diff --git a/src/pPowerManger/fsm/PowerManagerFsm.cpp b/src/pPowerManger/fsm/PowerManagerFsm.cpp
index 894f64d..991fdbc 100644
--- a/src/pPowerManger/fsm/PowerManagerFsm.cpp
+++ b/src/pPowerManger/fsm/PowerManagerFsm.cpp
@@ -138,6 +138,21 @@ void PowerManagerFsm::handleCuriseWork()
         MOOSPause(3);
         pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
     }
+    //2.6 艉部舵机
+    if(pm->m_currentDriverState.sternRudderServo1 != 1 || 
+        pm->m_currentDriverState.sternRudderServo2 != 1 ||
+        pm->m_currentDriverState.sternRudderServo3!= 1 ||
+        pm->m_currentDriverState.sternRudderServo4 != 1)
+    {
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+        pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
+        pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
+        pm->m_upperCommManager->processPeriodicTasks();
+        pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);        
+    }
 }
 
 void PowerManagerFsm::handleNoPowerDeviceCmd(int id , int cmd){
@@ -178,7 +193,6 @@ void PowerManagerFsm::handleBowRudderSystemCmd(int id, int cmd){
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
                 // pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo2, (unsigned char)cmd);
@@ -189,7 +203,6 @@ void PowerManagerFsm::handleBowRudderSystemCmd(int id, int cmd){
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
                 // pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo2, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
             }
         }
@@ -200,13 +213,11 @@ void PowerManagerFsm::handleBowRudderSystemCmd(int id, int cmd){
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -242,7 +253,6 @@ void PowerManagerFsm::handleActuatorCmd(int id, int cmd){
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
@@ -259,7 +269,6 @@ void PowerManagerFsm::handleActuatorCmd(int id, int cmd){
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(3);
                 pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
             }
         }
@@ -270,13 +279,11 @@ void PowerManagerFsm::handleActuatorCmd(int id, int cmd){
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -317,7 +324,6 @@ void PowerManagerFsm::handleOpenWaterCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
@@ -338,7 +344,6 @@ void PowerManagerFsm::handleOpenWaterCmd(int id, int cmd)
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
             }
         }
@@ -349,13 +354,11 @@ void PowerManagerFsm::handleOpenWaterCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -389,7 +392,6 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
@@ -399,7 +401,6 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
             }
         }
@@ -410,13 +411,11 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -447,7 +446,6 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
@@ -457,7 +455,6 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);
             }
         }
@@ -468,13 +465,11 @@ void PowerManagerFsm::handleSternRudderCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -507,14 +502,12 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             } else if(cmd == EquipmentCommand::ON)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::thruster, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
             }
         }
@@ -525,13 +518,11 @@ void PowerManagerFsm::handlePropulsionMotorCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -566,7 +557,6 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust1, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
@@ -577,7 +567,6 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust2, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust3, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();                
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
             }
         }
@@ -588,13 +577,11 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_bowFTDevice123Circuit_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -625,7 +612,6 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
@@ -634,7 +620,6 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust4, (unsigned char)cmd);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyancyAdjust5, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
             }
         }
@@ -645,13 +630,11 @@ void PowerManagerFsm::handleBuoyancyAdjustmentCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_sternFt45_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -685,12 +668,10 @@ void PowerManagerFsm::handleFBSystemCmd(int id, int cmd)
             {
                 pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(0);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyage, (unsigned char)cmd);
             } else if(cmd == EquipmentCommand::ON)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::buoyage, (unsigned char)cmd);
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(1);
                 pm->m_upperCommManager->processPeriodicTasks();
             }            
@@ -702,13 +683,11 @@ void PowerManagerFsm::handleFBSystemCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HV_fbReserved_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
@@ -807,14 +786,12 @@ void PowerManagerFsm::handleMastFoldingSystemCmd(int id, int cmd)
             if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
-                MOOSPause(10);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             } else if(cmd == EquipmentCommand::ON)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(10);
                 pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
             }
         }
@@ -825,13 +802,11 @@ void PowerManagerFsm::handleMastFoldingSystemCmd(int id, int cmd)
             {
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
-                MOOSPause(5);
                 pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(1);
             }
             else if(cmd == EquipmentCommand::OFF)
             {
                 pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
-                MOOSPause(5);
                 pm->m_driver.setDeviceState(pm->m_subDisSysCmd, static_cast<DeviceId::Type>(id), (unsigned char)cmd);
                 pm->m_upperCommManager->processPeriodicTasks();
             }
diff --git a/src/pPowerManger/fsm/ShoreBasedReady.cpp b/src/pPowerManger/fsm/ShoreBasedReady.cpp
index 82093bf..8b8648c 100644
--- a/src/pPowerManger/fsm/ShoreBasedReady.cpp
+++ b/src/pPowerManger/fsm/ShoreBasedReady.cpp
@@ -27,6 +27,15 @@ void ShoreBasedReady::entry() {
     MOOSPause(3);
     //2.  启动动力电设备 
     unsigned char cmd = 1;
+    //2.0 艉舵
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo1, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo2, (unsigned char)cmd);
+    pm->m_upperCommManager->processPeriodicTasks();
+    pm->m_lowerCommManager->operate_HV_sternRudder1_Breaker(1);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo3, (unsigned char)cmd);
+    pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::sternRudderServo4, (unsigned char)cmd);
+    pm->m_upperCommManager->processPeriodicTasks();
+    pm->m_lowerCommManager->operate_HV_sternRudder2_Breaker(1);
     //2.1 启闭机构
     pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
     pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);