diff --git a/PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs b/PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs
index e7a9a77..00292be 100644
--- a/PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs
+++ b/PlaneGcsSdk.Contract_Shared/Copters/ICopterStatus.cs
@@ -172,5 +172,15 @@ namespace Plane.Copters
         /// 获取当前电池电压，单位为伏特。
         /// </summary>
         float Voltage { get; }
+
+        //定位类型RTK,GPS
+        CopterLocationType LocationType { get; }
+
+
+        /// <summary>
+        /// MissionStatus=1表示正在飞向目标中，0标识达到目标
+        /// </summary>
+        int MissionStatus { get; set; }
+
     }
 }
diff --git a/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems b/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems
index 90ba7c6..7a3f02e 100644
--- a/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems
+++ b/PlaneGcsSdk.Contract_Shared/PlaneGcsSdk.Contract_Shared.projitems
@@ -20,6 +20,7 @@
     <Compile Include="$(MSBuildThisFileDirectory)CopterManagement\ICopterManager.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\Constants.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterCommand.cs" />
+    <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterLocationType.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\CopterState.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\PLObservableObject.cs" />
     <Compile Include="$(MSBuildThisFileDirectory)Copters\FlightCommand.cs" />
diff --git a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
index d822912..dd18bf6 100644
--- a/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
+++ b/PlaneGcsSdk_Shared/Copters/CopterImplSharedPart.cs
@@ -155,8 +155,12 @@ namespace Plane.Copters
 
         private float _Voltage;
 
+        private CopterLocationType _LocationType= CopterLocationType.GPS;
+
         private float _Yaw;
 
+        private int _MissionStatus;
+
         #endregion Backing Fields
 
         public CopterImplSharedPart(SynchronizationContext uiSyncContext) : base(uiSyncContext)
@@ -613,12 +617,27 @@ namespace Plane.Copters
             protected set { Set(nameof(Voltage), ref _Voltage, value); }
         }
 
+
+        public CopterLocationType LocationType
+        {
+            get { return _LocationType; }
+            protected set { Set(nameof(LocationType), ref _LocationType, value); }
+        }
+
         public float Yaw
         {
             get { return _Yaw; }
             protected set { Set(nameof(Yaw), ref _Yaw, value); }
         }
 
+        public int MissionStatus
+        {
+            get { return _MissionStatus; }
+            set { Set(nameof(MissionStatus), ref _MissionStatus, value); }
+        }
+
+
+
 #if PRIVATE
         public
 #else
diff --git a/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs b/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
index 1f7c642..5ac9007 100644
--- a/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/EmptyCopter.cs
@@ -84,6 +84,11 @@ namespace Plane.Copters
             return TaskUtils.CompletedTask;
         }
 
+        public Task InitAsync()
+        {
+            return TaskUtils.CompletedTask;
+        }
+
         public Task StopPairingAsync()
         {
             return TaskUtils.CompletedTask;
diff --git a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
index d693bbd..6771e4b 100644
--- a/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/FakeCopter.cs
@@ -343,6 +343,12 @@ namespace Plane.Copters
             return TaskUtils.CompletedTask;
         }
 
+
+        public Task InitAsync()
+        {
+            return TaskUtils.CompletedTask;
+        }
+
         public Task StopPairingAsync()
         {
             return TaskUtils.CompletedTask;
diff --git a/PlaneGcsSdk_Shared/Copters/PLCopter.cs b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
index 2794b65..f675581 100644
--- a/PlaneGcsSdk_Shared/Copters/PLCopter.cs
+++ b/PlaneGcsSdk_Shared/Copters/PLCopter.cs
@@ -54,6 +54,8 @@ namespace Plane.Copters
             await _internalCopter.ConnectAsync().ConfigureAwait(false);
             IsConnected = _internalCopter.IsConnected;
             IsCheckingConnection = true;
+            //连接完成后做一些初始化的工作
+            await InitAsync();
         }
 
         public virtual async Task DisconnectAsync()
@@ -248,6 +250,17 @@ namespace Plane.Copters
             await _internalCopter.GeneratePacketAsync(MAVLink.MAVLINK_MSG_ID_SET_PAIR, packet).ConfigureAwait(false);
         }
 
+        public async Task InitAsync()
+        {
+            float Gpstype=  await _internalCopter.GetParamAsync("GPS_TYPE") ;
+            if (Gpstype == 15)
+                LocationType = CopterLocationType.RTK;
+            else
+                LocationType = CopterLocationType.GPS;
+        }
+
+
+
         public async Task StopPairingAsync()
         {
             if (!IsPairing) return;