diff --git a/App/GCS_zh_CN.qm b/App/GCS_zh_CN.qm
index 935b486..d055500 100644
Binary files a/App/GCS_zh_CN.qm and b/App/GCS_zh_CN.qm differ
diff --git a/App/GCS_zh_CN.ts b/App/GCS_zh_CN.ts
index 1398b2c..fb1928e 100644
--- a/App/GCS_zh_CN.ts
+++ b/App/GCS_zh_CN.ts
@@ -2127,36 +2127,36 @@
         <translation type="vanished">参数</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="894"/>
-        <location filename="mainwindow.cpp" line="895"/>
+        <location filename="mainwindow.cpp" line="897"/>
+        <location filename="mainwindow.cpp" line="898"/>
         <source>Communication Lost</source>
         <translation>通讯丢失</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="949"/>
-        <location filename="mainwindow.cpp" line="950"/>
+        <location filename="mainwindow.cpp" line="952"/>
+        <location filename="mainwindow.cpp" line="953"/>
         <source>Communication Regain</source>
         <translation>通讯已恢复</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="961"/>
+        <location filename="mainwindow.cpp" line="964"/>
         <source>R:%1 / T:%2</source>
         <translation>收：%1/发：%2</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1094"/>
-        <location filename="mainwindow.cpp" line="2099"/>
-        <location filename="mainwindow.cpp" line="2282"/>
+        <location filename="mainwindow.cpp" line="1104"/>
+        <location filename="mainwindow.cpp" line="2127"/>
+        <location filename="mainwindow.cpp" line="2310"/>
         <source>未定位</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1098"/>
+        <location filename="mainwindow.cpp" line="1108"/>
         <source>%1D[%2颗]</source>
         <translation>%1D[%2颗]</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1101"/>
+        <location filename="mainwindow.cpp" line="1111"/>
         <source>fix[%1颗]</source>
         <oldsource>%1D Fix</oldsource>
         <translation>差分[%1颗]</translation>
@@ -2174,435 +2174,414 @@
         <translation type="vanished">GPS错误</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1104"/>
+        <location filename="mainwindow.cpp" line="1114"/>
         <source>float[%1颗]</source>
         <translation>浮点[%1颗]</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1107"/>
+        <location filename="mainwindow.cpp" line="1117"/>
         <source>err[%1颗]</source>
         <translation>错误[%1颗]</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1160"/>
+        <location filename="mainwindow.cpp" line="1170"/>
         <source>ARM</source>
         <translation>解锁</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1165"/>
+        <location filename="mainwindow.cpp" line="1175"/>
         <source>DISARM</source>
         <translation>上锁</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1188"/>
+        <location filename="mainwindow.cpp" line="1198"/>
         <source>MANUAL</source>
         <translation>手动</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1191"/>
+        <location filename="mainwindow.cpp" line="1201"/>
         <source>ALTCTL</source>
         <translation>定高</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1194"/>
+        <location filename="mainwindow.cpp" line="1204"/>
         <source>POSCTL</source>
         <translation>定点</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1197"/>
+        <location filename="mainwindow.cpp" line="1207"/>
         <source>AUTO</source>
         <translation>自主</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1200"/>
+        <location filename="mainwindow.cpp" line="1210"/>
         <source>ACRO</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1203"/>
+        <location filename="mainwindow.cpp" line="1213"/>
         <source>OFFBOARD</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1206"/>
+        <location filename="mainwindow.cpp" line="1216"/>
         <source>STABILIZED</source>
         <translation>增稳</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1209"/>
+        <location filename="mainwindow.cpp" line="1219"/>
         <source>RATTITUDE</source>
         <translation>速率</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1212"/>
+        <location filename="mainwindow.cpp" line="1222"/>
         <source>STANDBY</source>
         <translation>待机</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1215"/>
+        <location filename="mainwindow.cpp" line="1225"/>
         <source>BIT</source>
         <translation>测试</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1218"/>
+        <location filename="mainwindow.cpp" line="1228"/>
         <source>AUTO_READY</source>
         <translation>就绪</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1221"/>
+        <location filename="mainwindow.cpp" line="1231"/>
         <source>AUTO_TAKEOFF</source>
         <translation>起飞</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1224"/>
+        <location filename="mainwindow.cpp" line="1234"/>
         <source>AUTO_LOITER</source>
         <translation>盘旋</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1227"/>
+        <location filename="mainwindow.cpp" line="1237"/>
         <source>AUTO_MISSION</source>
         <translation>任务</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1230"/>
+        <location filename="mainwindow.cpp" line="1240"/>
         <source>AUTO_RTL</source>
         <translation>返航</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1233"/>
+        <location filename="mainwindow.cpp" line="1243"/>
         <source>AUTO_LAND</source>
         <translation>着陆</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1236"/>
+        <location filename="mainwindow.cpp" line="1246"/>
         <source>AUTO_RTGS</source>
         <translation>RTGS</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1239"/>
+        <location filename="mainwindow.cpp" line="1249"/>
         <source>AUTO_FOLLOW_TARGET</source>
         <translation>目标跟随</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1492"/>
+        <location filename="mainwindow.cpp" line="1509"/>
         <source>开加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1495"/>
+        <location filename="mainwindow.cpp" line="1512"/>
         <source>半加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1498"/>
+        <location filename="mainwindow.cpp" line="1515"/>
         <source>全加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1501"/>
-        <location filename="mainwindow.cpp" line="1510"/>
+        <location filename="mainwindow.cpp" line="1518"/>
+        <location filename="mainwindow.cpp" line="1527"/>
         <source>关加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1517"/>
+        <location filename="mainwindow.cpp" line="1534"/>
         <source>伞舱开</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1522"/>
+        <location filename="mainwindow.cpp" line="1539"/>
         <source>伞舱关</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1533"/>
+        <location filename="mainwindow.cpp" line="1550"/>
         <source>INS解算正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1538"/>
+        <location filename="mainwindow.cpp" line="1555"/>
         <source>INS星数不足</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1543"/>
+        <location filename="mainwindow.cpp" line="1560"/>
         <source>INS内部错误</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1548"/>
+        <location filename="mainwindow.cpp" line="1565"/>
         <source>INS速度超限</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1557"/>
+        <location filename="mainwindow.cpp" line="1574"/>
         <source>SBG解算正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1562"/>
+        <location filename="mainwindow.cpp" line="1579"/>
         <source>SBG星数不足</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1567"/>
+        <location filename="mainwindow.cpp" line="1584"/>
         <source>SBG内部错误</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1572"/>
+        <location filename="mainwindow.cpp" line="1589"/>
         <source>SBG速度超限</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1592"/>
+        <location filename="mainwindow.cpp" line="1609"/>
         <source>安控区内</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1592"/>
+        <location filename="mainwindow.cpp" line="1609"/>
         <source>安控区外</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1606"/>
+        <location filename="mainwindow.cpp" line="1624"/>
         <source>mission group has changed, current group is %1</source>
         <translation>航线切换，当前航线为 %1</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1624"/>
+        <location filename="mainwindow.cpp" line="1642"/>
         <source>VERT_OFF</source>
         <oldsource>OFF</oldsource>
         <translation>纵向制导关闭</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1627"/>
+        <location filename="mainwindow.cpp" line="1645"/>
         <source>VNAV2THT</source>
         <translation>消除纵向偏差</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1630"/>
+        <location filename="mainwindow.cpp" line="1648"/>
         <source>HDOT2THT</source>
         <translation>控制升降速率</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1633"/>
+        <location filename="mainwindow.cpp" line="1651"/>
         <source>GAMMA2THT</source>
         <translation>控制航迹角</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1636"/>
+        <location filename="mainwindow.cpp" line="1654"/>
         <source>AS2THT</source>
         <translation>俯仰控制速度</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1639"/>
+        <location filename="mainwindow.cpp" line="1657"/>
         <source>H2THT</source>
         <translation>控制绝对高度</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1642"/>
+        <location filename="mainwindow.cpp" line="1660"/>
         <source>AGL2THT</source>
         <translation>控制相对高度</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1653"/>
+        <location filename="mainwindow.cpp" line="1671"/>
         <source>LAT_OFF</source>
         <translation>横向制导关闭</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1656"/>
+        <location filename="mainwindow.cpp" line="1674"/>
         <source>LNAV2PHI</source>
         <translation>滚转消除侧偏</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1659"/>
+        <location filename="mainwindow.cpp" line="1677"/>
         <source>PSI2PHI</source>
         <translation>滚转控制航向</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1695"/>
-        <location filename="mainwindow.cpp" line="1697"/>
-        <location filename="mainwindow.cpp" line="1699"/>
+        <location filename="mainwindow.cpp" line="1713"/>
+        <location filename="mainwindow.cpp" line="1715"/>
+        <location filename="mainwindow.cpp" line="1717"/>
         <source> </source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1914"/>
         <source>GPS Unlocated</source>
-        <translation>未定位</translation>
+        <translation type="vanished">未定位</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1918"/>
-        <source>%1D</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="1921"/>
-        <source>fixed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="1924"/>
-        <source>float</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="1927"/>
-        <source>%1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="1993"/>
-        <location filename="mainwindow.cpp" line="2177"/>
+        <location filename="mainwindow.cpp" line="2021"/>
+        <location filename="mainwindow.cpp" line="2205"/>
         <source>未初始化</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1998"/>
-        <location filename="mainwindow.cpp" line="2181"/>
+        <location filename="mainwindow.cpp" line="2026"/>
+        <location filename="mainwindow.cpp" line="2209"/>
         <source>垂直陀螺</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2002"/>
-        <location filename="mainwindow.cpp" line="2185"/>
+        <location filename="mainwindow.cpp" line="2030"/>
+        <location filename="mainwindow.cpp" line="2213"/>
         <source>AHRS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2006"/>
-        <location filename="mainwindow.cpp" line="2189"/>
+        <location filename="mainwindow.cpp" line="2034"/>
+        <location filename="mainwindow.cpp" line="2217"/>
         <source>速度导航</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2010"/>
-        <location filename="mainwindow.cpp" line="2193"/>
+        <location filename="mainwindow.cpp" line="2038"/>
+        <location filename="mainwindow.cpp" line="2221"/>
         <source>位置导航</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2017"/>
-        <location filename="mainwindow.cpp" line="2026"/>
-        <location filename="mainwindow.cpp" line="2035"/>
-        <location filename="mainwindow.cpp" line="2044"/>
-        <location filename="mainwindow.cpp" line="2200"/>
-        <location filename="mainwindow.cpp" line="2209"/>
-        <location filename="mainwindow.cpp" line="2218"/>
-        <location filename="mainwindow.cpp" line="2227"/>
+        <location filename="mainwindow.cpp" line="2045"/>
+        <location filename="mainwindow.cpp" line="2054"/>
+        <location filename="mainwindow.cpp" line="2063"/>
+        <location filename="mainwindow.cpp" line="2072"/>
+        <location filename="mainwindow.cpp" line="2228"/>
+        <location filename="mainwindow.cpp" line="2237"/>
+        <location filename="mainwindow.cpp" line="2246"/>
+        <location filename="mainwindow.cpp" line="2255"/>
         <source>正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2020"/>
-        <location filename="mainwindow.cpp" line="2029"/>
-        <location filename="mainwindow.cpp" line="2038"/>
-        <location filename="mainwindow.cpp" line="2047"/>
-        <location filename="mainwindow.cpp" line="2079"/>
-        <location filename="mainwindow.cpp" line="2203"/>
-        <location filename="mainwindow.cpp" line="2212"/>
-        <location filename="mainwindow.cpp" line="2221"/>
-        <location filename="mainwindow.cpp" line="2230"/>
-        <location filename="mainwindow.cpp" line="2262"/>
+        <location filename="mainwindow.cpp" line="2048"/>
+        <location filename="mainwindow.cpp" line="2057"/>
+        <location filename="mainwindow.cpp" line="2066"/>
+        <location filename="mainwindow.cpp" line="2075"/>
+        <location filename="mainwindow.cpp" line="2107"/>
+        <location filename="mainwindow.cpp" line="2231"/>
+        <location filename="mainwindow.cpp" line="2240"/>
+        <location filename="mainwindow.cpp" line="2249"/>
+        <location filename="mainwindow.cpp" line="2258"/>
+        <location filename="mainwindow.cpp" line="2290"/>
         <source>无效</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2057"/>
-        <location filename="mainwindow.cpp" line="2240"/>
+        <location filename="mainwindow.cpp" line="2085"/>
+        <location filename="mainwindow.cpp" line="2268"/>
         <source>解算正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2061"/>
-        <location filename="mainwindow.cpp" line="2244"/>
+        <location filename="mainwindow.cpp" line="2089"/>
+        <location filename="mainwindow.cpp" line="2272"/>
         <source>卫星数不足</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2065"/>
-        <location filename="mainwindow.cpp" line="2248"/>
+        <location filename="mainwindow.cpp" line="2093"/>
+        <location filename="mainwindow.cpp" line="2276"/>
         <source>内部错误</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2069"/>
-        <location filename="mainwindow.cpp" line="2252"/>
+        <location filename="mainwindow.cpp" line="2097"/>
+        <location filename="mainwindow.cpp" line="2280"/>
         <source>速度超限</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2083"/>
-        <location filename="mainwindow.cpp" line="2101"/>
-        <location filename="mainwindow.cpp" line="2266"/>
-        <location filename="mainwindow.cpp" line="2284"/>
+        <location filename="mainwindow.cpp" line="2111"/>
+        <location filename="mainwindow.cpp" line="2129"/>
+        <location filename="mainwindow.cpp" line="2294"/>
+        <location filename="mainwindow.cpp" line="2312"/>
         <source>未知</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2087"/>
-        <location filename="mainwindow.cpp" line="2270"/>
+        <location filename="mainwindow.cpp" line="2115"/>
+        <location filename="mainwindow.cpp" line="2298"/>
         <source>多普勒</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <location filename="mainwindow.cpp" line="2091"/>
-        <location filename="mainwindow.cpp" line="2274"/>
-        <source>微分</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="2104"/>
-        <location filename="mainwindow.cpp" line="2287"/>
-        <source>单点</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="2107"/>
-        <location filename="mainwindow.cpp" line="2290"/>
-        <source>伪距差分</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="2110"/>
-        <location filename="mainwindow.cpp" line="2293"/>
-        <source>SBAS广域差分</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="2113"/>
-        <location filename="mainwindow.cpp" line="2296"/>
-        <source>广域差分</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <location filename="mainwindow.cpp" line="2116"/>
-        <location filename="mainwindow.cpp" line="2299"/>
-        <source>RTK_FLOAT</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <location filename="mainwindow.cpp" line="2119"/>
         <location filename="mainwindow.cpp" line="2302"/>
+        <source>微分</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mainwindow.cpp" line="2132"/>
+        <location filename="mainwindow.cpp" line="2315"/>
+        <source>单点</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mainwindow.cpp" line="2135"/>
+        <location filename="mainwindow.cpp" line="2318"/>
+        <source>伪距差分</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mainwindow.cpp" line="2138"/>
+        <location filename="mainwindow.cpp" line="2321"/>
+        <source>SBAS广域差分</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mainwindow.cpp" line="2141"/>
+        <location filename="mainwindow.cpp" line="2324"/>
+        <source>广域差分</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mainwindow.cpp" line="2144"/>
+        <location filename="mainwindow.cpp" line="2327"/>
+        <source>RTK_FLOAT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="mainwindow.cpp" line="2147"/>
+        <location filename="mainwindow.cpp" line="2330"/>
         <source>RTK_INT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2122"/>
-        <location filename="mainwindow.cpp" line="2305"/>
+        <location filename="mainwindow.cpp" line="2150"/>
+        <location filename="mainwindow.cpp" line="2333"/>
         <source>PPP_FLOAT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2125"/>
-        <location filename="mainwindow.cpp" line="2308"/>
+        <location filename="mainwindow.cpp" line="2153"/>
+        <location filename="mainwindow.cpp" line="2336"/>
         <source>PPP_INT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2128"/>
-        <location filename="mainwindow.cpp" line="2311"/>
+        <location filename="mainwindow.cpp" line="2156"/>
+        <location filename="mainwindow.cpp" line="2339"/>
         <source>FIXED</source>
         <translation type="unfinished"></translation>
     </message>
@@ -2611,17 +2590,17 @@
         <translation type="vanished">未支持</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1257"/>
+        <location filename="mainwindow.cpp" line="1267"/>
         <source>flight mode</source>
         <translation>飞行模式</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1582"/>
+        <location filename="mainwindow.cpp" line="1599"/>
         <source>连接内置惯导</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1582"/>
+        <location filename="mainwindow.cpp" line="1599"/>
         <source>连接SBG</source>
         <translation></translation>
     </message>
@@ -2766,6 +2745,141 @@
         <source>Form</source>
         <translation>界面</translation>
     </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="20"/>
+        <source>add</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="44"/>
+        <source>Rectangle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="109"/>
+        <source>Round</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="119"/>
+        <source>Mission 1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="129"/>
+        <source>Mssion 2</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="139"/>
+        <source>Mssion 3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="149"/>
+        <source>Mission 4</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.ui" line="162"/>
+        <source>del</source>
+        <translation type="unfinished">删除</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="9"/>
+        <source>Mission Table</source>
+        <translation>航线表</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="108"/>
+        <source>waypoint</source>
+        <translation>航点</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="109"/>
+        <source>return</source>
+        <translation>返航</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="110"/>
+        <source>landing</source>
+        <translation>降落</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="111"/>
+        <source>takeoff</source>
+        <translation>起飞</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>number</source>
+        <translation>航点</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>command</source>
+        <translation>类型</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>par1</source>
+        <translation>参数1</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>par2</source>
+        <translation>参数2</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>par3</source>
+        <translation>参数3</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>par4</source>
+        <translation>参数4</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>lat</source>
+        <translation>纬度</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>lng</source>
+        <translation>经度</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="39"/>
+        <source>alt</source>
+        <translation>海拔</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="118"/>
+        <source>保持</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="119"/>
+        <source>表速</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="120"/>
+        <source>快升</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="121"/>
+        <source>开加力</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="122"/>
+        <source>关加力</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiSelector</name>
@@ -3859,7 +3973,6 @@
     </message>
     <message>
         <location filename="ToolsUI/ServoSystem/ServoSystem.ui" line="389"/>
-        <location filename="ToolsUI/ServoSystem/ServoSystem.ui" line="834"/>
         <source>500瓦打开</source>
         <translation type="unfinished"></translation>
     </message>
@@ -4005,6 +4118,11 @@
         <source>取消</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="ToolsUI/ServoSystem/ServoSystem.ui" line="834"/>
+        <source>500瓦开</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <location filename="ToolsUI/ServoSystem/ServoSystem.ui" line="1194"/>
         <source>版本信息</source>
@@ -4783,6 +4901,11 @@ p, li { white-space: pre-wrap; }
         <source>upload</source>
         <translation>上传</translation>
     </message>
+    <message>
+        <location filename="MissionUI/propertyui.ui" line="80"/>
+        <source>Table</source>
+        <translation>列表</translation>
+    </message>
     <message>
         <location filename="MissionUI/propertyui.ui" line="535"/>
         <source>Alt</source>
@@ -4819,12 +4942,10 @@ p, li { white-space: pre-wrap; }
     </message>
     <message>
         <location filename="MissionUI/propertyui.ui" line="436"/>
-        <location filename="MissionUI/propertyui.ui" line="665"/>
         <source>Previous</source>
         <translation>上一个</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.ui" line="80"/>
         <location filename="MissionUI/propertyui.ui" line="455"/>
         <source>Next</source>
         <translation>下一个</translation>
@@ -4858,82 +4979,82 @@ p, li { white-space: pre-wrap; }
     </message>
     <message>
         <location filename="MissionUI/propertyui.ui" line="500"/>
-        <location filename="MissionUI/propertyui.cpp" line="220"/>
-        <location filename="MissionUI/propertyui.cpp" line="593"/>
-        <location filename="MissionUI/propertyui.cpp" line="1365"/>
+        <location filename="MissionUI/propertyui.cpp" line="222"/>
+        <location filename="MissionUI/propertyui.cpp" line="595"/>
+        <location filename="MissionUI/propertyui.cpp" line="1433"/>
         <source>Relative</source>
         <translation>相对</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="224"/>
-        <location filename="MissionUI/propertyui.cpp" line="597"/>
-        <location filename="MissionUI/propertyui.cpp" line="1366"/>
+        <location filename="MissionUI/propertyui.cpp" line="226"/>
+        <location filename="MissionUI/propertyui.cpp" line="599"/>
+        <location filename="MissionUI/propertyui.cpp" line="1434"/>
         <source>Absolutely</source>
         <translation>绝对</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="549"/>
+        <location filename="MissionUI/propertyui.cpp" line="551"/>
         <source>param1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="550"/>
+        <location filename="MissionUI/propertyui.cpp" line="552"/>
         <source>param2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="551"/>
+        <location filename="MissionUI/propertyui.cpp" line="553"/>
         <source>param3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="552"/>
+        <location filename="MissionUI/propertyui.cpp" line="554"/>
         <source>param4</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="553"/>
+        <location filename="MissionUI/propertyui.cpp" line="555"/>
         <source>param5</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="554"/>
+        <location filename="MissionUI/propertyui.cpp" line="556"/>
         <source>param6</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="555"/>
+        <location filename="MissionUI/propertyui.cpp" line="557"/>
         <source>param7</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1397"/>
+        <location filename="MissionUI/propertyui.cpp" line="1465"/>
         <source>set</source>
         <translation>设置</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1397"/>
+        <location filename="MissionUI/propertyui.cpp" line="1465"/>
         <source>Altitude</source>
         <translation>海拔</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1420"/>
+        <location filename="MissionUI/propertyui.cpp" line="1488"/>
         <source>setLatitude</source>
         <translation>设置纬度</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1441"/>
+        <location filename="MissionUI/propertyui.cpp" line="1509"/>
         <source>setLongitude</source>
         <translation>设置经度</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1876"/>
-        <location filename="MissionUI/propertyui.cpp" line="1909"/>
+        <location filename="MissionUI/propertyui.cpp" line="1944"/>
+        <location filename="MissionUI/propertyui.cpp" line="1977"/>
         <source>plan file (*.plan)</source>
         <translation>任务文件 (*.plan)</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1894"/>
+        <location filename="MissionUI/propertyui.cpp" line="1962"/>
         <source>click to clear all points</source>
         <translation>点击清除所有航点</translation>
     </message>
@@ -4988,13 +5109,18 @@ p, li { white-space: pre-wrap; }
         <translation>参数6</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.ui" line="678"/>
-        <source>Group</source>
-        <translation type="unfinished"></translation>
+        <location filename="MissionUI/propertyui.ui" line="665"/>
+        <source>Ruler</source>
+        <translation>测量</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1874"/>
-        <location filename="MissionUI/propertyui.cpp" line="1907"/>
+        <location filename="MissionUI/propertyui.ui" line="678"/>
+        <source>Group</source>
+        <translation>组别</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/propertyui.cpp" line="1942"/>
+        <location filename="MissionUI/propertyui.cpp" line="1975"/>
         <source>Selete Way Point File...</source>
         <oldsource>Select Loading File...</oldsource>
         <translation>选择载入文件...</translation>
diff --git a/App/MissionUI/MissionUI.cpp b/App/MissionUI/MissionUI.cpp
index 9c95b18..8ddb0df 100644
--- a/App/MissionUI/MissionUI.cpp
+++ b/App/MissionUI/MissionUI.cpp
@@ -8,47 +8,51 @@ MissionUI::MissionUI(QWidget *parent) :
     ui->setupUi(this);
     setWindowTitle(tr("Mission Table"));
 
+    tablelist.insert(1,ui->tableWidget_1);
+    tablelist.insert(3,ui->tableWidget_3);
+    tablelist.insert(4,ui->tableWidget_4);
+    tablelist.insert(5,ui->tableWidget_5);
+    tablelist.insert(6,ui->tableWidget_6);
 
-    ui->tableWidget->setRowCount(10);                        //设置行数
-    ui->tableWidget->setColumnCount(7);                      //设置列数为7
-    ui->tableWidget->setGeometry(QRect(10,455,740,95));      //设置tableWidget的大小
-    ui->tableWidget->setItem(0,0,new QTableWidgetItem("0")); //第一行第一列的内容设置为0
-    ui->tableWidget->setItem(1,0,new QTableWidgetItem("1")); //第一行第一列的内容设置为1
-    ui->tableWidget->setItem(2,0,new QTableWidgetItem("2")); //第一行第一列的内容设置为2
-    ui->tableWidget->setItem(3,0,new QTableWidgetItem("3")); //第一行第一列的内容设置为3
+    ui->tabWidget->setCurrentIndex(1);
+
+    foreach (QTableWidget *table, tablelist) {
+         if(table)
+         {
+             table->setColumnCount(9);                      //设置列数为7
+             table->setGeometry(QRect(10,455,740,95));      //设置tableWidget的大小
+
+             table->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选中模式为选中行
+
+             table->setColumnWidth(0,45);                   //设置第一列的列宽(num)
+             table->setColumnWidth(1,80);                  //设置第二列的列宽(cmd)
+             table->setColumnWidth(2,80);                  //设置第三列的列宽(par1)
+             table->setColumnWidth(3,80);                  //设置第四列的列宽(par2)
+             table->setColumnWidth(4,80);                  //设置第五列的列宽(par3)
+             table->setColumnWidth(5,80);                  //设置第六列的列宽(par4)
+             table->setColumnWidth(6,150);                  //设置第七列的列宽(lat)
+             table->setColumnWidth(7,150);                  //设置第八列的列宽(lng)
+             table->setColumnWidth(8,100);                  //设置第九列的列宽(alt)
 
 
-    QComboBox *classBox = new QComboBox;
-    classBox->addItem("一年级");
-    classBox->addItem("二年级");
-    classBox->addItem("三年级");
-    classBox->addItem("四年级");
-    classBox->addItem("五年级");
-    classBox->setCurrentText("一年级");
-    ui->tableWidget->setCellWidget(0,1,classBox);
+             table->setHorizontalHeaderLabels(QStringList() <<tr("number")<<tr("command")<<tr("par1")<<tr("par2")<<tr("par3")<<tr("par4")<<tr("lat")<<tr("lng")<<tr("alt"));
+             table->setFont(QFont("黑体",12,3));                   //设置字体
+             QHeaderView* V_headerView = table->verticalHeader();
+             V_headerView->setHidden(true);                                 //行名隐藏
+
+             QHeaderView* H_headerView = table->horizontalHeader();
+             H_headerView->setStretchLastSection(true);
+             H_headerView->setDefaultAlignment(Qt::AlignLeft);              //表头信息显示居中靠左
 
 
-    ui->tableWidget->setRowHeight(0,18);                     //设置第一行的行高
-    ui->tableWidget->setRowHeight(1,18);                     //设置第二行的行高
-    ui->tableWidget->setRowHeight(2,18);                     //设置第三行的行高
-    ui->tableWidget->setRowHeight(3,18);                     //设置第三行的行高
-    ui->tableWidget->setColumnWidth(0,45);                   //设置第一列的列宽
-    ui->tableWidget->setColumnWidth(1,55);                   //设置第二列的列宽
-    ui->tableWidget->setColumnWidth(2,160);                  //设置第三列的列宽
-    ui->tableWidget->setColumnWidth(3,160);                  //设置第四列的列宽
-    ui->tableWidget->setColumnWidth(4,100);                  //设置第五列的列宽
-    ui->tableWidget->setColumnWidth(5,100);                  //设置第六列的列宽
-    ui->tableWidget->setColumnWidth(6,100);                  //设置第七列的列宽
-    ui->tableWidget->setHorizontalHeaderLabels(QStringList() <<tr("编号")<<tr("动作")<<tr("经度")<<tr("纬度")<<tr("高度")<<tr("速度")<<tr("时间"));
-    ui->tableWidget->setFont(QFont("黑体",12,3));//设置字体
-    QHeaderView* V_headerView = ui->tableWidget->verticalHeader();
-    V_headerView->setHidden(true);                              //行名隐藏
 
-    QHeaderView* H_headerView = ui->tableWidget->horizontalHeader();
-    H_headerView->setStretchLastSection(true);
-    H_headerView->setDefaultAlignment(Qt::AlignLeft);    //表头信息显示居中靠左
+             connect(table,&QTableWidget::itemSelectionChanged,
+                     this,&MissionUI::itemSelectionChanged);
 
 
+         }
+    }
+
 }
 
 MissionUI::~MissionUI()
@@ -67,6 +71,233 @@ void MissionUI::resizeEvent(QResizeEvent *event)
 
 }
 
+void MissionUI::pointCreate(float param1,float param2,float param3,float param4,
+                            int32_t x,int32_t y,float z,
+                            uint16_t seq,
+                            uint16_t group,
+                            uint16_t command,
+                            uint8_t target_system,
+                            uint8_t target_component,
+                            uint8_t frame,
+                            uint8_t current,
+                            uint8_t autocontinue,
+                            uint8_t mission_type)
+{
+    QTableWidget *tableWidget;
+
+
+
+    foreach (QTableWidget *table, tablelist) {
+         if(table)
+         {
+             if(tablelist.value(mission_type) == table)
+             {
+                 tableWidget = table;
+                 break;
+             }
+         }
+    }
+
+
+    qDebug() << "find QTableWidget" << mission_type << tablelist.value(mission_type);
+
+    int idx = seq -1;
+
+    tableWidget->setRowCount(tableWidget->rowCount()+1);             //设置行数+1
+
+
+    tableWidget->setItem(idx,0,new QTableWidgetItem(QString::number(seq))); //第一列的内容设置为index
+
+    qDebug() << "pointCreate seq" << seq;
+
+    QComboBox *cmdBox = new QComboBox;
+    cmdBox->addItem(tr("waypoint"),16);
+    cmdBox->addItem(tr("return"),20);
+    cmdBox->addItem(tr("landing"),21);
+    cmdBox->addItem(tr("takeoff"),22);
+    cmdBox->setCurrentIndex(cmdBox->findData(command));
+    tableWidget->setCellWidget(idx,1,cmdBox);
+
+    if(command == 16)
+    {
+        QComboBox *par1Box = new QComboBox;
+        par1Box->addItem(tr("保持"),0);
+        par1Box->addItem(tr("表速"),-1);
+        par1Box->addItem(tr("快升"),-2);
+        par1Box->addItem(tr("开加力"),-3);
+        par1Box->addItem(tr("关加力"),-4);
+        par1Box->setCurrentIndex(par1Box->findData(param1));
+        tableWidget->setCellWidget(idx,2,par1Box);
+    }
+    else if(command == 20)
+    {
+        tableWidget->removeCellWidget(idx,2);
+        tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
+    }
+    else if(command == 21)
+    {
+        tableWidget->removeCellWidget(idx,2);
+        tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
+    }
+    else if(command == 22)
+    {
+        tableWidget->removeCellWidget(idx,2);
+        tableWidget->setItem(idx,2,new QTableWidgetItem(QString::number(param1)));
+    }
+
+    tableWidget->setItem(idx,3,new QTableWidgetItem(QString::number(param2)));
+    tableWidget->setItem(idx,4,new QTableWidgetItem(QString::number(param3)));
+    tableWidget->setItem(idx,5,new QTableWidgetItem(QString::number(param4)));
+
+
+
+
+    tableWidget->setItem(idx,6,new QTableWidgetItem(QString::number(x * 10e-8,'f',7)));
+    tableWidget->setItem(idx,7,new QTableWidgetItem(QString::number(y * 10e-8,'f',7)));
+    tableWidget->setItem(idx,8,new QTableWidgetItem(QString::number(z)));
+
+
+    for (int i = 0;i<tableWidget->rowCount();i++)
+    {
+        if(tableWidget->item(i,0)==NULL||             //判断指向该cell的指针是否为空
+                     (tableWidget->item(i,0)&&
+                      tableWidget->item(i,0)->text()==tr("")))  //判断该cell的text是否为空
+        {
+            tableWidget->removeRow(i);
+        }
+    }
+
+    for (int i = 0;i<tableWidget->rowCount();i++)
+    {
+        QTableWidgetItem* pItem = tableWidget->item(i, 0);
+        if(pItem)
+            pItem->setFlags(pItem->flags() & (~Qt::ItemIsEditable));
+    }
+
+}
+
+void MissionUI::pointDelete(int idx)
+{
+    /*
+    if(tableWidget->rowAt(idx) != -1)
+    {
+        tableWidget->removeRow(idx);  //删除掉了表格信息
+    }
+    */
+}
+
+void MissionUI::on_tableWidget_3_itemChanged(QTableWidgetItem *item)
+{
+    qDebug() << item->data(Qt::DisplayRole);
+
+    QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
+
+    int group = tablelist.key(widget);
+
+
+
+
+}
+
+void MissionUI::on_tabWidget_currentChanged(int index)
+{
+    int group = 3;
+
+    switch (index) {
+    case 0:
+        group = 1;
+        break;
+    case 1:
+        group = 3;
+        break;
+    case 2:
+        group = 4;
+        break;
+    case 3:
+        group = 5;
+        break;
+    case 4:
+        group = 6;
+        break;
+    default:
+        break;
+    }
+
+    emit groupChanged(group);
+
+}
+
+void MissionUI::on_pushButton_load_clicked()
+{
+    QFileDialog *dlg = new QFileDialog();
+    QString fileName = dlg->getOpenFileName(this, tr("Selete Way Point File..."),
+                                            "./plan/",
+                                            tr("plan file (*.plan)"));
+    if(!fileName.isEmpty())
+    {
+        emit WPLoad(fileName);
+    }
+}
+
+void MissionUI::on_pushButton_save_clicked()
+{
+    QFileDialog *dlg = new QFileDialog();
+
+    QString fileName = dlg->getSaveFileName(this, tr("Selete Way Point File..."),
+                                            "./plan/",
+                                            tr("plan file (*.plan)"));
+    if(!fileName.isEmpty())
+    {
+        emit WPSave(fileName);
+    }
+}
+
+void MissionUI::on_pushButton_upload_clicked()
+{
+     emit WPUpload();
+}
+
+void MissionUI::on_pushButton_download_clicked()
+{
+     emit WPDownload();
+}
+
+void MissionUI::on_pushButton_insert_clicked()
+{
+     emit WPInsert();
+}
+
+void MissionUI::on_pushButton_delete_clicked()
+{
+     emit WPDelete();
+}
+
+void MissionUI::on_pushButton_add_clicked()
+{
+     emit WPAdd();
+}
+
+void MissionUI::on_pushButton_clean_clicked()
+{
+     emit WPDeleteAll();
+}
+
+
+void MissionUI::itemSelectionChanged()
+{
+    QTableWidget *widget = qobject_cast<QTableWidget *>(sender());
+
+    int group = tablelist.key(widget);
+
+    int idx = widget->currentRow() + 1;
+
+    qDebug() << "group" << "index" << group << idx;
+
+
+    emit waypointSelect(group,idx);
+
+}
+
 
 
 
diff --git a/App/MissionUI/MissionUI.h b/App/MissionUI/MissionUI.h
index 4df7072..742bbcd 100644
--- a/App/MissionUI/MissionUI.h
+++ b/App/MissionUI/MissionUI.h
@@ -6,8 +6,8 @@
 #include "Inputter.h"
 #include "Selector.h"
 #include "QComboBox"
-
-
+#include "QTableWidget"
+#include "QFileDialog"
 namespace Ui {
 class MissionUI;
 }
@@ -21,15 +21,66 @@ public:
     ~MissionUI();
 
 
+public slots:
+    void pointCreate(float param1,float param2,float param3,float param4,
+                     int32_t x,int32_t y,float z,
+                     uint16_t seq,
+                     uint16_t group,
+                     uint16_t command,
+                     uint8_t target_system,
+                     uint8_t target_component,
+                     uint8_t frame,
+                     uint8_t current,
+                     uint8_t autocontinue,
+                     uint8_t mission_type);
+    void pointDelete(int idx);
+
 protected slots:
    void closeEvent(QCloseEvent *event);
    void resizeEvent(QResizeEvent *event);
 
 
+private slots:
+   void itemSelectionChanged();
+
+   void on_tableWidget_3_itemChanged(QTableWidgetItem *item);
+
+   void on_tabWidget_currentChanged(int index);
+
+   void on_pushButton_load_clicked();
+   void on_pushButton_save_clicked();
+   void on_pushButton_upload_clicked();
+   void on_pushButton_download_clicked();
+   void on_pushButton_insert_clicked();
+   void on_pushButton_delete_clicked();
+   void on_pushButton_add_clicked();
+
+   void on_pushButton_clean_clicked();
+
+signals:
+
+   void WPnearPoint(int dir);
+   void WPotherPoint(int seq);
+
+
+   void WPSave(QString path);
+   void WPLoad(QString path);
+   void WPUpload(void);
+   void WPDownload(void);
+   void WPInsert(void);
+   void WPDelete(void);
+   void WPDeleteAll(void);
+   void WPAdd(void);
+
+   void groupChanged(int);
+
+   void waypointSelect(int group,int idx);
+
+
 private:
     Ui::MissionUI *ui;
 
-
+    QMap<int,QTableWidget *> tablelist;
 
 
 
diff --git a/App/MissionUI/MissionUI.ui b/App/MissionUI/MissionUI.ui
index 213c1b9..bca8947 100644
--- a/App/MissionUI/MissionUI.ui
+++ b/App/MissionUI/MissionUI.ui
@@ -6,70 +6,193 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>736</width>
-    <height>445</height>
+    <width>1033</width>
+    <height>482</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
+   <item row="8" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <widget class="QPushButton" name="pushButton_save">
+     <property name="text">
+      <string>save</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="0">
+    <widget class="QPushButton" name="pushButton_insert">
+     <property name="text">
+      <string>insert</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QPushButton" name="pushButton_upload">
+     <property name="text">
+      <string>upload</string>
+     </property>
+    </widget>
+   </item>
+   <item row="7" column="0">
+    <widget class="QPushButton" name="pushButton_add">
+     <property name="text">
+      <string>add</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QPushButton" name="pushButton_download">
+     <property name="text">
+      <string>downlload</string>
+     </property>
+    </widget>
+   </item>
    <item row="0" column="0">
-    <widget class="QTableWidget" name="tableWidget">
-     <property name="frameShadow">
-      <enum>QFrame::Plain</enum>
+    <widget class="QPushButton" name="pushButton_load">
+     <property name="text">
+      <string>load</string>
      </property>
-     <property name="lineWidth">
-      <number>2</number>
+    </widget>
+   </item>
+   <item row="5" column="0">
+    <widget class="QPushButton" name="pushButton_delete">
+     <property name="text">
+      <string>delete</string>
      </property>
-     <property name="midLineWidth">
-      <number>2</number>
+    </widget>
+   </item>
+   <item row="0" column="1" rowspan="20">
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>1</number>
      </property>
-     <property name="editTriggers">
-      <set>QAbstractItemView::DoubleClicked</set>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Rectangle</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_2">
+       <item row="0" column="0">
+        <widget class="QTableWidget" name="tableWidget_1">
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="lineWidth">
+          <number>2</number>
+         </property>
+         <property name="midLineWidth">
+          <number>2</number>
+         </property>
+         <property name="editTriggers">
+          <set>QAbstractItemView::DoubleClicked</set>
+         </property>
+         <property name="tabKeyNavigation">
+          <bool>false</bool>
+         </property>
+         <property name="showDropIndicator" stdset="0">
+          <bool>false</bool>
+         </property>
+         <property name="verticalScrollMode">
+          <enum>QAbstractItemView::ScrollPerPixel</enum>
+         </property>
+         <property name="showGrid">
+          <bool>true</bool>
+         </property>
+         <property name="gridStyle">
+          <enum>Qt::SolidLine</enum>
+         </property>
+         <property name="sortingEnabled">
+          <bool>false</bool>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+         <property name="cornerButtonEnabled">
+          <bool>true</bool>
+         </property>
+         <attribute name="horizontalHeaderCascadingSectionResizes">
+          <bool>true</bool>
+         </attribute>
+         <attribute name="horizontalHeaderShowSortIndicator" stdset="0">
+          <bool>true</bool>
+         </attribute>
+         <attribute name="horizontalHeaderStretchLastSection">
+          <bool>true</bool>
+         </attribute>
+         <attribute name="verticalHeaderCascadingSectionResizes">
+          <bool>true</bool>
+         </attribute>
+         <attribute name="verticalHeaderShowSortIndicator" stdset="0">
+          <bool>true</bool>
+         </attribute>
+         <attribute name="verticalHeaderStretchLastSection">
+          <bool>true</bool>
+         </attribute>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_3">
+      <attribute name="title">
+       <string>Mission 1</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_4">
+       <item row="0" column="0">
+        <widget class="QTableWidget" name="tableWidget_3"/>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_4">
+      <attribute name="title">
+       <string>Mssion 2</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_5">
+       <item row="0" column="0">
+        <widget class="QTableWidget" name="tableWidget_4"/>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_5">
+      <attribute name="title">
+       <string>Mssion 3</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_6">
+       <item row="0" column="0">
+        <widget class="QTableWidget" name="tableWidget_5"/>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_6">
+      <attribute name="title">
+       <string>Mission 4</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_7">
+       <item row="0" column="0">
+        <widget class="QTableWidget" name="tableWidget_6"/>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item row="6" column="0">
+    <widget class="QPushButton" name="pushButton_clean">
+     <property name="text">
+      <string>clean</string>
      </property>
-     <property name="tabKeyNavigation">
-      <bool>false</bool>
-     </property>
-     <property name="showDropIndicator" stdset="0">
-      <bool>false</bool>
-     </property>
-     <property name="verticalScrollMode">
-      <enum>QAbstractItemView::ScrollPerPixel</enum>
-     </property>
-     <property name="showGrid">
-      <bool>true</bool>
-     </property>
-     <property name="gridStyle">
-      <enum>Qt::SolidLine</enum>
-     </property>
-     <property name="sortingEnabled">
-      <bool>false</bool>
-     </property>
-     <property name="wordWrap">
-      <bool>true</bool>
-     </property>
-     <property name="cornerButtonEnabled">
-      <bool>true</bool>
-     </property>
-     <attribute name="horizontalHeaderCascadingSectionResizes">
-      <bool>true</bool>
-     </attribute>
-     <attribute name="horizontalHeaderShowSortIndicator" stdset="0">
-      <bool>true</bool>
-     </attribute>
-     <attribute name="horizontalHeaderStretchLastSection">
-      <bool>true</bool>
-     </attribute>
-     <attribute name="verticalHeaderCascadingSectionResizes">
-      <bool>true</bool>
-     </attribute>
-     <attribute name="verticalHeaderShowSortIndicator" stdset="0">
-      <bool>true</bool>
-     </attribute>
-     <attribute name="verticalHeaderStretchLastSection">
-      <bool>true</bool>
-     </attribute>
     </widget>
    </item>
   </layout>
diff --git a/App/MissionUI/propertyui.cpp b/App/MissionUI/propertyui.cpp
index 27c3c3d..2fcde89 100644
--- a/App/MissionUI/propertyui.cpp
+++ b/App/MissionUI/propertyui.cpp
@@ -149,7 +149,40 @@ propertyui::propertyui(QWidget *parent) :
 
     table = new MissionUI();
 
-    //table->hide();
+
+    connect(table,&MissionUI::WPLoad,
+            this,&propertyui::WPLoad);
+
+    connect(table,&MissionUI::WPSave,
+            this,&propertyui::WPSave);
+
+    connect(table,&MissionUI::WPUpload,
+            this,&propertyui::WPUpload);
+
+    connect(table,&MissionUI::WPDownload,
+            this,&propertyui::WPDownload);
+
+    connect(table,&MissionUI::WPInsert,
+            this,&propertyui::WPInsert);
+
+    connect(table,&MissionUI::WPDelete,
+            this,&propertyui::WPDelete);
+
+
+    connect(table,&MissionUI::WPDeleteAll,
+            this,&propertyui::WPDeleteAll);
+
+    connect(table,&MissionUI::WPAdd,
+            this,&propertyui::WPAdd);
+
+
+    connect(table,&MissionUI::groupChanged,
+            this,&propertyui::GroupChanged);
+
+
+    connect(table,&MissionUI::waypointSelect,
+            this,&propertyui::waypointSelect);
+
 
 }
 
@@ -583,6 +616,15 @@ void propertyui::rebuildUI(QString CMD)
 
     }
 
+    if(table)
+    {
+       table->pointCreate(m_param1,m_param2,m_param3,m_param4,
+                          m_x,m_y,m_z,
+                          m_seq,m_group,m_command,
+                          m_target_system,m_target_component,
+                          m_frame,m_current,m_autocontinue,m_mission_type);
+    }
+
 
     update();
 }
@@ -784,6 +826,15 @@ void propertyui::WayPointPropertyUpdate(bool flag)
                                  m_target_system,m_target_component,
                                  m_frame,m_current,m_autocontinue,m_mission_type);
 
+    if(table)
+    {
+       table->pointCreate(m_param1,m_param2,m_param3,m_param4,
+                          m_x,m_y,m_z,
+                          m_seq,m_group,m_command,
+                          m_target_system,m_target_component,
+                          m_frame,m_current,m_autocontinue,m_mission_type);
+    }
+
     /*
     emit WayPointPropertyChanged(m_param1,m_param2,m_param3,m_param4,
                                  m_x,m_y,m_z,
@@ -838,6 +889,24 @@ void propertyui::setWayPointProperty(float param1,float param2,float param3,floa
         }
     }
 
+    //如果表格存在,那么开始设置参数
+    if(table)
+    {
+       table->pointCreate(param1,param2,param3,param4,
+                          x,y,z,
+                          seq,
+                          group,
+                          command,
+                          target_system,
+                          target_component,
+                          frame,
+                          current,
+                          autocontinue,
+                          mission_type);
+    }
+
+
+
     qDebug() <<  "propertyUI set:"
              <<  m_param1
              <<  m_param2
@@ -1314,6 +1383,9 @@ void propertyui::setallPoint(QMap<int,int> list)
 
 }
 
+
+
+
 void propertyui::setSeqNav(QVariant value)
 {
     //读取这个值得航点
@@ -1957,25 +2029,23 @@ void propertyui::on_pushButton_Save_clicked()
 
 void propertyui::on_pushButton_Upload_clicked()
 {
-    //emit WPGroup(missionGroups);
     emit WPUpload();
 }
 
 void propertyui::on_pushButton_Download_clicked()
 {
-    //emit WPGroup(missionGroups);
     emit WPDownload();
 }
 
 void propertyui::on_pushButton_Previous_clicked()
 {
     if(m_seq > 0)
-     emit WPotherPoint(-1);
+     emit WPnearPoint(-1);
 }
 
 void propertyui::on_pushButton_Next_clicked()
 {
-     emit WPotherPoint(+1);
+     emit WPnearPoint(+1);
 }
 
 
@@ -1989,7 +2059,23 @@ void propertyui::on_pushButton_Delete_clicked()
      emit WPDelete();
 }
 
+void propertyui::waypointSelect(int group,int idx)
+{
+    //读取这个值得航点
+    GroupChanged(group);
 
+    emit WPotherPoint(idx);
+}
+
+void propertyui::GroupChanged(int value)
+{
+    ui->pushButton_Group->setText(QString::number(value - 2));
+
+    missionGroups = value;
+
+    emit WPGroup(missionGroups);
+
+}
 
 void propertyui::setGroup(QVariant value)
 {
diff --git a/App/MissionUI/propertyui.h b/App/MissionUI/propertyui.h
index 7d8a81b..a932113 100644
--- a/App/MissionUI/propertyui.h
+++ b/App/MissionUI/propertyui.h
@@ -239,9 +239,12 @@ Q_SIGNALS:
 
 
 
+    void WPnearPoint(int dir);
     void WPotherPoint(int seq);
     void WPInsert();
     void WPDelete();
+    void WPDeleteAll(void);
+    void WPAdd(void);
 
 
     void WPSave(QString path);
@@ -253,9 +256,11 @@ Q_SIGNALS:
 
     void WPGroup(int group);
 
-
 private slots:
 
+    void GroupChanged(int value);
+    void waypointSelect(int group,int idx);
+
     void setSeqNav(QVariant value);
     void setFriendlyName(QVariant value);
     void setAltType(QVariant value);
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index 05c069d..1806393 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -368,10 +368,12 @@ MainWindow::MainWindow(QWidget *parent)
             map,SIGNAL(setWPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)));
 
 
+    connect(missionUI,SIGNAL(WPnearPoint(int)),
+            map,SLOT(WPnearPoint(int)));
+
     connect(missionUI,SIGNAL(WPotherPoint(int)),
             map,SLOT(WPotherPoint(int)));
 
-
     connect(missionUI,SIGNAL(WPDelete()),
             map,SLOT(WPDelete()));
 
@@ -393,8 +395,11 @@ MainWindow::MainWindow(QWidget *parent)
     connect(missionUI,SIGNAL(WPGroup(int)),
             map,SLOT(WPGroup(int)));
 
+    connect(missionUI,SIGNAL(WPDeleteAll()),
+            map,SLOT(WPDeleteAll()));
 
-
+    connect(missionUI,SIGNAL(WPAdd()),
+            map,SLOT(WPAdd()));
 
 
     connect(map,SIGNAL(allPoint(QMap<int,int>)),
diff --git a/opmap/MAP_zh_CN.ts b/opmap/MAP_zh_CN.ts
index 7ea7742..6b10e34 100644
--- a/opmap/MAP_zh_CN.ts
+++ b/opmap/MAP_zh_CN.ts
@@ -78,23 +78,23 @@ Please first select the area of the map to rip with &lt;CTRL&gt;+Left mouse clic
 <context>
     <name>mapcontrol::OPMapWidget</name>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="174"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="167"/>
         <source>.plan</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2021"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2059"/>
         <source>开始上传航点，总数%1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2160"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2235"/>
         <source>上传失败%1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2185"/>
-        <source>收到航点 %1</source>
+        <location filename="mapwidget/opmapwidget.cpp" line="2259"/>
+        <source>recieve way point group:%1 seq:%2</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index 4946e15..74ff906 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -96,10 +96,17 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
     mscene.addItem(waypointsetting);
     waypointsetting->hide();
 
+   // WPnearPoint
+
+    connect(waypointsetting,SIGNAL(WPnearPoint(int)),
+            this,SLOT(WPnearPoint(int)));
+
     connect(waypointsetting,SIGNAL(WPotherPoint(int)),
             this,SLOT(WPotherPoint(int)));
 
 
+
+
     connect(waypointsetting,SIGNAL(WPDelete()),
             this,SLOT(WPDelete()));
 
@@ -1186,6 +1193,28 @@ void OPMapWidget::WPSetVisibleAll(bool value)
     }
 }
 
+void OPMapWidget::WPAdd(void)
+{
+    internals::PointLatLng LatLng;
+    LatLng.SetLat(0);
+    LatLng.SetLng(0);
+    WayPointItem *Item =  WPCreate(LatLng,50);
+
+
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+
+        if (w) {
+            if (w->MissionType() == Item->MissionType()) {
+                if(w->Number() == (Item->Number() - 1))
+                {
+                     WPLineCreate(w,Item,Qt::green,false,2);
+                }
+            }
+        }
+    }
+}
+
 //清除当前航线才能下载
 void OPMapWidget::WPDeleteAll()
 {
@@ -1424,8 +1453,7 @@ void OPMapWidget::OnSelectionChanged()
     }
 }
 
-
-void OPMapWidget::WPotherPoint(int number)
+void OPMapWidget::WPnearPoint(int number)
 {
     int position = 0;
     int group = 3;
@@ -1442,13 +1470,32 @@ void OPMapWidget::WPotherPoint(int number)
         }
     }
 
-    if(1 != qAbs(number))
+    WayPointItem *wp = WPFind(group,position);
+
+    if(wp)
     {
-        position = number;
+        setSelectedWP(position);
+        wp->emitWPProperty();
+    }
+}
+
+void OPMapWidget::WPotherPoint(int number)
+{
+    int position = 0;
+    int group = 3;
+
+
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+
+        if (w) {
+            if (w->isSelected()) {
+                group = w->MissionType();
+            }
+        }
     }
 
-
-    //position = number;
+    position = number;
 
     WayPointItem *wp = WPFind(group,position);
 
diff --git a/opmap/mapwidget/opmapwidget.h b/opmap/mapwidget/opmapwidget.h
index b8ec69d..fb8d1eb 100644
--- a/opmap/mapwidget/opmapwidget.h
+++ b/opmap/mapwidget/opmapwidget.h
@@ -675,6 +675,7 @@ public slots:
     void WPDelete(WayPointItem *item);
     void WPDelete(void);
     void WPDeleteAll();
+    void WPAdd(void);
 
     void WPInsert();
     void WPInsert(WayPointItem *item, int const & position);
@@ -700,6 +701,7 @@ public slots:
     void ruler_clicked(void);
     void table_clicked(void);
 
+    void WPnearPoint(int dir);
     void WPotherPoint(int number);
 
     void WPsearchall(void);
diff --git a/opmap/mapwidget/waypointsetting.cpp b/opmap/mapwidget/waypointsetting.cpp
index eb54560..5710075 100644
--- a/opmap/mapwidget/waypointsetting.cpp
+++ b/opmap/mapwidget/waypointsetting.cpp
@@ -251,12 +251,12 @@ void WayPointSetting::delete_clicked(void)
 
 void WayPointSetting::last_clicked(void)
 {
-     emit WPotherPoint(-1);//选中减一
+     emit WPnearPoint(-1);//选中减一
 }
 
 void WayPointSetting::next_clicked(void)
 {
-     emit WPotherPoint(+1);//选中点加一
+     emit WPnearPoint(+1);//选中点加一
 }
 
 void WayPointSetting::ruler_clicked(void)
diff --git a/opmap/mapwidget/waypointsetting.h b/opmap/mapwidget/waypointsetting.h
index 60937c6..1612b43 100644
--- a/opmap/mapwidget/waypointsetting.h
+++ b/opmap/mapwidget/waypointsetting.h
@@ -163,7 +163,7 @@ signals:
                                  uint8_t mission_type);
 
 
-
+    void WPnearPoint(int dir);
     void WPotherPoint(int seq);
     void WPInsert();
     void WPDelete();