diff --git a/App/MissionUI/propertyui.cpp b/App/MissionUI/propertyui.cpp
index 4a65eef..27212e3 100644
--- a/App/MissionUI/propertyui.cpp
+++ b/App/MissionUI/propertyui.cpp
@@ -116,6 +116,7 @@ propertyui::propertyui(QWidget *parent) :
     //ui->pushButton_2->hide();
 
     ui->pushButton_Group->setText("1");
+    m_mission_type = 3;
     emit WPGroup(m_mission_type);
     //载入json
 
@@ -192,7 +193,7 @@ void propertyui::rebuildUI(QString CMD)
 
     //重新载入UI
 
-    ui->pushButton_Group->setText(QString::number(m_mission_type));
+    //ui->pushButton_Group->setText(QString::number(m_mission_type - 2));
 
     ui->pushButton_Seq->setText(QString::number(m_seq));
     ui->label_Descript->setText(description());
@@ -604,9 +605,9 @@ void propertyui::WayPointPropertyUpdate(bool flag)
 
 
     //设置missiontype
-    m_mission_type = ui->pushButton_Group->text().toInt() + 2;
+    missionGroups = ui->pushButton_Group->text().toInt() + 2;
 
-    qDebug() << "m_misstiontype" << m_mission_type;
+    qDebug() << "m_misstiontype" << missionGroups;
     //设置高度
     m_z = ui->pushButton_Alt->text().toDouble();
 
@@ -1915,13 +1916,13 @@ void propertyui::on_pushButton_Save_clicked()
 
 void propertyui::on_pushButton_Upload_clicked()
 {
-    emit WPGroup(m_mission_type);
+    //emit WPGroup(missionGroups);
     emit WPUpload();
 }
 
 void propertyui::on_pushButton_Download_clicked()
 {
-    emit WPGroup(m_mission_type);
+    //emit WPGroup(missionGroups);
     emit WPDownload();
 }
 
@@ -1955,7 +1956,7 @@ void propertyui::setGroup(QVariant value)
     //然后重置一下参数
     WayPointPropertyUpdate(false);
 
-    emit WPGroup(m_mission_type);
+    emit WPGroup(missionGroups);
 
 }
 
@@ -1971,7 +1972,7 @@ void propertyui::on_pushButton_Group_clicked()
     list.append("3");
     list.append("4");
 
-    selector->setList(list,ui->pushButton_friendlyName->text());
+    selector->setList(list,ui->pushButton_Group->text());
 
     connect(selector,SIGNAL(confirmValue(QVariant)),
             this,SLOT(setGroup(QVariant)));
diff --git a/App/MissionUI/propertyui.h b/App/MissionUI/propertyui.h
index b76028d..396ff8e 100644
--- a/App/MissionUI/propertyui.h
+++ b/App/MissionUI/propertyui.h
@@ -404,6 +404,8 @@ private:
     QString param6_type = "QLineEdit";
     QString param7_type = "QLineEdit";
 
+    int missionGroups = 3;
+
 
     QMap<int,QVector<QString>> allPoint;//所有航点
 
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index 2f5b449..7cef402 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -243,6 +243,13 @@ MainWindow::MainWindow(QWidget *parent)
     connect(map,SIGNAL(TotalDistanceUpdate(double)),
             this,SLOT(TotalDistance(double)));
 
+
+
+    connect(this,SIGNAL(currentGroup(int)),
+            map,SLOT(groupchanged(int))),
+
+
+
     //tools ----- map
     connect(dlink->mavlinknode,SIGNAL(recievemsg(mavlink_message_t)),
             toolsui->index0->mavlinkinspector,SLOT(receiveMessage(mavlink_message_t)));
@@ -381,6 +388,8 @@ MainWindow::MainWindow(QWidget *parent)
 
 
 
+
+
     connect(map,SIGNAL(allPoint(QMap<int,int>)),
             missionUI,SLOT(setallPoint(QMap<int,int>)));
 
@@ -804,6 +813,7 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
         commandUI->show();
         //statusui->show();
         healthui->show();
+
     }
     else
     {
@@ -835,6 +845,14 @@ void MainWindow::onTabIndexChanged(const int &index)//界面选择管理
             statusui->hide();
             healthui->show();
         }
+
+        //发生界面切换，检查一下航线
+        qDebug() <<  "zubie" << map->currentGroup << group;
+        if(map->currentGroup != group)
+        {
+            emit currentGroup(group + 2);
+        }
+
     }
     else
     {
@@ -1574,6 +1592,22 @@ void MainWindow::updateUI()//事件驱动式更新数据
         healthui->setValueState(35,getBit(enable,7)?(tr("安控区内")):(tr("安控区外")));//sel
 
 
+
+        //get 9-10
+
+        //得到航线组数，数据为1，2，3，4
+        group = (int)(getBit(enable,11) << 2) | (int)(getBit(enable,10) << 1) | (int)(getBit(enable,9));
+
+        if(group_old != group)//有变化的时候就发出去
+        {
+            emit currentGroup(group + 2);
+            //qDebug() << "group change" << group;
+
+            showMessage(tr("mission group has changed, current group is %1").arg(group));
+        }
+
+        group_old = group;
+
     }
 
 
diff --git a/App/mainwindow.h b/App/mainwindow.h
index 41a7a3a..237d6bb 100644
--- a/App/mainwindow.h
+++ b/App/mainwindow.h
@@ -117,6 +117,10 @@ signals:
 
 protected:
 
+
+    int group_old;
+    int group;
+
     int MainIndex = 0;
 
     Config *config = nullptr;
diff --git a/MavLinkNode/missionprocess.cpp b/MavLinkNode/missionprocess.cpp
index 12a08f2..30680f0 100644
--- a/MavLinkNode/missionprocess.cpp
+++ b/MavLinkNode/missionprocess.cpp
@@ -59,7 +59,7 @@ void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,int m_group)
         mission_status.m_Mode = RecieveMode;//接收模式
 
         mission_status.recieve.group = m_group;
-        qDebug() << "read mission" << sysid << compid;
+        qDebug() << "read mission" << sysid << compid << m_group;
 
     }
 }
@@ -73,7 +73,7 @@ void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count
         mission_status.transmit.group = m_group;
         mission_status.m_Mode = TransmitMode;//发送模式
 
-        qDebug() << "write mission" << sysid << compid;
+        qDebug() << "write mission" << m_sysid << m_compid << m_group;
     }
 }
 
@@ -125,8 +125,8 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
 
     items.insert(item.seq,item);
 
-    /*
 
+/*
     foreach (mapcontrol::WayPointItem::_property item, items) {
         qDebug() << "Mission Thread: transmit seq"
                  << item.seq
@@ -147,8 +147,8 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
                  << item.autocontinue
                  << item.mission_type;
     }
+*/
 
-    */
 
 
 }
@@ -171,7 +171,7 @@ void MissionProcess::Parse(mavlink_message_t msg)
     case MAVLINK_MSG_ID_MISSION_REQUEST_INT: {
        mavlink_msg_mission_request_int_decode(&msg,&mission_request_int);
 
-       qDebug() << "recieve mission_request_int ";
+       qDebug() << "recieve mission_request_int " << "mision type" << mission_request_int.mission_type;
        mission_item_int.seq ++;
 
        emit sendItemOK(mission_item_int.seq,true);
@@ -180,7 +180,7 @@ void MissionProcess::Parse(mavlink_message_t msg)
     case MAVLINK_MSG_ID_MISSION_REQUEST: {
        mavlink_msg_mission_request_decode(&msg,&mission_request);
 
-       qDebug() << "recieve mission_request ";
+       qDebug() << "recieve mission_request " << "mission type" << mission_request.mission_type;
 
        mission_item_int.seq ++;
 
@@ -209,6 +209,8 @@ void MissionProcess::Parse(mavlink_message_t msg)
                            mission_item_int.autocontinue,
                            mission_item_int.mission_type);
 
+       qDebug() << "recieve mission type" << mission_item_int.mission_type;
+
        mission_status.recieve.isWaitingforItem = false;//已经收到航点，不用再等待
     }break;
     case MAVLINK_MSG_ID_MISSION_ITEM: {
@@ -283,10 +285,23 @@ void MissionProcess::ReadStateMachine(void)
               qDebug() << "mission count reccieved";
               timeout_count = 0;
 
-              request_int(0,mission_status.recieve.group);//读取0点
-              time = QTime::currentTime().msecsSinceStartOfDay();
-              mission_status.recieve.isWaitingforItem = true;
-              step ++;
+              if(mission_count.count > 0)
+              {
+                  request_int(0,mission_status.recieve.group);//读取0点
+                  time = QTime::currentTime().msecsSinceStartOfDay();
+                  mission_status.recieve.isWaitingforItem = true;
+                  step ++;
+
+                  qDebug() << "group" << mission_status.recieve.group;
+              }
+              else
+              {
+                  step = 0;
+                  mission_status.m_Mode = Nop_Mode;//切换到什么都不做
+                  timeout_count = 0;
+                  qDebug() << "no mission to read";
+                  emit showMessage(tr("this mission group is empty"));
+              }
            }
        }
 
@@ -468,7 +483,8 @@ void MissionProcess::WriteStateMachine(void)
                            << i.x
                            << i.y
                            << i.z
-                           << i.seq;
+                           << i.seq
+                           << i.mission_type;
 
 
 
diff --git a/bin/Config/config.json b/bin/Config/config.json
index 1cd4ae6..38f109d 100644
--- a/bin/Config/config.json
+++ b/bin/Config/config.json
@@ -56,7 +56,7 @@
         "Beep": true
     },
     "commandfile": {
-        "path": "D:/2_Work/13_KB3/gcs_nf/bin/commands/KB3_FlightCommand(FCmode_gz)210722.json"
+        "path": "D:/2_Work/13_KB3/gcs_nf/bin/commands/KB3_FlightCommand(FCmode_gz)_20220409_hm.json"
     },
     "数据链": {
         "auto": true,
diff --git a/bin/include/opmapwidget.h b/bin/include/opmapwidget.h
index 20222a3..e7f252b 100644
--- a/bin/include/opmapwidget.h
+++ b/bin/include/opmapwidget.h
@@ -397,6 +397,8 @@ public:
     int currentGroup = 0;//编辑情况
     int currentMissionType = 0;
 
+    QMap<int,QMap<int,WayPointItem *>> waypointgroups;//group index point
+
 
     void SetShowUAV(bool const & value);
     bool ShowUAV() const
@@ -459,7 +461,7 @@ public:
     }
 
 
-    QMap<int,WayPointItem *> waypointgroups;
+
 
 private:
     internals::Core *core;
@@ -630,6 +632,9 @@ signals:
 
 public slots:
 
+    void groupchanged(int value);
+
+
     void find_PointNumber();
 
     void updateMessage(void);
diff --git a/bin/maps/Data.qmdb b/bin/maps/Data.qmdb
index 0cd7dd6..d6f2b66 100644
Binary files a/bin/maps/Data.qmdb and b/bin/maps/Data.qmdb differ
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index eca9358..0b6e869 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -804,6 +804,7 @@ WayPointItem *OPMapWidget::WPCreate()
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     return item;
@@ -814,12 +815,14 @@ WayPointItem *OPMapWidget::magicWPCreate()
 
     item->SetShowNumber(false);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     return item;
 }
 void OPMapWidget::WPCreate(WayPointItem *item)
 {
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -830,6 +833,7 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -841,6 +845,7 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -852,6 +857,7 @@ WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, co
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -917,6 +923,7 @@ void OPMapWidget::WPInsert()
         ConnectWP(item);
         item->SetNumber(position);
         item->setParentItem(map);
+        item->SetMissionType(currentGroup);
         setOverlayOpacity(overlayOpacity);
 
         setSelectedWP(item);
@@ -988,6 +995,7 @@ void OPMapWidget::WPInsert(WayPointItem *item, const int &position)
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     setOverlayOpacity(overlayOpacity);
 }
@@ -998,6 +1006,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     setOverlayOpacity(overlayOpacity);
     return item;
@@ -1017,6 +1026,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     if (reloc) {
         emit WPValuesChanged(item);
@@ -1031,6 +1041,7 @@ WayPointItem *OPMapWidget::WPInsert(distBearingAltitude const & relative, QStrin
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     setOverlayOpacity(overlayOpacity);
     return item;
@@ -2000,23 +2011,6 @@ void OPMapWidget::WPUpload(void)
          }
      }
 
-
-
-
-
-     /*
-     foreach(QGraphicsItem * i, map->childItems()) {
-         WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
-         if (l) {
-             l->setVisible(false);
-         }
-     }
-     */
-
-
-     //qDebug() << "WPUpload" << list.size();
-
-
      if(list.size() <= 0)
      {
          emit showMessage("请先载入任务航线");
@@ -2046,17 +2040,107 @@ void OPMapWidget::WPUpload(void)
      }
 }
 
+
+void OPMapWidget::groupchanged(int value)
+{
+    //如果当前是在飞行界面，那么就下载，否则不动
+
+    if(isWPCreate == true)//编辑界面
+    {
+
+    }
+    else//飞行界面
+    {
+        WPDeleteAll();
+
+        int sysid = 0;
+        int compid = 0;
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+            if (u) {
+                if(u->Select() == true)
+                {
+                    sysid = u->SysID();
+                    compid = u->CompID();
+
+                    emit signal_WPDownload(sysid,compid,value);
+                }
+            }
+        }
+
+    }
+
+
+    update();
+}
+
 void OPMapWidget::WPGroup(int value)
 {
     currentGroup = value;
 
-    qDebug() << "group" << value;
+    qDebug() << "group checkout" << value;
 
-    //切换当前航线，显示当前航线，其他都隐藏，或者高亮当前
+    //切换当前航线，其他都隐藏，或者高亮当前
+
+    /*
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+        if (w) {
+
+            if(w->MissionType() != currentGroup)
+            {
+                w->setVisible(false);
+            }
+            else
+            {
+                w->setVisible(true);
+            }
+        }
+    }
 
 
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
+        if (l) {
+
+            if(l->MissionType() != currentGroup)
+            {
+                l->setVisible(false);
+            }
+        }
+    }
+    */
+
+    //按照当前的组生成新的航点和航线
+    /*
+    WPDeleteAll();
+
+    QMap<int,WayPointItem *> group;
+
+    group = waypointgroups.value(currentGroup);
+    */
 
 
+    WPDeleteAll();
+
+    int sysid = 0;
+    int compid = 0;
+
+    foreach(QGraphicsItem * i, map->childItems()) {
+        UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+        if (u) {
+            if(u->Select() == true)
+            {
+                sysid = u->SysID();
+                compid = u->CompID();
+
+                emit signal_WPDownload(sysid,compid,currentGroup);
+            }
+        }
+    }
+
+    update();
 
 }
 
diff --git a/opmap/mapwidget/opmapwidget.h b/opmap/mapwidget/opmapwidget.h
index 3aaac91..cf70bfb 100644
--- a/opmap/mapwidget/opmapwidget.h
+++ b/opmap/mapwidget/opmapwidget.h
@@ -397,6 +397,8 @@ public:
     int currentGroup = 0;//编辑情况
     int currentMissionType = 0;
 
+    QMap<int,QMap<int,WayPointItem *>> waypointgroups;//group index point
+
 
     void SetShowUAV(bool const & value);
     bool ShowUAV() const
@@ -459,7 +461,7 @@ public:
     }
 
 
-    QMap<int,WayPointItem *> waypointgroups;
+
 
 private:
     internals::Core *core;
@@ -630,6 +632,9 @@ signals:
 
 public slots:
 
+    void groupchanged(int value);
+
+
     void find_PointNumber();
 
     void updateMessage(void);
diff --git a/opmap/mapwidget/waypointitem.cpp b/opmap/mapwidget/waypointitem.cpp
index f26fae1..1d2459d 100644
--- a/opmap/mapwidget/waypointitem.cpp
+++ b/opmap/mapwidget/waypointitem.cpp
@@ -774,14 +774,14 @@ void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
     property.y = lng * 10e6;
     property.z = alt;
     property.seq = seq;
-    property.group = 0;
+    property.group = 3;
     property.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;
     property.target_system = 0;
     property.target_component = 0;
     property.frame = MAV_FRAME::MAV_FRAME_GLOBAL;
     property.current = 0;
     property.autocontinue = true;
-    property.mission_type = 0;
+    property.mission_type = 3;
 
     if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
     {