diff --git a/App/StatusUI/StatusUI.ui b/App/StatusUI/StatusUI.ui
index e42eb5d..c003900 100644
--- a/App/StatusUI/StatusUI.ui
+++ b/App/StatusUI/StatusUI.ui
@@ -513,7 +513,7 @@ color: rgb(0, 128, 0);</string>
      <item row="6" column="0">
       <widget class="QLabel" name="label_6">
        <property name="text">
-        <string>攻角[°]</string>
+        <string>纵向过载[m/s2]</string>
        </property>
       </widget>
      </item>
@@ -773,7 +773,7 @@ color: rgb(0, 128, 0);</string>
      <item row="7" column="0">
       <widget class="QLabel" name="label">
        <property name="text">
-        <string>侧滑角[°]</string>
+        <string>侧向过载[m/s2]</string>
        </property>
       </widget>
      </item>
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index e52940f..62fc576 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -1364,11 +1364,12 @@ void MainWindow::updateUI()//事件驱动式更新数据
     toolsui->servosystem->setCheckState(2,v28_Low);
     toolsui->servosystem->setCheckState(3,v56_Low);
     toolsui->servosystem->setCheckState(4,0);
-    toolsui->servosystem->setCheckState(5,(dlink->mavlinknode->vehicle.bmustate.p500w_enabled)?(1):(0));
+
 
 
     uint32_t health = dlink->mavlinknode->vehicle.sys_status.onboard_control_sensors_health;
     uint32_t enable = dlink->mavlinknode->vehicle.sys_status.onboard_control_sensors_enabled;
+    uint32_t present = dlink->mavlinknode->vehicle.sys_status.onboard_control_sensors_present;
     //qDebug() << health << QString::number(health,16);
 
     // 0000 0000 0000 0000 0000 0000 0000 0000
@@ -1378,6 +1379,9 @@ void MainWindow::updateUI()//事件驱动式更新数据
     //qDebug() << getBit(0x00000001,0) << getBit(0x00000002,0);
     //0 ok,1 fail ,2 warn
 
+    toolsui->servosystem->setCheckState(5,(getBit(enable,8))?(1):(0));
+
+
     if(isCommunicationLost == false)
     {
 
@@ -1571,12 +1575,12 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
     //===================status ui =============================================
     statusui->setMode(1,mode_str,0);
-    statusui->setMode(2,1,2);
+    statusui->setMode(2,0,0);
 
     //========================
 
-    statusui->setState(1,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.alpha,'f',1),0);
-    statusui->setState(2,QString::number(dlink->mavlinknode->vehicle.emb_atom_com.beta,'f',1),0);
+    statusui->setState(1,QString::number(dlink->mavlinknode->vehicle.ins1.az,'f',1),0);
+    statusui->setState(2,QString::number(dlink->mavlinknode->vehicle.ins1.ay,'f',1),0);
 
     statusui->setState(3,QString::number(dlink->mavlinknode->vehicle.attitude.roll * 57.3,'f',1),
                          QString::number(dlink->mavlinknode->vehicle.nav_controller_output.nav_roll,'f',1));
diff --git a/MavLinkNode/Terminal.cpp b/MavLinkNode/Terminal.cpp
index 2475652..9381b3d 100644
--- a/MavLinkNode/Terminal.cpp
+++ b/MavLinkNode/Terminal.cpp
@@ -16,6 +16,7 @@ terminal::~terminal()
 
 void terminal::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     uint8_t count = 0;
     while (true)
     {
diff --git a/MavLinkNode/ThreadTemplet.cpp b/MavLinkNode/ThreadTemplet.cpp
index 949db78..b675f6a 100644
--- a/MavLinkNode/ThreadTemplet.cpp
+++ b/MavLinkNode/ThreadTemplet.cpp
@@ -99,7 +99,7 @@ void ThreadTemplet::process()//线程函数
     }
     */
 
-    stop();
+    //stop();
 }
 
 void ThreadTemplet::setGCSID(int m_sysid, int m_compid)
diff --git a/MavLinkNode/commandprocess.cpp b/MavLinkNode/commandprocess.cpp
index dfd1cd8..916f7d8 100644
--- a/MavLinkNode/commandprocess.cpp
+++ b/MavLinkNode/commandprocess.cpp
@@ -19,6 +19,7 @@ commandprocess::~commandprocess()
 
 void commandprocess::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     uint8_t count = 0;
 
      qDebug() << "command" << QThread::currentThreadId();
diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index 9afaef3..5d0ddcd 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -448,6 +448,7 @@ void MavLinkNode::CreateCSV(void)
 //这里一直在解码，一直检查双缓冲里面是否有数据，有就解码，没有就休息
 void MavLinkNode::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
         autopilot_version_csv.append("capabilities,flight_sw_version,middleware_sw_version,os_sw_version,board_version,uid,vendor_id,product_id,flight_custom_version[8],middleware_custom_version[8],os_custom_version[8],uid2[18]\n");
         sys_status_csv.append("present,enabled,health,load,voltage,current,remaining,drop_rate_comm,errors_comm,errors_count1,errors_count2,errors_count3,errors_count4\n");
         heartbeat_csv.append("type,autopilot,base_mode,custom_mode,system_status,mavlink\n");
diff --git a/MavLinkNode/missionprocess.cpp b/MavLinkNode/missionprocess.cpp
index a2b7c1f..a977107 100644
--- a/MavLinkNode/missionprocess.cpp
+++ b/MavLinkNode/missionprocess.cpp
@@ -15,6 +15,7 @@ MissionProcess::~MissionProcess()
 
 void MissionProcess::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     uint8_t count = 0;
     while (true)
     {
diff --git a/MavLinkNode/parameterprocess.cpp b/MavLinkNode/parameterprocess.cpp
index a4f85ce..b8a82b1 100644
--- a/MavLinkNode/parameterprocess.cpp
+++ b/MavLinkNode/parameterprocess.cpp
@@ -15,6 +15,7 @@ ParameterProcess::~ParameterProcess()
 
 void ParameterProcess::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     uint8_t count = 0;
     while (true)
     {
diff --git a/MavLinkNode/rcprocess.cpp b/MavLinkNode/rcprocess.cpp
index ec35217..deaff0d 100644
--- a/MavLinkNode/rcprocess.cpp
+++ b/MavLinkNode/rcprocess.cpp
@@ -36,6 +36,7 @@ rcprocess::~rcprocess()
 //这里一直在解码，一直检查双缓冲里面是否有数据，有就解码，没有就休息
 void rcprocess::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     uint64_t lastTime = 0;
     uint8_t count = 0;
     QByteArray datagram = nullptr;
diff --git a/MavLinkNode/replay.cpp b/MavLinkNode/replay.cpp
index bb64344..b0aa359 100644
--- a/MavLinkNode/replay.cpp
+++ b/MavLinkNode/replay.cpp
@@ -15,6 +15,7 @@ Replay::~Replay()
 
 void Replay::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     quint64 lastTimestamp = 0;
     quint64 currentTimestamp = 0;
 
diff --git a/MavLinkNode/rtkprocess.cpp b/MavLinkNode/rtkprocess.cpp
index f97d2d2..026eec9 100644
--- a/MavLinkNode/rtkprocess.cpp
+++ b/MavLinkNode/rtkprocess.cpp
@@ -12,6 +12,7 @@ rtkprocess::~rtkprocess()
 
 void rtkprocess::process()//线程函数
 {
+    QThread::msleep(5000);//5s后再发送
     uint64_t lastTime = 0;
     QByteArray datagram = nullptr;
 
diff --git a/MavLinkNode/statusprocess.cpp b/MavLinkNode/statusprocess.cpp
index 8551ef9..17eeb7c 100644
--- a/MavLinkNode/statusprocess.cpp
+++ b/MavLinkNode/statusprocess.cpp
@@ -21,6 +21,9 @@ void statusprocess::process()//线程函数
 {
     uint8_t count = 0;
     static int time = 0;
+
+    QThread::msleep(5000);//5s后再发送
+
     while (true)
     {
          count ++;
diff --git a/bin/include/debugheader.h b/bin/include/debugheader.h
index 7062371..d4590fb 100644
--- a/bin/include/debugheader.h
+++ b/bin/include/debugheader.h
@@ -1,8 +1,13 @@
 #ifndef DEBUGHEADER_H
 #define DEBUGHEADER_H
 
-// #define DEBUG_CORE
-// #define DEBUG_TILE
-// #define DEBUG_TILEMATRIX
+// #define DEBUG_MEMORY_CACHE
+// #define DEBUG_CACHE
+// #define DEBUG_GMAPS
+// #define DEBUG_PUREIMAGECACHE
+// #define DEBUG_TILECACHEQUEUE
+// #define DEBUG_URLFACTORY
+// #define DEBUG_MEMORY_CACHE
+// #define DEBUG_GetGeocoderFromCache
 
 #endif // DEBUGHEADER_H
diff --git a/bin/include/mathdefine.h b/bin/include/mathdefine.h
index d2b41f5..2bdb6f8 100644
--- a/bin/include/mathdefine.h
+++ b/bin/include/mathdefine.h
@@ -6,13 +6,6 @@
  
 #ifdef _USE_MATH_DEFINES
  
-#ifdef unix
-
-#else
-#ifdef __MINGW32__
-
-#else
-
 #define M_E        2.71828182845904523536
 #define M_LOG2E    1.44269504088896340736
 #define M_LOG10E   0.434294481903251827651
@@ -26,11 +19,7 @@
 #define M_2_SQRTPI 1.12837916709551257390
 #define M_SQRT2    1.41421356237309504880
 #define M_SQRT1_2  0.707106781186547524401
-#endif /* __MINGW32__ */
-#endif
-
-
-
+ 
 #endif  /* _USE_MATH_DEFINES */
 
 #endif /* END FILE */
diff --git a/bin/maps/Data.qmdb b/bin/maps/Data.qmdb
index 2eba402..362a751 100644
Binary files a/bin/maps/Data.qmdb and b/bin/maps/Data.qmdb differ
diff --git a/dlink/dlink.cpp b/dlink/dlink.cpp
index b3ce30e..50ff754 100644
--- a/dlink/dlink.cpp
+++ b/dlink/dlink.cpp
@@ -84,7 +84,7 @@ int DLink::SendMessageTo(quint8 ch, quint8 *msg, quint16 len)
             qint64 flag =  DLink::Clientsock->writeDatagram((const char *)msg,len,node.addr, node.port);
             if(flag  != -1)
             {
-               qDebug() << "send";
+               //qDebug() << "send";
             }
         }
     }