLink.mavlink_gps_rtcm_data_t gps = new MAVLink.mavlink_gps_rtcm_data_t();
@@ -647,11 +815,7 @@ namespace Plane.CommunicationManagement
         }
 
 
-        private static object lock_rtcm = new object();//互锁量
-        private List<byte[]> rtcm_packets = new List<byte[]>();
-        private DateTime waitRtcmTime = DateTime.Now;
-        private bool starttime = false;
-        private bool rtcm_run = false;
+
         /// <summary>
         /// 开始循环检测Rtcm数量
         /// </summary>
@@ -673,40 +837,16 @@ namespace Plane.CommunicationManagement
             await Task.Delay(1);
         }
 
-        private async Task RtcmLoop()
-        {
-            while(rtcm_run)
-            {
-                byte[] sendDate = new byte[0];
-                lock (lock_rtcm)
-                {
-                    if (rtcm_packets.Count >= 3 ||
-                        (starttime && waitRtcmTime.AddMilliseconds(200) <= DateTime.Now))
-                    {
-                        if (rtcm_packets.Count > 0)
-                        {
-                            Windows.Messages.Message.Show($"rtcm_packets.Count = {rtcm_packets.Count}");
-                            for (int i = 0; i < rtcm_packets.Count; i++)
-                            {
-                                sendDate = sendDate.Concat(rtcm_packets[i]).ToArray();
-                            }
-                            rtcm_packets.Clear();
-                            starttime = false;
-                        }
-                    }
-                }
-
-                if (sendDate!=null && sendDate.Length>0)
-                {
-                    Windows.Messages.Message.Show($"{DateTime.Now.ToString("HH:mm:ss:fff")} 通信数据长度 = {sendDate.Length}");
-                    await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, sendDate).ConfigureAwait(false);
-                }
-
-                await Task.Delay(10);
-            }         
-        }
+   
         
-
+        /// <summary>
+        /// 产生RTK包
+        /// </summary>
+        /// <typeparam name="TMavlinkPacket"></typeparam>
+        /// <param name="messageType"></param>
+        /// <param name="indata"></param>
+        /// <param name="rtklength"></param>
+        /// <returns></returns>
         public byte[] GenerateRTKPacketAsync<TMavlinkPacket>(byte messageType, TMavlinkPacket indata, int rtklength)
         {
             byte[] data;
@@ -749,106 +889,7 @@ namespace Plane.CommunicationManagement
             return packet;
         }
 
-        
-        private byte[] SetParam2Async(string paramname, float value)
-        {
-            // param type is set here, however it is always sent over the air as a float 100int = 100f.
-            var req = new MAVLink.mavlink_param_set_t { target_system = 1, target_component = 1, param_type = 4 };
-
-            byte[] temp = Encoding.GetEncoding("ASCII").GetBytes(paramname);
-
-            Array.Resize(ref temp, 16);
-            req.param_id = temp;
-            req.param_value = (value);
-
-            return GeneratePacket((byte)MAVLink.MAVLINK_MSG_ID_PARAM_SET, req);
-        }
-
-        private byte[] GetParam2Async(string paramname)
-        {
-            var paramId = Encoding.ASCII.GetBytes(paramname);
-            Array.Resize(ref paramId, 16);
-
-            var req = new MAVLink.mavlink_param_request_read_t
-            {
-                param_index = -1,
-                target_system = 1,
-                target_component = 1,
-                param_id = paramId
-            };
-
-            return GeneratePacket(MAVLink.MAVLINK_MSG_ID_PARAM_REQUEST_READ, req);
-        }
-
-        private byte[] DoLEDCommandAsync()
-        {
-            MAVLink.mavlink_msg_id_led_control led = new MAVLink.mavlink_msg_id_led_control();
-            led.target_system = 1;
-            led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
-            led.instance = 0;
-            led.pattern = 0;
-            led.custom_len = 4;
-            led.custom_bytes = new byte[24];
-            led.custom_bytes[0] = 255;
-            led.custom_bytes[1] = 255;
-            led.custom_bytes[2] = 255;
-            led.custom_bytes[3] = 3;
-
-            return GeneratePacket(MAVLink.MAVLINK_MSG_ID_LED_CONTROL, led);
-        }
-
-        private byte[] BatchCopterIdData(IEnumerable<ICopter> copters)
-        {
-            byte[] BatchByte = null;
-            List<ICopter> copterList = copters.OrderBy(c=>int.Parse(c.Id)).ToList();
-            for (int i = 0; i < copterList.Count; i++)
-            {
-                byte[] tempByte;
-                int id = int.Parse(copterList[i].Id);
-                int count = 1;
-                while(i+1 < copterList.Count && int.Parse(copterList[i + 1].Id) == id + count)
-                {
-                    count++;
-                    i++;
-                }
-
-                if (count == 1)
-                {
-                    short curId = (short)(0 << 12 ^ id);
-                    tempByte = BitConverter.GetBytes(curId);
-                }
-                else
-                {
-                    short beginId = (short)(2 << 12 ^ id);
-                    tempByte = BitConverter.GetBytes(beginId);
-
-                    short numCount = (short)(4 << 12 ^ count);
-                    tempByte = tempByte.Concat(BitConverter.GetBytes(numCount)).ToArray();
-                }
-
-                if (BatchByte == null)
-                    BatchByte = tempByte;
-                else
-                    BatchByte = BatchByte.Concat(tempByte).ToArray();
-            }
-            return BatchByte;
-        }
-
-        private void GetCopterIds(IEnumerable<ICopter> copters, out short copterId, out byte[] batchPacket)
-        {
-            copterId = 0;
-            batchPacket = null;
-
-            if (copters != null)
-            {
-                if (copters.Count() == 1)
-                    copterId = short.Parse(copters.FirstOrDefault().Id);
-                else
-                {
-                    batchPacket = BatchCopterIdData(copters);
-                }
-            }
-        }
+   
     }
 
 }