diff --git a/EF3Lite/hal_gps_wrapper.c b/EF3Lite/hal_gps_wrapper.c
index 3663171..023d383 100644
--- a/EF3Lite/hal_gps_wrapper.c
+++ b/EF3Lite/hal_gps_wrapper.c
@@ -152,6 +152,8 @@ void hal_gps_Outputs_wrapper(HAL_GPS_SI_t *gps,
 {
 /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
 ErrorCode[0] = -1;
+	uint8_T gps_id;
+	int cnt;
   switch (id[0])
   {
   case 0:    //普通GPS通过id[0]来区分index
@@ -160,16 +162,34 @@ ErrorCode[0] = -1;
     if (gps_inited[id[0]])
     {
 #ifdef HAL_IMPL
+			gps_id = id[0];
+			cnt = 0;
+			while (cnt < 3 && gps_info.gps_info_s[gps_id].ExternJudge != GPS_JUDGE_OK)
+			{
+				if (gps_id == 0)
+				{
+					gps_id = 1;
+				}
+				else if (gps_id == 1)
+				{
+					gps_id = 2;
+				}
+				else if (gps_id == 2)
+				{
+				  gps_id = 0;
+				}
+				++cnt;
+			}
         // TODO read pressure
-        gps->latitude = gps_info.gps_info_s[id[0]].LatDeg;  ///< Unit is degree
-        gps->longitude = gps_info.gps_info_s[id[0]].LonDeg;  ///< Unit is degree
-        gps->altitude = gps_info.gps_info_s[id[0]].height;  ///< aititude from MSL, Unit is meter
+        gps->latitude = gps_info.gps_info_s[gps_id].LatDeg;  ///< Unit is degree
+        gps->longitude = gps_info.gps_info_s[gps_id].LonDeg;  ///< Unit is degree
+        gps->altitude = gps_info.gps_info_s[gps_id].height;  ///< aititude from MSL, Unit is meter
 
-        gps->vel_north = gps_info.gps_info_s[id[0]].VelNorth;  ///< Unit is meter per second, in NED axes
-        gps->vel_east = gps_info.gps_info_s[id[0]].VelEast;  ///< Unit is meter per second, in NED axes
-        gps->vel_down = gps_info.gps_info_s[id[0]].VelDown;  ///< Unit is meter per second, in NED axes
+        gps->vel_north = gps_info.gps_info_s[gps_id].VelNorth;  ///< Unit is meter per second, in NED axes
+        gps->vel_east = gps_info.gps_info_s[gps_id].VelEast;  ///< Unit is meter per second, in NED axes
+        gps->vel_down = gps_info.gps_info_s[gps_id].VelDown;  ///< Unit is meter per second, in NED axes
 
-        gps->heading = gps_info.gps_info_s[id[0]].HeadingMotionDeg * D2R;  ///< Unit is radian, valid when fixtype_att>1
+        gps->heading = gps_info.gps_info_s[gps_id].HeadingMotionDeg * D2R;  ///< Unit is radian, valid when fixtype_att>1
         gps->pitch = 0;  ///< Unit is radian, valid when fixtype_att>1
 
         /**  待确定
@@ -179,25 +199,27 @@ ErrorCode[0] = -1;
         float att_acc;    ///< Unit is radian,  attitude uncertainty when fixtype_att>1
         */
         
-        SecondFromUTC = GetMilSecondTime(gps_info.gps_info_s[id[0]].year, gps_info.gps_info_s[id[0]].month, gps_info.gps_info_s[id[0]].day,
-                                    gps_info.gps_info_s[id[0]].hour, gps_info.gps_info_s[id[0]].min, gps_info.gps_info_s[id[0]].isec);
-        gps->TOW = (SecondFromUTC % SECOND_OF_WEEK)*1000 + gps_info.gps_info_s[id[0]].msec;  ///< Unit is millisecond, Time of Week
+        SecondFromUTC = GetMilSecondTime(gps_info.gps_info_s[gps_id].year, gps_info.gps_info_s[gps_id].month, gps_info.gps_info_s[gps_id].day,
+                                    gps_info.gps_info_s[gps_id].hour, gps_info.gps_info_s[gps_id].min, gps_info.gps_info_s[gps_id].isec);
+        gps->TOW = (SecondFromUTC % SECOND_OF_WEEK)*1000 + gps_info.gps_info_s[gps_id].msec;  ///< Unit is millisecond, Time of Week
         gps->WN = SecondFromUTC / SECOND_OF_WEEK;  ///< Week Number of GPS
         gps->seq  = g_gps_seq;
         gps->seq_att = g_gps_seq;
-        gps->HDOP = gps_info.gps_info_s[id[0]].pdop*100;  //RTK传过来的只有pdop
-        gps->VDOP = gps_info.gps_info_s[id[0]].pdop*100;  //RTK传过来的只有pdop
-        gps->fixtype = gps_info.gps_info_s[id[0]].FixType;
+        gps->HDOP = gps_info.gps_info_s[gps_id].pdop*100;  //RTK传过来的只有pdop
+        gps->VDOP = gps_info.gps_info_s[gps_id].pdop*100;  //RTK传过来的只有pdop
+        gps->fixtype = gps_info.gps_info_s[gps_id].FixType;
         gps->fixtype_att = 0;  //普通GPS没意义 赋值0
-        gps->satnum = gps_info.gps_info_s[id[0]].SvNum;
+        gps->satnum = gps_info.gps_info_s[gps_id].SvNum;
 
 
         ErrorCode[0] = 0;
 #endif
     }
     else
+		{
+			initialize_gps(id[0]);
         ErrorCode[0] = 1;
-
+		}
     break;
 
   case 4:
@@ -240,7 +262,10 @@ ErrorCode[0] = -1;
           ErrorCode[0] = 0;
       }
       else
+			{
+			initialize_gps(id[0]);
           ErrorCode[0] = 1;
+			}
 #endif
     }
     break;