diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java
index d5d8f28..b773321 100644
--- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java
+++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java
@@ -231,6 +231,23 @@
 
     /**
      * 航路点任务-已校验
+     * 2A 帧头
+     * 2B 帧长度
+     * 03 帧类型
+     * 02 子类型
+     * 01 机器人ID
+     * 00 64 任务深度
+     * 04 航路点个数
+     * 4D A5 3B 06 经度1
+     * 0C 58 17 4F 纬度1
+     * 4C F2 38 5E 经度2
+     * 0C 5B 20 08 纬度2
+     * 4D AB 4C 78 经度3
+     * 0C 5E 28 C2 纬度3
+     * 4C F8 49 D1 经度4
+     * 0C 61 31 7B 纬度4
+     * A5 95 CRC16校验码
+     * 0A 帧尾
      */
     public static String decodeTaskRoute(byte[] bytes) {
         Map<String, Object> taskMap = new HashMap<>(3);
@@ -413,7 +430,7 @@
             point.setLng(covertLngLat(lngBytes));
 
             byte[] latBytes = new byte[4];
-            System.arraycopy(targetBytes, lngBytes.length, latBytes, 0, 4);
+            System.arraycopy(targetBytes, i + lngBytes.length, latBytes, 0, 4);
             point.setLat(covertLngLat(latBytes));
 
             pointList.add(point);
@@ -435,24 +452,24 @@
             point.setLng(covertLngLat(lngBytes));
 
             byte[] latBytes = new byte[4];
-            System.arraycopy(routeBytes, lngBytes.length, latBytes, 0, 4);
+            System.arraycopy(routeBytes, i + lngBytes.length, latBytes, 0, 4);
             point.setLat(covertLngLat(latBytes));
 
             byte[] depthBytes = new byte[2];
             System.arraycopy(routeBytes,
-                    lngBytes.length + latBytes.length,
+                    i + lngBytes.length + latBytes.length,
                     depthBytes, 0, 2);
             point.setDepth(covertDepth(depthBytes));
 
             byte[] pitchBytes = new byte[2];
             System.arraycopy(routeBytes,
-                    lngBytes.length + latBytes.length + depthBytes.length,
+                    i + lngBytes.length + latBytes.length + depthBytes.length,
                     pitchBytes, 0, 2);
             point.setPitchAngle(covertPitchAngle(pitchBytes));
 
             byte[] headingBytes = new byte[2];
             System.arraycopy(routeBytes,
-                    lngBytes.length + latBytes.length + depthBytes.length + pitchBytes.length,
+                    i + lngBytes.length + latBytes.length + depthBytes.length + pitchBytes.length,
                     headingBytes, 0, 2);
             point.setHeadingAngle(covertHeadingAngle(headingBytes));