diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D350TestMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D350TestMessageExecutor.java
new file mode 100644
index 00000000..83e6c6e5
--- /dev/null
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D350TestMessageExecutor.java
@@ -0,0 +1,38 @@
+package com.imdroid.sideslope.executor;
+
+import com.imdroid.secapi.client.BeidouClient;
+import com.imdroid.sideslope.message.D350TestMessage;
+import com.imdroid.sideslope.sal.DeviceService;
+import com.imdroid.sideslope.service.DataPersistService;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:40
+ */
+@Component
+public class D350TestMessageExecutor implements Executor<D350TestMessage, Void> {
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    @Override
+    public Void execute(D350TestMessage message) {
+        if (logger.isDebugEnabled()) {
+            logger.debug("device {} max acc in 1s: x={},y={},z={}",message.getId(),
+                    message.getAccX(),message.getAccY(),message.getAccZ());
+        }
+
+
+        return null;
+    }
+
+
+    @Override
+    public Class<?> getMessageType() {
+        return D350TestMessage.class;
+    }
+}
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/MessageParser.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/MessageParser.java
index 4a8e03ed..912fb614 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/MessageParser.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/MessageParser.java
@@ -34,6 +34,7 @@ public class MessageParser {
         types.put((short)0xd312, D31xConfigAckMessage.class);//单片机通用参数配置应答
         types.put((short)0xd313, D31xConfigAckMessage.class);//单片机DEBUG应答
         types.put((short)0xd31A, D31xConfigAckMessage.class);//DTU配置应答
+        types.put((short)0xd350, D350TestMessage.class);//DTU配置应答
     }
 
 
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D350TestMessage.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D350TestMessage.java
new file mode 100644
index 00000000..1e492185
--- /dev/null
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D350TestMessage.java
@@ -0,0 +1,27 @@
+package com.imdroid.sideslope.message;
+
+import com.imdroid.sideslope.bd.Gga;
+import com.imdroid.sideslope.bd.Tilt;
+import com.imdroid.sideslope.bd.UBXUtil;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:50
+ */
+@Data
+@EqualsAndHashCode(callSuper=true)
+public class D350TestMessage extends BaseMessage {
+    double accX;
+    double accY;
+    double accZ;
+    Gga gga;
+    @Override
+    public void decodeBody(ByteBuf src) {
+        accX = src.readFloat();
+        accY = src.readFloat();
+        accZ = src.readFloat();
+    }
+}
diff --git a/sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssCalcDataController.java b/sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssCalcDataController.java
index 7ddb432f..b9f1b892 100644
--- a/sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssCalcDataController.java
+++ b/sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssCalcDataController.java
@@ -82,7 +82,7 @@ public class GnssCalcDataController extends BasicController implements CommonExc
     public void checkSearchParams(JSONObject search){
         if(search != null) {
             String parentId = search.getString("sl_d.parentid");
-            isJoinQuery = (parentId != null && !parentId.isBlank());
+            isJoinQuery = (parentId != null && !parentId.isEmpty());
         }
         else isJoinQuery=false;
     }