diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index 6928324..c65dad7 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -154,10 +154,19 @@ namespace Plane.CommunicationManagement
                                 break;
 
                             case MavComm.COMM_GET_COPTERS_COUNT:
-                                dealData = packet.Skip(16).ToArray();
+                                dealData = packet.Skip(18).ToArray();
                                 AnalyzeCopterInfosPacket(dealData);
                                 break;
 
+                            case MavComm.COMM_GET_CURR_SYS_PARM:
+                                dealData = packet.Skip(18).ToArray();
+                                Analyze_curr_sys_parm_Packet(dealData);
+                                break;
+
+                            case MavComm.COMM_SET_CURR_SYS_PARM:
+
+                                break;
+
                             case MavComm.COMM_NOTIFICATION:
                                 short messageType = BitConverter.ToInt16(packet, 10);
                                 dealData = packet.Skip(12).ToArray();
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index c5333c0..962bc18 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -49,6 +49,72 @@ namespace Plane.CommunicationManagement
             return GeneratePacket(MAVLink.MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, rc);
         }
 
+        /// <summary>
+        /// 设置飞机上通信模块的回传功率
+        /// </summary>
+        /// <returns></returns>
+        public async Task SetCopterCommBackPower(short id, byte power)
+        {
+            byte[] data = new byte[12];
+            short num = (0x5 << 12) ^ 1;
+            byte frequencyPoint = 16;
+            int frequencyValue = 0x50;
+
+            Array.Copy(BitConverter.GetBytes(num), 0, data, 0, 2);  //广播个数
+            Array.Copy(BitConverter.GetBytes(id), 0, data, 2, 2);   //小批量 当前只对1个采用小批量模式广播
+            data[4] = 0x00;
+            data[5] = 0xFC;
+            data[6] = power;
+            data[7] = frequencyPoint;
+            Array.Copy(BitConverter.GetBytes(frequencyValue), 0, data, 8, 4);
+
+            await WriteCommPacketAsync(0, MavComm.COMM_SET_BACK_POWER, data).ConfigureAwait(false); 
+        }
+
+        public async Task GetCurr_Sys_Parm()
+        {
+            configurationData = null;
+            configData1 = null;
+            configData2 = null;
+
+            byte[] data = new byte[2];
+            data = BitConverter.GetBytes((short)0x0000);
+            await WriteCommPacketAsync(0, MavComm.COMM_GET_CURR_SYS_PARM, data).ConfigureAwait(false);
+
+            await Task.Delay(100);
+
+            data = BitConverter.GetBytes((short)0x0001);
+            await WriteCommPacketAsync(0, MavComm.COMM_GET_CURR_SYS_PARM, data).ConfigureAwait(false);
+        }
+
+        public async Task SetCurr_Sys_Parm()
+        {
+            if (configurationData == null) return;
+
+            byte[] data = new byte[configurationData.Length + 2];
+
+            Array.Copy(BitConverter.GetBytes((short)configurationData.Length), data, 2);
+            Array.Copy(configurationData,0, data, 2, configurationData.Length);
+
+            await WriteCommPacketAsync(0, MavComm.COMM_SET_CURR_SYS_PARM, data).ConfigureAwait(false);
+        }
+
+        public async Task SetCommCount(short count, short startNum)
+        {
+            byte[] data = new byte[4];
+            Array.Copy(BitConverter.GetBytes(count), 0, data, 0, 2);
+            Array.Copy(BitConverter.GetBytes(startNum), 0, data, 2, 2);
+
+            await WriteCommPacketAsync(0, MavComm.COMM_SET_MAV_COUNT, data).ConfigureAwait(false);
+        }
+
+
+        /// <summary>
+        /// 写入航点
+        /// </summary>
+        /// <param name="id">飞机ID</param>
+        /// <param name="missions">航点列表</param>
+        /// <returns></returns>
         public async Task<bool> WriteMissionListAsync(short id, List<IMission> missions)
         {
             missions.Insert(0, PLCopter.PRE_TAKE_OFF_MISSION);
@@ -160,6 +226,22 @@ namespace Plane.CommunicationManagement
             await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
         }
 
+        /// <summary>
+        /// 返航偏移
+        /// </summary>
+        /// <param name="copters"></param>
+        /// <returns></returns>
+        public async Task RLTOffsetAsync(float lat, float lng, IEnumerable<ICopter> copters = null)
+        {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
+            byte[] data = DoCommandAsync(MAVLink.MAV_CMD.DO_SET_HOME, 2, 0, 0, lat, lng, 0, 0);
+            
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, data, batchPacket).ConfigureAwait(false);
+        }
+
         /// <summary>
         /// LED闪烁白灯
         /// </summary>
@@ -691,7 +773,15 @@ namespace Plane.CommunicationManagement
                 else
                     BatchByte = BatchByte.Concat(tempByte).ToArray();
             }
-            return BatchByte;
+            short byteNum = (short)(BatchByte.Length / 2);
+            short length = (short)((0x5 << 12) ^ byteNum);
+            byte[] ret = new byte[2+ BatchByte.Length];
+
+            Array.Copy(BitConverter.GetBytes(length), ret, 2);
+
+            Array.Copy(BatchByte, 0, ret, 2, BatchByte.Length);
+
+            return ret;
         }
 
         private void GetCopterIds(IEnumerable<ICopter> copters, out short copterId, out byte[] batchPacket)
@@ -701,9 +791,10 @@ namespace Plane.CommunicationManagement
 
             if (copters != null)
             {
-                if (copters.Count() == 1)
-                    copterId = short.Parse(copters.FirstOrDefault().Id);
-                else
+                //为提高通信稳定性，无论1架还是多架全部改为小批量广播
+                //if (copters.Count() == 1)
+                //    copterId = short.Parse(copters.FirstOrDefault().Id);
+                //else
                 {
                     batchPacket = BatchCopterIdData(copters);
                 }
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs
index dca8b7b..6ed9b9d 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModulePacketAnalysis.cs
@@ -21,6 +21,9 @@ namespace Plane.CommunicationManagement
         public event EventHandler<CommunicationConnectEventArgs> CommunicationConnected;
         private Dictionary<int, CommWriteMissinState> missionWriteState = new Dictionary<int, CommWriteMissinState>();
         private static readonly object MissinLocker = new object();
+        private byte[] configData1 = null;
+        private byte[] configData2 = null;
+        private byte[] configurationData = null;
 
         public Dictionary<int, CommWriteMissinState> MissionWriteState
         {
@@ -138,6 +141,8 @@ namespace Plane.CommunicationManagement
             
         }
 
+
+
         private void AnalyzeCopterInfosPacket(byte[] buffer)
         {
             ushort beginNum = BitConverter.ToUInt16(buffer, 0);
@@ -175,6 +180,35 @@ namespace Plane.CommunicationManagement
             }
         }
 
+        private void Analyze_curr_sys_parm_Packet(byte[] buffer)
+        {
+            Message.Show($"buffer length = {buffer.Length}");
+            short num = BitConverter.ToInt16(buffer, 0);
+            short offset = BitConverter.ToInt16(buffer, 2);
+            short curLength = BitConverter.ToInt16(buffer, 4);
+            short allLength = BitConverter.ToInt16(buffer, 6);
+
+            if (num == 0)
+            {
+                configData1 = new byte[curLength];
+                Array.Copy(buffer, 8, configData1, 0, curLength);
+                Message.Show($"part0 长度={curLength}， 总长{allLength}");
+            }
+            else if (num == 1)
+            {
+                configData2 = new byte[curLength];
+                Array.Copy(buffer, 8, configData2, 0, curLength);
+                Message.Show($"part1 长度={curLength}， 总长{allLength}");
+            }
+
+            if (configData1 != null && configData2 != null)
+            {
+                Message.Show("合成数据");
+                configurationData = new byte[configData1.Length + configData2.Length];
+                configurationData = configData1.Concat(configData2).ToArray();
+            }
+        }
+
         private void AnalyzeComm4RetrunPacket(short copterId, byte[] buffer)
         {
             byte[] packet = buffer.Take(28).ToArray();
diff --git a/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs b/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
index 1006063..4f64b95 100644
--- a/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
+++ b/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
@@ -84,6 +84,21 @@ namespace Plane.Protocols
         /// </summary>
         public const short COMM_UPDATE_COPTER_MODULE = 0xFD;
 
+        /// <summary>
+        /// 修改飞机回传功率
+        /// </summary>
+        public const short COMM_SET_BACK_POWER = 0x00FA;
+
+        /// <summary>
+        /// 读取当前配置信息
+        /// </summary>
+        public const short COMM_GET_CURR_SYS_PARM = 0x00CC;
+
+        /// <summary>
+        /// 改写当前配置信息
+        /// </summary>
+        public const short COMM_SET_CURR_SYS_PARM = 0x00EC;
+
         #endregion 
 
         public enum CommMode