diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 67a20cb..582c9eb 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -1359,8 +1359,8 @@ namespace Plane.CommunicationManagement
 
                    // 重发一次，有序列号(target_component)飞机可以检测出来重复接收的
                     //需要新固件支持
-                    // await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
-                    //await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
+                    await WriteCommPacketAsync(0, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+                    await Task.Delay(80).ConfigureAwait(false); //没有延时得话如果超过110长度，连续发可能收不到
 
                     
                     //重发一次，有序列号(target_component)飞机可以检测出来重复接收的--需要新固件支持
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index 07043a5..31f64b2 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -288,6 +288,7 @@ namespace Plane.Copters
 
         private static readonly Dictionary<int, string> ErrorIdToString = new Dictionary<int, string>
         {
+            {1, "未知异常"},
             {2, "气压计异常"},
             {3, "磁罗盘异常"},
             {4, "GPS异常"},
@@ -314,7 +315,17 @@ namespace Plane.Copters
             {25, "加速计需要重启"},
             {26, "加速计不一致"},
             {27, "陀螺仪不一致"},
-
+            {28, "EKF需要定位"},
+            {29, "需要位置估计"},
+            {30, "GPS信号不好"},
+            {31, "EKF磁罗盘变动大"},
+            {32, "EKF位置变动大"},
+            {33, "EKF速度变动大"},
+            {34, "EKF高度变动大"},
+            {35, "需要高度估计"},
+            {36, "航姿没有心跳"},
+            {37, "磁罗盘没有心跳"},
+            {38, "安全开关没按"},
         };
         public  String getcoptererrorstr(byte errorcode)
         {