diff --git a/PlaneGcsSdk.Contract_Shared/Copters/ICopterAttribute.cs b/PlaneGcsSdk.Contract_Shared/Copters/ICopterAttribute.cs
index 5004970..e66a729 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/ICopterAttribute.cs
+++ b/PlaneGcsSdk.Contract_Shared/Copters/ICopterAttribute.cs
@@ -14,5 +14,7 @@ namespace Plane.Copters
         /// </summary>
         float GroundAlt { get; set; }
         float RetainInt{ get; }
+        //模拟飞行更新间隔
+        int sim_update_int { get; set; }
     }
 }
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
index e4a0919..e6efbb7 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModule.cs
@@ -353,6 +353,25 @@ namespace Plane.CommunicationManagement
             await GenerateDataAsync(0, MavComm.COMM_UPDATE_COPTER_MODULE, commUpdate);
         }
 
+
+        public async Task TestModule(short ModuleNo, short TestLong=100)
+        {
+
+            
+            byte[] packet = new byte[2];
+            packet[0] = (byte)(ModuleNo);
+            packet[1] = (byte)(TestLong);
+            byte[] senddata = packet;
+         
+       //     Message.Show("长度 = " + senddata.Length);
+                await WriteCommPacketAsync(0, MavComm.COMM_TEST_MODULE, senddata);
+          //      await Task.Delay(1000).ConfigureAwait(false);
+     
+        }
+
+
+
+
         bool temp = false;
         //测试用 灯光间隔1S闪烁
         public async Task TestLED(short id, string colorString)
@@ -363,7 +382,7 @@ namespace Plane.CommunicationManagement
             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_len = 4;   //命令类型——测试灯光
             led.custom_bytes = new byte[24];
       
             if (colorString == "") colorString = "330033";
@@ -421,7 +440,7 @@ namespace Plane.CommunicationManagement
             temp = !temp;
             while (temp)
             {
-                Message.Show("长度 = " + senddata.Length);
+                Message.Show("测试灯光，长度 = " + senddata.Length);
                 await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, senddata);
                 await Task.Delay(1000).ConfigureAwait(false);
             } 
@@ -436,7 +455,7 @@ namespace Plane.CommunicationManagement
             led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
             led.instance = 0;
             led.pattern = 0;
-            led.custom_len = 1;
+            led.custom_len = 1;//命令类型——测试拉烟
             led.custom_bytes = new byte[24];
 
             led.custom_bytes[0] = (byte)channel;
@@ -490,6 +509,77 @@ namespace Plane.CommunicationManagement
             }
         }
 
+
+       public async Task TestBattery(short id, float minivol)
+        {
+
+            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 = 5;//命令类型——测试电池电压
+            led.custom_bytes = new byte[24];
+
+            led.custom_bytes[0] = (byte)(int)(minivol); //整数部分
+            led.custom_bytes[1] = (byte)(int)((minivol-(int)minivol)*100);  //小数部分  --2位
+
+
+
+
+
+            byte[] data;
+            data = MavlinkUtil.StructureToByteArray(led);
+
+            byte[] packet = new byte[data.Length + 6 + 2];
+            packet[0] = MAVLink.MAVLINK_STX;
+
+            packet[1] = (byte)(data.Length);
+            packet[2] = 1;
+            packet[3] = 255; // this is always 255 - MYGCS
+
+            packet[4] = (byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_MISSIONPLANNER;
+
+            packet[5] = MAVLink.MAVLINK_MSG_ID_LED_CONTROL;
+            int i = 6;
+            foreach (byte b in data)
+            {
+                packet[i] = b;
+                i++;
+            }
+
+            ushort checksum = MavlinkCRC.crc_calculate(packet, packet[1] + 6);
+            checksum = MavlinkCRC.crc_accumulate(MAVLink.MAVLINK_MESSAGE_CRCS[MAVLink.MAVLINK_MSG_ID_LED_CONTROL], checksum);
+
+            byte ck_a = (byte)(checksum & 0xFF); ///< High byte
+            byte ck_b = (byte)(checksum >> 8); ///< Low byte
+
+            packet[i] = ck_a;
+            i += 1;
+            packet[i] = ck_b;
+            i += 1;
+
+
+            //await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
+            byte[] senddata = packet;
+
+            for (int times = 0; times < 3; times++)
+            {
+                senddata = senddata.Concat(packet).ToArray();
+            }
+
+
+            {  //发3次
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
+                await Task.Delay(1000).ConfigureAwait(false);
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
+                await Task.Delay(1000).ConfigureAwait(false);
+                await WriteCommPacketAsync(id, MavComm.COMM_DOWNLOAD_COMM, packet);
+
+            }
+        }
+       
+
         /// <summary>
         /// 生成通信模块packet并且发送
         /// </summary>
@@ -524,36 +614,37 @@ namespace Plane.CommunicationManagement
 
             int packetlength = data == null ? 0 : data.Length;
 
+            //数据长度+10
             byte[] packet = new byte[packetlength + 10];
 
             byte[] buffer_header = new byte[2];
             buffer_header = BitConverter.GetBytes(MavComm.COMM_SEND_PACKET_HEADER);
-            Array.Copy(buffer_header, 0, packet, 0, 2);         //数据头
+            Array.Copy(buffer_header, 0, packet, 0, 2);         //发送数据头 2字节
 
             byte[] buffer_length; 
             buffer_length = BitConverter.GetBytes((Int16)(packetlength + 6));
-            Array.Copy(buffer_length, 0, packet, 2, 2);         //数据长度
+            Array.Copy(buffer_length, 0, packet, 2, 2);         //数据长度 2字节
 
             byte[] buffer_serial;
             buffer_serial = BitConverter.GetBytes(serial_Number++); 
-            Array.Copy(buffer_serial, 0, packet, 4, 2);         //流水号
+            Array.Copy(buffer_serial, 0, packet, 4, 2);         //流水号  2字节
 
             byte[] buffer_copterId = new byte[2];
             buffer_copterId = BitConverter.GetBytes((Int16)copterId);
-            Array.Copy(buffer_copterId, 0, packet, 6, 2);       //飞机号
+            Array.Copy(buffer_copterId, 0, packet, 6, 2);       //飞机号   2字节
 
             byte[] buffer_messageType = new byte[2];
             buffer_messageType = BitConverter.GetBytes((Int16)messageType);
-            Array.Copy(buffer_messageType, 0, packet, 8, 2);    //命令类型
+            Array.Copy(buffer_messageType, 0, packet, 8, 2);    //命令类型  2字节
 
             if (data != null)
-                Array.Copy(data, 0, packet, 10, data.Length);   //数据内容
+                Array.Copy(data, 0, packet, 10, data.Length);   //数据内容  10字节开始
 
-            byte[] buffer_CRC = checkCRC16(packet);
+            byte[] buffer_CRC = checkCRC16(packet);               //计算所有数据的crc
 
-            byte[] buffer_packet = new byte[packet.Length + 2];
+            byte[] buffer_packet = new byte[packet.Length + 2];    //分配新的带crc的数据包
             Array.Copy(packet, buffer_packet, packet.Length);
-            Array.Copy(buffer_CRC, 0, buffer_packet, packet.Length, 2);
+            Array.Copy(buffer_CRC, 0, buffer_packet, packet.Length, 2);   //带crc的数据包
 
             if (Connection != null && Connection.IsOnline)
             { 
@@ -571,10 +662,12 @@ namespace Plane.CommunicationManagement
 
         public async Task<bool> MissionPacket<TMavCommPacket>(short copterId, byte messageType, TMavCommPacket[] indata)
         {
+            //数据长度
             int dataLength = 6 + 2 + indata.Length * 32;
             byte[] data = new byte[dataLength];
 
             byte[] uses = new byte[] { 0, 0, 1, 0, 0, 0 };
+            //填充初始数据
             Array.Copy(uses, 0, data, 0, 6);
 
             Int16 countNum = (Int16)indata.Length;
diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 06ac0c5..7121630 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -212,7 +212,7 @@ namespace Plane.CommunicationManagement
             led.target_component = 1;//(byte)MAVLink.MAV_COMPONENT.MAV_COMP_ID_SYSTEM_CONTROL;;
             led.instance = 0;
             led.pattern = 0;
-            led.custom_len = 6;
+            led.custom_len = 6;  //测试LED灯光
             led.custom_bytes = new byte[24];
             led.custom_bytes[0] = cR;
             led.custom_bytes[1] = cG;
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index 142d57c..7c387e1 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -152,6 +152,8 @@ namespace Plane.Copters
 
         private float _GroundAlt = 0;
 
+        private int _sim_update_int = 50;
+
         private CopterState _State;
 
         private string _StatusText;
@@ -660,6 +662,17 @@ namespace Plane.Copters
         }
 
 
+        public int sim_update_int
+        {
+            get { return _sim_update_int; }
+            set
+            {
+                Set(nameof(sim_update_int), ref _sim_update_int, value);
+            }
+        }
+
+
+
         public byte[] Retain
         {
             get { return _Retain; }
diff --git a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
index 917a514..459c39a 100644
--- a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
@@ -18,21 +18,24 @@ namespace Plane.Copters
         /// 心跳间隔，单位为毫秒。
         /// </summary>
         private const int HEARTBEAT_INTERVAL = 200;
+        /// <summary>
+        /// 更新虚拟飞行器状态的时间间隔，单位为毫秒。
+        /// </summary>
+        private int UPDATE_INTERVAL = 50;  //默认100， i7电脑 150可以跑1000架 100可以跑500架 50可以200-300架 
 
         /// <summary>
         /// 在一个更新间隔中的最大移动距离。
         /// </summary>
-        private const float MAX_MOVE_IN_INTERVAL = MAX_VEL * UPDATE_INTERVAL / 1000;
+        private float MAX_MOVE_IN_INTERVAL = MAX_VEL * 50 / 1000;
 
         /// <summary>
         /// 高速模式下，在一个更新间隔中的最大移动距离。
         /// </summary>
-        private const float MAX_MOVE_IN_INTERVAL_FAST = MAX_MOVE_IN_INTERVAL * 4;
+        private  float MAX_MOVE_IN_INTERVAL_FAST = MAX_VEL * 50 / 1000 * 4;  //MAX_MOVE_IN_INTERVAL*4
 
-        /// <summary>
-        /// 更新虚拟飞行器状态的时间间隔，单位为毫秒。
-        /// </summary>
-        private const int UPDATE_INTERVAL = 50;  //默认100， i7电脑 150可以跑1000架 100可以跑500架 50可以200-300架 
+
+
+        // private int _UPDATE_INTERVAL = 50;
 
         /// <summary>
         /// 对飞行器的模拟是否正在运行。
@@ -52,12 +55,12 @@ namespace Plane.Copters
         /// <summary>
         /// 高速模式下，按比例缩放过的在一个更新间隔中的最大移动距离。
         /// </summary>
-        private float _scaledFastMaxMoveInInterval = MAX_MOVE_IN_INTERVAL_FAST;
+        private float _scaledFastMaxMoveInInterval = MAX_VEL * 50 / 1000 * 4;  //MAX_MOVE_IN_INTERVAL_FAST
 
         /// <summary>
         /// 按比例缩放过的在一个更新间隔中的最大移动距离。
         /// </summary>
-        private float _scaledMaxMoveInInterval = MAX_MOVE_IN_INTERVAL;
+        private float _scaledMaxMoveInInterval = MAX_VEL * 50 / 1000;  //MAX_MOVE_IN_INTERVAL
 
         /// <summary>
         /// 速度缩放比例。
@@ -91,12 +94,31 @@ namespace Plane.Copters
         private bool _ShowLED;
 
 
+
+
         /// <summary>
         /// 使用 <see cref="SynchronizationContext.Current"/> 创建 <see cref="FakeCopter"/> 实例。
         /// </summary>
         public FakeCopter() : this(SynchronizationContext.Current)
         {
         }
+
+
+        new public int  sim_update_int
+        {
+            get { return UPDATE_INTERVAL; }
+            set
+            {
+                MAX_MOVE_IN_INTERVAL = MAX_VEL * value / 1000;
+                MAX_MOVE_IN_INTERVAL_FAST = MAX_MOVE_IN_INTERVAL * 4;
+                _scaledFastMaxMoveInInterval = MAX_MOVE_IN_INTERVAL_FAST* _speedScale;
+                _scaledMaxMoveInInterval = MAX_MOVE_IN_INTERVAL* _speedScale;
+                Set(nameof(sim_update_int), ref UPDATE_INTERVAL, value);
+            }
+        }
+
+
+
         public Task DoCommandAckAsync(ushort command, byte result)
         {
             return TaskUtils.CompletedTask;
diff --git a/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs b/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
index 63686bf..242b8d9 100644
--- a/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
+++ b/PlaneGcsSdk_Shared/Protocols/MavCommTypes.cs
@@ -84,6 +84,15 @@ namespace Plane.Protocols
         /// </summary>
         public const short COMM_UPDATE_COPTER_MODULE = 0xFD;
 
+
+
+        /// <summary>
+        /// 测试模块
+        /// </summary>
+        public const short COMM_TEST_MODULE = 0x3C;
+
+
+
         #endregion 
 
         public enum CommMode