diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp
index 535af79..2baf635 100644
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
@@ -669,6 +669,7 @@ class fu_node : public rclcpp::Node
         is_start = msg->is_start;
 
         LOG_INFO("[规划层消息回调] 目标点位置： x -- %.2f , y -- %.2f", pl_x_, pl_y_);
+        LOG_INFO("[规划层消息回调] pl_speed_： %d ", pl_speed_);
     }
 
     // ======== 绕障路点规划 ========
@@ -763,7 +764,7 @@ class fu_node : public rclcpp::Node
         auto now = system_clock::now();
         duration<double> time_since_last = now - last_rtk_time;
 
-        if (g_rtk.reliability != 0 && time_since_last <= rtk_timeout)
+        if (g_rtk.reliability == 1 && time_since_last <= rtk_timeout)
         {
             // RTK信号良好：使用绝对坐标判断
             double distance = ntzx_GPS_length(g_rtk.lon, g_rtk.lat, target.lon, target.lat);
@@ -934,7 +935,8 @@ class fu_node : public rclcpp::Node
         // 检查RTK信号
         auto rtk_now = system_clock::now();
         duration<double> time_since_last_rtk = rtk_now - last_rtk_time;
-        bool rtk_signal_good = (g_rtk.reliability != 0 && time_since_last_rtk <= rtk_timeout);
+        bool rtk_signal_good = (g_rtk.reliability == 1 && time_since_last_rtk <= rtk_timeout);
+        // LOG_INFO("rtk_signal_good ? %d",rtk_signal_good);
 
         // 状态3: 雷达数据超时，停车
         if (grid_age > 3.0)
@@ -1034,7 +1036,7 @@ class fu_node : public rclcpp::Node
             // 若之前处于WAITING状态，且现在没有障碍物且RTK信号良好，恢复到NORMAL状态
             auto now = system_clock::now();
             duration<double> time_since_last_rtk = now - last_rtk_time;
-            bool rtk_signal_good = (g_rtk.reliability != 0 && time_since_last_rtk <= rtk_timeout);
+            bool rtk_signal_good = (g_rtk.reliability == 1 && time_since_last_rtk <= rtk_timeout);
 
             if (state_machine_->getCurrentState() == StateMachine::WAITING &&
                 !state_machine_->obstacle_analysis.has_front_critical &&