diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
index 53e84877..c24b20cf 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
@@ -4,10 +4,7 @@ import com.imdroid.common.util.DataTypeUtil;
 import com.imdroid.common.util.HexUtil;
 import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.client.BeidouClient;
-import com.imdroid.secapi.dto.GnssDevice;
-import com.imdroid.secapi.dto.GnssMsg;
-import com.imdroid.secapi.dto.GnssMsgMapper;
-import com.imdroid.secapi.dto.GnssStatus;
+import com.imdroid.secapi.dto.*;
 import com.imdroid.sideslope.message.D3F0SelfCheckMessage;
 import com.imdroid.sideslope.sal.Device;
 import com.imdroid.sideslope.sal.DeviceService;
@@ -104,8 +101,8 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         if(device.getModel() == GnssDevice.MODEL_G505 &&
                 device.getDeviceType() == Device.DEVICE_ROVER){
             // 连续6个周期无解，则发送 F9P 冷启动指令
-            if(device.getNoFixedAndFloatResult() >= 6){
-                //sendF9PColdStartCommand(device);
+            if((device.getWarningcode()&WarningCfg.TYPE_NO_FIXED_RESULT) !=0){
+                sendF9PColdStartCommand(device);
                 logger.info("{}: 连续{}次无固定解和浮点解，发送 F9P 冷启动指令",device.getDeviceId(), device.getNoFixedAndFloatResult());
                 device.clearNoResultStat();
             }
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
index cbf8c365..ad270ba0 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
@@ -74,6 +74,7 @@ public class Device {
     int fixedNum = 0;
     int floatNum = 0;
     LocalDateTime lastValidCalcDataTime; //最近一次有效解
+    int warningcode = 0;
 
     public void updateRx(int head, int bytes,int count){
         lastRxHead = head;
@@ -144,6 +145,7 @@ public class Device {
 
     public void clearNoResultStat(){
         noFixedAndFloatResult = 0;
+        warningcode = 0;
     }
 
 }
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
index d1a17424..2f6f4559 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
@@ -108,6 +108,7 @@ public class WarningServiceImpl implements WarningService {
             // 根据告警码确定告警级别
             status.setWarning(getWarningLevel(status.getWarningcode()));
             gnssStatusMapper.updateById(status);
+            device.setWarningcode(status.getWarningcode());
         }
     }
     /***
@@ -237,6 +238,10 @@ public class WarningServiceImpl implements WarningService {
         if(status != null) {
             boolean isUpdated = false;
             // 清除b562告警
+            if((status.getWarningcode() & WarningCfg.TYPE_CONT_INVALID_RESULT) !=0 ) {
+                status.setWarningcode(status.getWarningcode() & ~WarningCfg.TYPE_CONT_INVALID_RESULT);
+                isUpdated = true;
+            }
             if((status.getWarningcode() & WarningCfg.TYPE_NO_FIXED_RESULT) !=0 ) {
                 status.setWarningcode(status.getWarningcode() & ~WarningCfg.TYPE_NO_FIXED_RESULT);
                 isUpdated = true;
@@ -253,6 +258,7 @@ public class WarningServiceImpl implements WarningService {
             if(isUpdated) {
                 status.setWarning(getWarningLevel(status.getWarningcode()));
                 gnssStatusMapper.updateById(status);
+                device.setWarningcode(status.getWarningcode());
             }
         }
     }