diff --git a/App/MissionUI/propertyui.cpp b/App/MissionUI/propertyui.cpp
index 3a80b68..5f16468 100644
--- a/App/MissionUI/propertyui.cpp
+++ b/App/MissionUI/propertyui.cpp
@@ -771,20 +771,26 @@ void propertyui::WayPointPropertyUpdate(bool flag)
              <<  m_frame
              <<  m_current
              <<  m_autocontinue
-             << missionGroups;
-             //<<  m_mission_type ;
-/*
+             //<< missionGroups;
+             <<  m_mission_type ;
+
     emit WayPointPropertyChanged(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,
                                  m_seq,m_group,m_command,
                                  m_target_system,m_target_component,
                                  m_frame,m_current,m_autocontinue,missionGroups);
+                                 */
+
+    //在这里设置了类型，不允许设置类型
+
+
 }
 
 void propertyui::setWayPointProperty(float param1,float param2,float param3,float param4,
@@ -814,7 +820,8 @@ void propertyui::setWayPointProperty(float param1,float param2,float param3,floa
     m_frame = frame;
     m_current = current;
     m_autocontinue = autocontinue;
-    missionGroups = mission_type;
+    //missionGroups = mission_type;
+    m_mission_type = mission_type;
 
     for(QJsonValue info: MAV_CMD_infoArray) {
         if (!info.isObject()) {
@@ -827,6 +834,25 @@ void propertyui::setWayPointProperty(float param1,float param2,float param3,floa
         }
     }
 
+    qDebug() <<  "propertyUI set:"
+             <<  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 ;
+
+    /*
     qDebug() <<  "propertyUI set:"
              <<  m_param1
              <<  m_param2
@@ -844,6 +870,7 @@ void propertyui::setWayPointProperty(float param1,float param2,float param3,floa
              <<  m_current
              <<  m_autocontinue
              <<  missionGroups ;
+             */
 
 
 }
@@ -1959,7 +1986,9 @@ void propertyui::setGroup(QVariant value)
 {
     ui->pushButton_Group->setText(value.toString());
     //然后重置一下参数
-    WayPointPropertyUpdate(false);
+    //WayPointPropertyUpdate(false);
+
+    missionGroups = value.toInt() + 2;
 
     emit WPGroup(missionGroups);
 
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index 1ffb215..7c04efb 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -154,6 +154,10 @@ OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config) : QGraphicsView
             this,SLOT(NOPTimeout()));
     NoOperationTimer->start(20000);//20s不操作
 
+
+
+    currentGroup = 3;
+
 }
 
 void OPMapWidget::dragEnterEvent(QDragEnterEvent *event)
@@ -178,11 +182,7 @@ void OPMapWidget::dropEvent(QDropEvent *event)
 
      if(fileName.right(5) == ".plan")
      {
-         //setCommandFile(fileName);
-         //loadCommandJson(fileName);
-
          WPLoad(fileName);
-
      }
 }
 
@@ -372,13 +372,13 @@ void OPMapWidget::setUAVPos(int sysid,int compid,double x,double y,double z)
 
 void OPMapWidget::setUAVHeading(int sysid,int compid,float Heading)
 {
+    Q_UNUSED(compid)
     foreach(QGraphicsItem * i, map->childItems()) {
         UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
         if (u) {
             if(u->SysID() == sysid)
             {
                 u->SetUAVHeading(Heading);
-                //qDebug() << Heading;
             }
         }
     }
@@ -427,6 +427,7 @@ WayPointLine *OPMapWidget::WPLineCreate(WayPointItem *from, WayPointItem *to, QC
     ret->setOpacity(overlayOpacity);
     return ret;
 }
+
 WayPointLine *OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed, int width)
 {
     if (!from | !to) {
@@ -437,6 +438,11 @@ WayPointLine *OPMapWidget::WPLineCreate(HomeItem *from, WayPointItem *to, QColor
     return ret;
 }
 
+void OPMapWidget::WPLineUpdate(int group)//调用这个，刷新连接线
+{
+
+}
+
 void OPMapWidget::WPLineDelete(WayPointItem *from, WayPointItem *to)
 {
     do
@@ -456,11 +462,12 @@ void OPMapWidget::WPLineDelete(WayPointItem *from, WayPointItem *to)
 WayPointLine *OPMapWidget::WPLineFind(WayPointItem *from, WayPointItem *to)
 {
     foreach(QGraphicsItem * i, map->childItems()) {
-        WayPointLine *w = qgraphicsitem_cast<WayPointLine *>(i);
+        WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
 
-        if (w) {
-            if (w->WPLineFrom() == from) {
-                return w;
+        if (l) {
+            if ((l->WPLineFrom() == from) && (l->WPLineTo() == to) )
+            {
+                return l;
             }
         }
     }
@@ -496,8 +503,6 @@ void OPMapWidget::SetShowHome(const bool &value)
 
 void OPMapWidget::resizeEvent(QResizeEvent *event)
 {
-
-
     if (scene()) {
         scene()->setSceneRect(
             QRect(QPoint(0,0), event->size()));
@@ -763,6 +768,7 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
     isLNOP = false;
 
     //生成一个列表
+    //如果是点击生成，那么就获取当前的编辑组，使用当前编辑组的编号
     if(isWPCreate == true)
     {
         if(event->button() == Qt::LeftButton)
@@ -773,11 +779,19 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
             LatLng = map->FromLocalToLatLng(p.x(), p.y());
             WayPointItem *Item =  WPCreate(LatLng,50);
 
-            WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
 
+            foreach(QGraphicsItem * i, map->childItems()) {
+                WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
 
-            qDebug() << "WPCreate Point"
-                     << QThread::currentThreadId();
+                if (w) {
+                    if (w->MissionType() == Item->MissionType()) {
+                        if(w->Number() == (Item->Number() - 1))
+                        {
+                             WPLineCreate(w,Item,Qt::green,false,2);
+                        }
+                    }
+                }
+            }
         }
     }
     emit MouseDoubleClickEvent(event);
@@ -789,7 +803,10 @@ void OPMapWidget::mouseDoubleClickEvent(QMouseEvent *event)
 ////////////////WAYPOINT////////////////////////
 WayPointItem *OPMapWidget::WPCreate()
 {
-    WayPointItem *item = new WayPointItem(this->CurrentPosition(), 0,1, map);
+    //获取当前组下面的seq最大值
+    int seq = getWaypointSize(currentGroup);
+
+    WayPointItem *item = new WayPointItem(this->CurrentPosition(), 0,seq,currentGroup, map);
 
     ConnectWP(item);
     item->setParentItem(map);
@@ -800,7 +817,10 @@ WayPointItem *OPMapWidget::WPCreate()
 }
 WayPointItem *OPMapWidget::magicWPCreate()
 {
-    WayPointItem *item = new WayPointItem(1,map, true);
+    //获取当前组下面的seq最大值
+    int seq = getWaypointSize(currentGroup);
+
+    WayPointItem *item = new WayPointItem(seq,currentGroup,map, true);
 
     item->SetShowNumber(false);
     item->setParentItem(map);
@@ -818,7 +838,10 @@ void OPMapWidget::WPCreate(WayPointItem *item)
 }
 WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int const & altitude)
 {
-    WayPointItem *item = new WayPointItem(coord, altitude,1, map);
+    //获取当前组下面的seq最大值
+    int seq = getWaypointSize(currentGroup);
+
+    WayPointItem *item = new WayPointItem(coord, altitude,seq,currentGroup, map);
 
     ConnectWP(item);
     item->setParentItem(map);
@@ -830,7 +853,10 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
 }
 WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int const & altitude, QString const & description)
 {
-    WayPointItem *item = new WayPointItem(coord, altitude,1, description, map);
+    //获取当前组下面的seq最大值
+    int seq = getWaypointSize(currentGroup);
+
+    WayPointItem *item = new WayPointItem(coord, altitude,seq,currentGroup, description, map);
 
     ConnectWP(item);
     item->setParentItem(map);
@@ -842,7 +868,10 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
 }
 WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, const QString &description)
 {
-    WayPointItem *item = new WayPointItem(relativeCoord,1, description, map);
+    //获取当前组下面的seq最大值
+    int seq = getWaypointSize(currentGroup);
+
+    WayPointItem *item = new WayPointItem(relativeCoord,seq,currentGroup, description, map);
 
     ConnectWP(item);
     item->setParentItem(map);
@@ -853,6 +882,23 @@ WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, co
     return item;
 }
 
+int OPMapWidget::getWaypointSize(int group)
+{
+    QList<WayPointItem *> list;
+    list.clear();
+
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+
+        if (w) {
+            if (w->MissionType() == group) {
+                list.append(w);
+            }
+        }
+    }
+
+   return list.size();
+}
 
 void OPMapWidget::WPInsert()
 {
@@ -880,15 +926,11 @@ void OPMapWidget::WPInsert()
     if((item_old1)&&(item_old2))
     {
         WPLineDelete(item_old1,item_old2);
-        //WPLineDelete(item_old1,item_old2);
-        //WPLineDelete(item_old1,item_old2);
     }
     //删除连线
     if((item_old1)&&(item_old0))
     {
         WPLineDelete(item_old0,item_old1);
-        //WPLineDelete(item_old0,item_old1);
-        //WPLineDelete(item_old0,item_old1);
 
         internals::PointLatLng latlng1 = item_old0->Coord();
         internals::PointLatLng latlng2 = item_old1->Coord();
@@ -907,7 +949,7 @@ void OPMapWidget::WPInsert()
 
     if(item_old1)//如果指定的点存在，那么就可以在这之前插入一个点
     {
-        WayPointItem *item = new WayPointItem(latlng, item_old1->Altitude(), 1,map);
+        WayPointItem *item = new WayPointItem(latlng, item_old1->Altitude(), position,currentGroup,map);
 
         ConnectWP(item);
         item->SetNumber(position);
@@ -949,21 +991,6 @@ void OPMapWidget::WPInsert()
             }
         }
 
-        /*
-        WayPointItem *w_last = WPFind(item->Number() - 1);
-        if(w_last)
-        {
-            WPLineCreate(w_last,item,Qt::green,false,2);
-
-            WayPointItem *w_last2 = WPFind(item->Number() - 2);
-            if(w_last2)
-            {
-                WPLineCreate(w_last2,w_last,Qt::green,false,2);
-            }
-
-        }
-        */
-
 
     }
 
@@ -971,9 +998,6 @@ void OPMapWidget::WPInsert()
     foreach(QGraphicsItem * i, map->childItems()) {
         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
         if (w) {
-            //qDebug() << "all number" << w->Number() << w->snumber;
-
-
             WPFollowPrevious(w->FollowPrevious(),w);
         }
     }
@@ -990,7 +1014,7 @@ void OPMapWidget::WPInsert(WayPointItem *item, const int &position)
 }
 WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int const & altitude, const int &position)
 {
-    WayPointItem *item = new WayPointItem(coord, altitude,1, map);
+    WayPointItem *item = new WayPointItem(coord, altitude,position,currentGroup, map);
 
     item->SetNumber(position);
     ConnectWP(item);
@@ -1011,7 +1035,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
     } else {
         mcoord = coord;
     }
-    WayPointItem *item = new WayPointItem(mcoord, altitude,1, description, map);
+    WayPointItem *item = new WayPointItem(mcoord, altitude,position,currentGroup, description, map);
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
@@ -1025,7 +1049,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
 }
 WayPointItem *OPMapWidget::WPInsert(distBearingAltitude const & relative, QString const & description, const int &position)
 {
-    WayPointItem *item = new WayPointItem(relative,1, description, map);
+    WayPointItem *item = new WayPointItem(relative,position,currentGroup, description, map);
 
     item->SetNumber(position);
     ConnectWP(item);
@@ -1050,10 +1074,18 @@ void OPMapWidget::WPDelete(WayPointItem *item)
         setSelectedWP(w);
         w->emitWPProperty();
 
-        WayPointItem *w_next = WPFind(w->Number() + 1);
-        if(w_next)
-        {
-            WPLineCreate(w,w_next,Qt::green,false,2);
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            WayPointItem *w_next = qgraphicsitem_cast<WayPointItem *>(i);
+
+            if (w_next) {
+                if (w->MissionType() == w_next->MissionType()) {
+                    if(w->Number() == (w_next->Number() + 1))
+                    {
+                         WPLineCreate(w,w_next,Qt::green,false,2);
+                    }
+                }
+            }
         }
     }
     else
@@ -1102,14 +1134,18 @@ void OPMapWidget::WPDelete(void)
             setSelectedWP(item);
             item->emitWPProperty();
 
-            WayPointItem *item_next = WPFind(item->Number() + 1);
-            if(item_next)
-            {
-                WPLineCreate(item,item_next,Qt::green,false,2);
-            }
-            else
-            {
-                qDebug() << "can not find next fine";
+
+            foreach(QGraphicsItem * i, map->childItems()) {
+                WayPointItem *item_next = qgraphicsitem_cast<WayPointItem *>(i);
+
+                if (item_next) {
+                    if (item->MissionType() == item_next->MissionType()) {
+                        if(item->Number() == (item_next->Number() + 1))
+                        {
+                             WPLineCreate(item,item_next,Qt::green,false,2);
+                        }
+                    }
+                }
             }
         }
         else
@@ -1265,6 +1301,8 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
             this,SLOT(setCurrentPoint(int)), Qt::DirectConnection);
 
 
+    connect(item,SIGNAL(currentMissiontype(int)),
+            this,SLOT(WPGroup(int)), Qt::DirectConnection);
 
 
     //生成后立即选中，并且把信息发给ui界面
@@ -1756,7 +1794,10 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
 
     QJsonObject json = doc.object();
 
-    //解码
+    //安全区解码
+
+
+    //任务解码
     QJsonArray itemsArray = json.value("mission").toObject().value("items").toArray();
 
     for(QJsonValue item: itemsArray) {
@@ -1902,7 +1943,6 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
                      item.insert("params",params);
                      item.insert("type",w->MissionType());
 
-                     //这里有问题
                      items.append(item);
                  }
 
@@ -1915,10 +1955,6 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
              }
          }
 
-
-
-
-
          mission.insert("cruiseSpeed",2);
          mission.insert("firmwareType",0);
          mission.insert("hoverSpeed",2);
@@ -2029,7 +2065,7 @@ void OPMapWidget::WPUpload(void)
      }
 }
 
-
+//飞行界面收到的当前航点的消息
 void OPMapWidget::groupchanged(int value)
 {
     //如果当前是在飞行界面，那么就下载，否则不动
@@ -2040,6 +2076,7 @@ void OPMapWidget::groupchanged(int value)
     }
     else//飞行界面
     {
+        /*
         WPDeleteAll();
 
         int sysid = 0;
@@ -2057,6 +2094,7 @@ void OPMapWidget::groupchanged(int value)
                 }
             }
         }
+        */
 
     }
 
@@ -2064,6 +2102,7 @@ void OPMapWidget::groupchanged(int value)
     update();
 }
 
+//编辑界面收到的组切换的消息
 void OPMapWidget::WPGroup(int value)
 {
     currentGroup = value;
@@ -2072,34 +2111,35 @@ void OPMapWidget::WPGroup(int value)
 
     //切换当前航线，其他都隐藏，或者高亮当前
 
-    /*
+    //将不是当前的全部变成灰色，当前的显示
     foreach(QGraphicsItem * i, map->childItems()) {
         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
         if (w) {
-
-            if(w->MissionType() != currentGroup)
+            qDebug() << "missiontype" << w->MissionType();
+            if(w->MissionType() == currentGroup)
             {
-                w->setVisible(false);
+                w->setisActive(true);
             }
             else
             {
-                w->setVisible(true);
+                w->setisActive(false);
             }
         }
     }
 
-
+    //将不是当前的先全部变成灰色,当前的显示
     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
     /*
@@ -2111,23 +2151,8 @@ void OPMapWidget::WPGroup(int value)
     */
 
 
-    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 cf70bfb..4919fee 100644
--- a/opmap/mapwidget/opmapwidget.h
+++ b/opmap/mapwidget/opmapwidget.h
@@ -377,6 +377,7 @@ public:
     WayPointItem *WPCreate(internals::PointLatLng const & coord, int const & altitude, QString const & description);
     WayPointItem *WPCreate(const distBearingAltitude &relativeCoord, const QString &description);
 
+    int getWaypointSize(int group);
 
     void WPRenumber(WayPointItem *item, int const & newnumber);
     void SetShowCompass(bool const & value);
@@ -394,8 +395,8 @@ public:
 
     MeasureLine *measureline = nullptr;
 
-    int currentGroup = 0;//编辑情况
-    int currentMissionType = 0;
+    int currentGroup = 3;//编辑情况
+    int currentMissionType = 0;//显示情况
 
     QMap<int,QMap<int,WayPointItem *>> waypointgroups;//group index point
 
@@ -414,6 +415,9 @@ public:
     void SetUavPic(QString UAVPic);
     WayPointLine *WPLineCreate(WayPointItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
     WayPointLine *WPLineCreate(HomeItem *from, WayPointItem *to, QColor color, bool dashed = false, int width = -1);
+    void WPLineUpdate(int group);
+
+
     WayPointCircle *WPCircleCreate(WayPointItem *center, double radius, bool clockwise, QColor color, bool dashed = false, int width = -1);
     WayPointCircle *WPCircleCreate(HomeItem *center, double radius, bool clockwise, QColor color, bool dashed = false, int width = -1);
     void deleteAllOverlays();
diff --git a/opmap/mapwidget/waypointitem.cpp b/opmap/mapwidget/waypointitem.cpp
index 6152d9f..7b89e6e 100644
--- a/opmap/mapwidget/waypointitem.cpp
+++ b/opmap/mapwidget/waypointitem.cpp
@@ -35,7 +35,7 @@
 
 
 namespace mapcontrol {
-WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq,  MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(""), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
+WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq, int missiontype, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(""), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
 {
     numberI = 0;
     isEdit = true;
@@ -48,7 +48,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
     SetShowNumber(shownumber);
     RefreshPos();
 
-    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
 
     myHome = NULL;
     QList<QGraphicsItem *> list = map->childItems();
@@ -74,7 +74,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
 
 }
 
-WayPointItem::WayPointItem(int seq, MapGraphicItem *map, bool magicwaypoint) : reached(false), description(""), shownumber(true), isDragging(false), altitude(0), map(map)
+WayPointItem::WayPointItem(int seq,int missiontype, MapGraphicItem *map, bool magicwaypoint) : reached(false), description(""), shownumber(true), isDragging(false), altitude(0), map(map)
 {
     isEdit = true;
     relativeCoord.bearing  = 0;
@@ -96,7 +96,7 @@ WayPointItem::WayPointItem(int seq, MapGraphicItem *map, bool magicwaypoint) : r
     SetShowNumber(shownumber);
     RefreshPos();
 
-    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
 
     myHome = NULL;
     QList<QGraphicsItem *> list = map->childItems();
@@ -120,7 +120,7 @@ WayPointItem::WayPointItem(int seq, MapGraphicItem *map, bool magicwaypoint) : r
 
     this->setZValue(3);
 }
-WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq,  const QString &description, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(description), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
+WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & altitude,int seq, int missiontype, const QString &description, MapGraphicItem *map, wptype type) : coord(coord), reached(false), description(description), shownumber(true), isDragging(false), altitude(altitude), map(map), myType(type)
 {
     isEdit = true;
     numberI = 0;
@@ -134,7 +134,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
     SetShowNumber(shownumber);
     RefreshPos();
 
-    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
 
     myHome = NULL;
     QList<QGraphicsItem *> list = map->childItems();
@@ -158,7 +158,7 @@ WayPointItem::WayPointItem(const internals::PointLatLng &coord, int const & alti
     this->setZValue(3);
 }
 
-WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate,int seq, const QString &description, MapGraphicItem *map) : relativeCoord(relativeCoordenate), reached(false), description(description), shownumber(true), isDragging(false), map(map)
+WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate,int seq,int missiontype, const QString &description, MapGraphicItem *map) : relativeCoord(relativeCoordenate), reached(false), description(description), shownumber(true), isDragging(false), map(map)
 {
     isEdit = true;
     myHome = NULL;
@@ -186,7 +186,7 @@ WayPointItem::WayPointItem(const distBearingAltitude &relativeCoordenate,int seq
     SetShowNumber(shownumber);
     RefreshPos();
 
-    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq);
+    SetDefault(coord.Lat(),coord.Lng(),altitude,property.seq,missiontype);
 
     connect(this, SIGNAL(waypointdoubleclick(WayPointItem *)), map, SIGNAL(wpdoubleclicked(WayPointItem *)));
     emit manualCoordChange(this);
@@ -318,8 +318,6 @@ void WayPointItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti
         }
 
 
-
-
         painter->setPen(ePen);
         painter->drawEllipse(boundingRect());
 
@@ -361,6 +359,10 @@ void WayPointItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
         isDragging = true;
         qDebug() << "PressEvent isEdit" <<isEdit;
         //qDebug() << this->parent();
+        if(isEdit == true)
+        {
+            emit currentMissiontype(property.mission_type);
+        }
 
 
     }
@@ -760,12 +762,9 @@ void WayPointItem::emitWPProperty(void)
 
 }
 
-void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
+void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq,int missiontype)
 {
     //读取一下json
-
-
-
     property.param1 = 0;
     property.param2 = 0;
     property.param3 = 0;
@@ -774,14 +773,14 @@ void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
     property.y = lng * 10e6;
     property.z = alt;
     property.seq = seq;
-    property.group = 3;
+    property.group = missiontype;
     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 = 3;
+    property.mission_type = missiontype;
 
     qDebug() << "waypoint item set default" << property.mission_type;
 
@@ -876,6 +875,7 @@ void WayPointItem::SetGroup(uint16_t value)
 void WayPointItem::SetMissionType(uint8_t value)
 {
     property.mission_type = value;
+    update();
 }
 
 
diff --git a/opmap/mapwidget/waypointitem.h b/opmap/mapwidget/waypointitem.h
index a2be27f..d039ada 100644
--- a/opmap/mapwidget/waypointitem.h
+++ b/opmap/mapwidget/waypointitem.h
@@ -106,10 +106,10 @@ public:
 
 
 
-    WayPointItem(internals::PointLatLng const & coord, int const & altitude,int seq,  MapGraphicItem *map, wptype type = absolute);
-    WayPointItem(int seq, MapGraphicItem *map, bool magicwaypoint);
-    WayPointItem(internals::PointLatLng const & coord, int const & altitude, int seq, QString const & description, MapGraphicItem *map, wptype type = absolute);
-    WayPointItem(distBearingAltitude const & relativeCoord,int seq,  QString const & description, MapGraphicItem *map);
+    WayPointItem(internals::PointLatLng const & coord, int const & altitude,int seq, int missiontype, MapGraphicItem *map, wptype type = absolute);
+    WayPointItem(int seq,int missiontype, MapGraphicItem *map, bool magicwaypoint);
+    WayPointItem(internals::PointLatLng const & coord, int const & altitude, int seq,int missiontype, QString const & description, MapGraphicItem *map, wptype type = absolute);
+    WayPointItem(distBearingAltitude const & relativeCoord,int seq, int missiontype, QString const & description, MapGraphicItem *map);
 
     QString Description()
     {
@@ -189,7 +189,7 @@ public:
 
 
     //=============属性=================
-    void SetDefault(double lat, double lng, float alt, uint16_t seq);//默认属性
+    void SetDefault(double lat, double lng, float alt, uint16_t seq,int missiontype);//默认属性
 
     void SetParam1(float value);
     void SetParam2(float value);
@@ -281,7 +281,8 @@ public:
         return Elevation;
     }
 
-    void setActive(bool flag)
+
+    void setisActive(bool flag)
     {
         isactive = flag;
         update();
@@ -386,6 +387,7 @@ public slots:
 
 signals:
 
+    void currentMissiontype(int group);
     void SetCurrent(int seq);
 
     void WPFollowPrevious(bool flag,WayPointItem *waypoint);