diff --git a/App/ComponentUI/Scope/Chart.cpp b/App/ComponentUI/Scope/Chart.cpp
index 7d8415d..3387c3d 100644
--- a/App/ComponentUI/Scope/Chart.cpp
+++ b/App/ComponentUI/Scope/Chart.cpp
@@ -42,7 +42,7 @@ Chart::Chart(QChart *chart, QWidget *parent)
     setParent(parent);
     setChart(chart);
 
-    setScroll(true);
+    setScroll(true);//导致程序卡顿
 
     chart->setPos(0,0);
     chart->resize(parent->size());
@@ -98,7 +98,7 @@ Chart::Chart(QWidget *parent)
     chart()->setPos(0,0);
     chart()->resize(parent->size());
 
-    setScroll(true);
+    setScroll(true);//导致程序卡顿
 
     //默认不使用，因为使用显卡加速图形会闪
     setUseOpenGL(true);
@@ -352,6 +352,8 @@ void Chart::chartUpdate(void)
              {
                 QVector<QPointF> pv = s->pointsVector();
 
+
+
                 //qDebug() << s->name() << pv;
 
                 if(pv.size() > 0)
@@ -359,6 +361,7 @@ void Chart::chartUpdate(void)
                     float max = pv.at(0).y();
                     float min = pv.at(0).y();
 
+
                     foreach (QPointF p, pv) {
 
                         if(max < p.y())
@@ -374,6 +377,7 @@ void Chart::chartUpdate(void)
 
                     yMax.append(max);
                     yMin.append(min);
+
                 }
              }
          }
@@ -624,12 +628,18 @@ void Chart::setSerieData(QString name, QVariant data)
 
                 if(s->pointsVector().size() > MaxCount)
                 {
+                    /*
                      QList<QPointF> pv = s->points();
                      pv.removeFirst();
 
                      s->clear();
                      s->replace(pv);
                     //qDebug() << "remove()" << s->points().size() ;
+                    */
+
+                     s->removePoints(0,1);
+
+                     //qDebug() << "s size:" << s->points().size();
                 }
             }
 
@@ -719,11 +729,16 @@ void Chart::setSerieData(QString name,QVariant data,int colorindex = 3)
 
                 if(s->pointsVector().size() > MaxCount)
                 {
+                    /*
                      QList<QPointF> pv = s->points();
                      pv.removeFirst();
 
                      s->clear();
                      s->replace(pv);
+                     */
+
+                     s->removePoints(0,1);
+
                     //qDebug() << "remove()" << s->points().size() ;
                 }
             }
diff --git a/App/MissionUI/MissionUI.cpp b/App/MissionUI/MissionUI.cpp
index 92c2453..9c95b18 100644
--- a/App/MissionUI/MissionUI.cpp
+++ b/App/MissionUI/MissionUI.cpp
@@ -6,10 +6,48 @@ MissionUI::MissionUI(QWidget *parent) :
     ui(new Ui::MissionUI)
 {
     ui->setupUi(this);
+    setWindowTitle(tr("Mission Table"));
 
 
-    prop = new propertyui(this);
-    prop->setGeometry(this->geometry());
+    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
+
+
+    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);
+
+
+    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
+
 
 }
 
@@ -18,11 +56,15 @@ MissionUI::~MissionUI()
     delete ui;
 }
 
-
+void MissionUI::closeEvent(QCloseEvent *event)
+{
+    event->ignore();
+    this->setHidden(true);
+}
 
 void MissionUI::resizeEvent(QResizeEvent *event)
 {
-    prop->setGeometry(0,0,this->width(),this->height());
+
 }
 
 
diff --git a/App/MissionUI/MissionUI.h b/App/MissionUI/MissionUI.h
index 22b18d0..4df7072 100644
--- a/App/MissionUI/MissionUI.h
+++ b/App/MissionUI/MissionUI.h
@@ -3,11 +3,9 @@
 
 #include <QWidget>
 
-
-#include "propertyui.h"
 #include "Inputter.h"
 #include "Selector.h"
-
+#include "QComboBox"
 
 
 namespace Ui {
@@ -24,6 +22,7 @@ public:
 
 
 protected slots:
+   void closeEvent(QCloseEvent *event);
    void resizeEvent(QResizeEvent *event);
 
 
@@ -31,7 +30,6 @@ private:
     Ui::MissionUI *ui;
 
 
-    propertyui *prop = nullptr;
 
 
 
diff --git a/App/MissionUI/MissionUI.ui b/App/MissionUI/MissionUI.ui
index 28856d7..213c1b9 100644
--- a/App/MissionUI/MissionUI.ui
+++ b/App/MissionUI/MissionUI.ui
@@ -6,13 +6,73 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>280</width>
-    <height>584</height>
+    <width>736</width>
+    <height>445</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <widget class="QTableWidget" name="tableWidget">
+     <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>
  <resources/>
  <connections/>
diff --git a/App/MissionUI/propertyui.cpp b/App/MissionUI/propertyui.cpp
index 5f16468..27c3c3d 100644
--- a/App/MissionUI/propertyui.cpp
+++ b/App/MissionUI/propertyui.cpp
@@ -147,6 +147,10 @@ propertyui::propertyui(QWidget *parent) :
 
    //rebuildUI(" ");
 
+    table = new MissionUI();
+
+    //table->hide();
+
 }
 
 
@@ -879,6 +883,11 @@ void propertyui::setWayPointProperty(float param1,float param2,float param3,floa
 
 propertyui::~propertyui()
 {
+    if(table)
+    {
+        table->deleteLater();
+    }
+
     delete ui;
 }
 
@@ -2013,3 +2022,20 @@ void propertyui::on_pushButton_Group_clicked()
 
     selector->show();
 }
+
+void propertyui::on_pushButton_Ruler_clicked()
+{
+
+}
+
+void propertyui::on_pushButton_Table_clicked()
+{
+     if(table->isHidden())
+     {
+         table->show();
+     }
+     else
+     {
+         table->hide();
+     }
+}
diff --git a/App/MissionUI/propertyui.h b/App/MissionUI/propertyui.h
index 396ff8e..7d8a81b 100644
--- a/App/MissionUI/propertyui.h
+++ b/App/MissionUI/propertyui.h
@@ -36,7 +36,7 @@
 
 #include "QtQmlDepends"
 
-
+#include "MissionUI.h"
 
 
 #ifdef QtopmapWidget
@@ -318,10 +318,12 @@ private slots:
 
     void on_pushButton_Lng_clicked();
 
-    //void on_pushButton_2_clicked();
-
     void on_pushButton_Group_clicked();
 
+    void on_pushButton_Ruler_clicked();
+
+    void on_pushButton_Table_clicked();
+
 private:
     QString _loadErrorString(const QString& errorString) const;
     bool _infoAvailable(const QString& key) const { return _infoMap.contains(key); }
@@ -371,6 +373,9 @@ private:
 
     Ui::propertyui *ui;
 
+    MissionUI *table;
+
+
     QByteArray allBytes;
     QJsonArray MAV_CMD_infoArray;
 
diff --git a/App/MissionUI/propertyui.ui b/App/MissionUI/propertyui.ui
index c3a6731..f304463 100644
--- a/App/MissionUI/propertyui.ui
+++ b/App/MissionUI/propertyui.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>331</width>
-    <height>926</height>
+    <height>982</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -69,7 +69,7 @@
     </widget>
    </item>
    <item row="2" column="3">
-    <widget class="QPushButton" name="pushButton_Next">
+    <widget class="QPushButton" name="pushButton_Table">
      <property name="minimumSize">
       <size>
        <width>80</width>
@@ -77,7 +77,7 @@
       </size>
      </property>
      <property name="text">
-      <string>Next</string>
+      <string>Table</string>
      </property>
     </widget>
    </item>
@@ -419,7 +419,7 @@
          </widget>
         </item>
         <item row="0" column="0">
-         <widget class="QPushButton" name="pushButton_3">
+         <widget class="QPushButton" name="pushButton_Previous">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -438,7 +438,7 @@
          </widget>
         </item>
         <item row="0" column="2">
-         <widget class="QPushButton" name="pushButton_2">
+         <widget class="QPushButton" name="pushButton_Next">
           <property name="minimumSize">
            <size>
             <width>0</width>
@@ -654,7 +654,7 @@
     </widget>
    </item>
    <item row="2" column="2">
-    <widget class="QPushButton" name="pushButton_Previous">
+    <widget class="QPushButton" name="pushButton_Ruler">
      <property name="minimumSize">
       <size>
        <width>80</width>
@@ -662,7 +662,7 @@
       </size>
      </property>
      <property name="text">
-      <string>Previous</string>
+      <string>Ruler</string>
      </property>
     </widget>
    </item>
@@ -682,38 +682,5 @@
   </layout>
  </widget>
  <resources/>
- <connections>
-  <connection>
-   <sender>pushButton_3</sender>
-   <signal>clicked()</signal>
-   <receiver>pushButton_Previous</receiver>
-   <slot>click()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>40</x>
-     <y>227</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>200</x>
-     <y>163</y>
-    </hint>
-   </hints>
-  </connection>
-  <connection>
-   <sender>pushButton_2</sender>
-   <signal>clicked()</signal>
-   <receiver>pushButton_Next</receiver>
-   <slot>click()</slot>
-   <hints>
-    <hint type="sourcelabel">
-     <x>203</x>
-     <y>246</y>
-    </hint>
-    <hint type="destinationlabel">
-     <x>291</x>
-     <y>158</y>
-    </hint>
-   </hints>
-  </connection>
- </connections>
+ <connections/>
 </ui>
diff --git a/MavLinkNode/ThreadTemplet.cpp b/MavLinkNode/ThreadTemplet.cpp
index 40a6842..5cd5521 100644
--- a/MavLinkNode/ThreadTemplet.cpp
+++ b/MavLinkNode/ThreadTemplet.cpp
@@ -5,7 +5,7 @@ ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
     running_flag = false;
     thread = new QThread();//指定父对象可以自动析构
 
-    thread->setPriority(QThread::IdlePriority);
+
 
     this->moveToThread(thread);
     connect(thread, &QThread::started, this, &ThreadTemplet::process);
@@ -40,7 +40,7 @@ void ThreadTemplet::start()
         running_flag = true;
         thread->start();
         qDebug() << "thread start" << thread->isRunning();
-
+        thread->setPriority(QThread::IdlePriority);
     }
     else
     {
@@ -135,12 +135,12 @@ void ThreadTemplet::Send(mavlink_message_t msg)
 
 void ThreadTemplet::initbuff(void)
 {
-    client_buff.max_size = 10 * 1024 *1024;//10M
+    client_buff.max_size = 1 * 1024 *1024;//10M
     client_buff.buff[0].clear();
     client_buff.buff[1].clear();
     client_buff.select = 0;
 
-    serial_buff.max_size = 10 * 1024 *1024;
+    serial_buff.max_size = 1 * 1024 *1024;
     serial_buff.buff[0].clear();
     serial_buff.buff[1].clear();
     serial_buff.select = 0;
diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index fbafc9f..ef8fe65 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -792,8 +792,6 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
 
 void MavLinkNode::StatusParse(mavlink_message_t msg)
 {
-
-
     //_vehicle vehicle = vehicleList.value(msg.sysid);
 
     vehicle.sysid = msg.sysid;
@@ -1158,8 +1156,17 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
         //emit signal_vehicle(vehicle);
 
-        emit state_updated();
 
+
+
+
+
+        static qint64 frq_time = 0;
+        if((QDateTime::currentMSecsSinceEpoch() - frq_time) >= 200)
+        {
+            emit state_updated();
+            frq_time = QDateTime::currentMSecsSinceEpoch();
+        }
 }
 
 
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index cdd02bd..4946e15 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -1828,7 +1828,7 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
         float param3 = params.at(2).toDouble();
         float param4 = params.at(3).toDouble();
         int32_t x    = params.at(4).toDouble() * 10e6;
-        int32_t y    = params.at(5).toDouble() * 10e6;;
+        int32_t y    = params.at(5).toDouble() * 10e6;
         float z      = params.at(6).toDouble();
 
         internals::PointLatLng LatLng;
@@ -1844,7 +1844,7 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
         emit setWPProperty(param1,param2,param3,param4,
                            x,y,z,
                            seq,
-                           currentGroup,//当前组
+                           mission_type,//当前组
                            command,
                            0,
                            0,
@@ -1881,14 +1881,24 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
 
 
      //geoFence节点写入 （mission type == 1,2）
-     {
-         QJsonArray circles;
-         QJsonArray polygons;
+     //判断围栏数量大于0时写入，否则不写
+
+     QJsonArray circles;
+     QJsonArray polygons;
+     {
+         QJsonArray polygon;
+         QJsonObject polygonObj;
+
+         polygonObj["inclusion"] = true;
+         polygonObj["polygon"]   = polygon;
+         polygonObj["version"]   = 1;
+
+         polygons.append(polygonObj);
 
-         geoFence.insert("circles",circles);
-         geoFence.insert("polygons",polygons);
-         geoFence.insert("version",2);
      }
+     geoFence.insert("circles",circles);
+     geoFence.insert("polygons",polygons);
+     geoFence.insert("version",2);
 
      //mission节点写入 (mission type  == 3...)
      {