diff --git a/test3_vel_gps_bat_head.py b/test3_vel_gps_bat_head.py
new file mode 100644
index 0000000..fc587a9
--- /dev/null
+++ b/test3_vel_gps_bat_head.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import asyncio
+from mavsdk import System
+from mavsdk.telemetry_server import (StatusText,StatusTextType,Battery,Position,VelocityNed, Heading,RawGps,GpsInfo,FixType)
+import random
+async def run():
+ 
+    drone = System(port=50053)
+    print("456")
+    
+    await drone.connect(system_address="udp://:14550")
+    print("123")
+    await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.ALERT,"Check"))
+
+
+    while True:
+
+        remaining_percent = random.uniform(0.0, 1.0)
+        voltage_v = random.uniform(0.0, 20.0)
+
+        latitude_deg = random.uniform(0.0, 50.0)
+        longitude_deg = random.uniform(0.0, 180.0)
+        absolute_altitude_m = random.uniform(0.0, 50.0)
+        relative_altitude_m = random.uniform(0.0, 50.0)
+        heading_deg = random.uniform(0.0, 360.0)
+        position = Position(latitude_deg, longitude_deg,absolute_altitude_m,relative_altitude_m)
+        velocity_ned = VelocityNed(north_m_s=0.0, east_m_s=0.0, down_m_s=0.0)
+        heading = Heading(heading_deg)
+        
+        raw_gps = RawGps(
+        timestamp_us=123456789, # 当前时间戳，以微秒为单位
+        latitude_deg=47.3977418, # 纬度
+        longitude_deg=8.5455934, # 经度
+        absolute_altitude_m=500, # 绝对海拔高度（米）
+        hdop=1.0, # 水平精度因子
+        vdop=1.0, # 垂直精度因子
+        velocity_m_s=random.uniform(0.0,50.0), # 速度（米/秒）
+        cog_deg=90.0, # 航向（度）
+        altitude_ellipsoid_m=510.0, # 大地水准面上的高度（米）
+        horizontal_uncertainty_m=1.000000000000, # 水平准确性（米）
+        vertical_uncertainty_m=1.00000000, 
+        velocity_uncertainty_m_s=0.0000000000000000 ,# 垂直准确性（米）
+        heading_uncertainty_deg=1.0000000, # 速度准确性（米/秒）
+        yaw_deg=180.5# 是否已定位的标志
+)
+        gps_info = GpsInfo(
+            num_satellites=10,  # 卫星数量
+            fix_type=FixType.RTK_FIXED  # GPS 修复类型
+        ) 
+        await drone.telemetry_server.publish_battery(Battery(voltage_v,remaining_percent))
+        await drone.telemetry_server.publish_position(position,velocity_ned,heading)
+        await drone.telemetry_server.publish_raw_gps(raw_gps,gps_info)
+        await asyncio.sleep(1)
+    
+        #print("remaining_percent: ",remaining_percent)
+if __name__ == "__main__":
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(run())
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