diff --git a/App/MissionUI/MissionUI.cpp b/App/MissionUI/MissionUI.cpp
index 6f6fcd8..2507845 100644
--- a/App/MissionUI/MissionUI.cpp
+++ b/App/MissionUI/MissionUI.cpp
@@ -20,23 +20,31 @@ MissionUI::MissionUI(QWidget *parent) :
     //围栏编辑
     CustomButton *btn_addCircle  = new CustomButton(this);
     CustomButton *btn_addPolygon = new CustomButton(this);
-    CustomButton *btn_deleteCircle  = new CustomButton(this);
-    CustomButton *btn_deletePolygon = new CustomButton(this);
 
-    btn_addCircle->setText(tr("addCircle"));
-    btn_addPolygon->setText(tr("addPolygon"));
-    btn_deleteCircle->setText(tr("delCircle"));
-    btn_deletePolygon->setText(tr("delPolygon"));
+    btn_addCircle->setText(tr("Circle"));
+    btn_addPolygon->setText(tr("Polygon"));
 
     btn_addCircle->setFixedSize(100,40);
     btn_addPolygon->setFixedSize(100,40);
-    btn_deleteCircle->setFixedSize(100,40);
-    btn_deletePolygon->setFixedSize(100,40);
 
     btn_addCircle->hide();
     btn_addPolygon->hide();
-    btn_deleteCircle->hide();
-    btn_deletePolygon->hide();
+
+
+    connect(btn_addCircle,&CustomButton::clicked,[=](){
+
+        emit addCircle();
+    });
+
+    connect(btn_addPolygon,&CustomButton::clicked,[=](){
+
+        emit addPolygon();
+    });
+
+
+
+
+
 
     //航线编辑
     CustomButton *btn_load = new CustomButton(this);
@@ -78,9 +86,7 @@ MissionUI::MissionUI(QWidget *parent) :
     ui->gridLayout_btn->addWidget(btn_add,     btn_Count++,0,1,1);
 
     ui->gridLayout_btn->addWidget(btn_addCircle,      btn_Count++,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_deleteCircle,   btn_Count++,0,1,1);
     ui->gridLayout_btn->addWidget(btn_addPolygon,     btn_Count++,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_deletePolygon,  btn_Count++,0,1,1);
 
     ui->gridLayout_btn->setRowStretch(btn_Count++,1);
 
@@ -134,9 +140,16 @@ MissionUI::MissionUI(QWidget *parent) :
             break;
         }
 
-        while (widget->rowCount() > 0) {
-            widget->removeRow(widget->currentRow());
+        for(int row = 0;row < widget->rowCount();row++)
+        {
+            widget->removeRow(0);
         }
+
+        for(int row = widget->rowCount() - 1;row >= 0; row--)
+        {
+            widget->removeRow(row);
+        }
+
         emit WPDownload();
     });
 
@@ -174,31 +187,57 @@ MissionUI::MissionUI(QWidget *parent) :
         QTableWidget *widget;
         //根据tabwidget
         int tab_idx =ui->tabWidget->currentIndex();
-
-        switch (tab_idx) {
-        case 0:
+        if(tab_idx == 0)
+        {
             widget = tablelist.value(1);
-            break;
-        case 1:
-            widget = tablelist.value(3);
-            break;
-        case 2:
-            widget = tablelist.value(4);
-            break;
-        case 3:
-            widget = tablelist.value(5);
-            break;
-        case 4:
-            widget = tablelist.value(6);
-            break;
-        default:
-            break;
+            int row_id = widget->currentRow();
+            if(row_id >= 0)
+            {
+                int group = widget->item(row_id,0)->data(Qt::DisplayRole).toInt();//得到group
+                qDebug() <<  "group" << group << row_id;
+                emit delFence(group);
+
+
+                for(int row = 0;row < widget->rowCount();row++)
+                {
+                    if(group == widget->item(row,0)->data(Qt::DisplayRole).toInt())
+                        widget->removeRow(row);
+                }
+
+                for(int row = widget->rowCount() - 1;row >= 0; row--)
+                {
+                    if(group == widget->item(row,0)->data(Qt::DisplayRole).toInt())
+                        widget->removeRow(row);
+                }
+            }
+        }
+        else
+        {
+            switch (tab_idx) {
+            case 0:
+                widget = tablelist.value(1);
+                break;
+            case 1:
+                widget = tablelist.value(3);
+                break;
+            case 2:
+                widget = tablelist.value(4);
+                break;
+            case 3:
+                widget = tablelist.value(5);
+                break;
+            case 4:
+                widget = tablelist.value(6);
+                break;
+            default:
+                break;
+            }
+            int idx = widget->currentRow();
+            widget->removeRow(idx);
+            emit WPDelete();
+            //删除完成后，刷新一次所有航点
+            emit getAllPoints(tablelist.key(widget));
         }
-        int idx = widget->currentRow();
-        widget->removeRow(idx);
-        emit WPDelete();
-        //删除完成后，刷新一次所有航点
-        emit getAllPoints(tablelist.key(widget));
     });
 
     connect(btn_clean,&CustomButton::clicked,[=](){
@@ -206,6 +245,7 @@ MissionUI::MissionUI(QWidget *parent) :
         //根据tabwidget
         int tab_idx =ui->tabWidget->currentIndex();
 
+
         switch (tab_idx) {
         case 0:
             widget = tablelist.value(1);
@@ -225,16 +265,28 @@ MissionUI::MissionUI(QWidget *parent) :
         default:
             break;
         }
-        while (widget->rowCount() > 0) {
-            widget->removeRow(widget->currentRow());
+
+        for(int row = 0;row < widget->rowCount();row++)
+        {
+            widget->removeRow(0);
         }
+
+        for(int row = widget->rowCount() - 1;row >= 0; row--)
+        {
+            widget->removeRow(row);
+        }
+
         emit WPDeleteAll();
+
     });
 
     connect(btn_add,&CustomButton::clicked,[=](){
-        emit WPAdd();
-       int group = 3;
+
        int tab_idx =ui->tabWidget->currentIndex();
+
+       emit WPAdd();
+       int group = 3;
+
        switch (tab_idx) {
        case 0:
            group = 1;
@@ -255,6 +307,7 @@ MissionUI::MissionUI(QWidget *parent) :
            break;
        }
        emit getAllPoints(group);
+
     });
 
 
@@ -383,15 +436,13 @@ MissionUI::MissionUI(QWidget *parent) :
         {
             btn_addCircle->show();
             btn_addPolygon->show();
-            btn_deleteCircle->show();
-            btn_deletePolygon->show();
 
             btn_load->hide();
             btn_save->hide();
             //btn_upload->hide();
             //btn_download->hide();
             btn_insert->hide();
-            btn_delete->hide();
+            //btn_delete->hide();
             btn_clean->hide();
             btn_add->hide();
         }
@@ -399,15 +450,13 @@ MissionUI::MissionUI(QWidget *parent) :
         {
             btn_addCircle->hide();
             btn_addPolygon->hide();
-            btn_deleteCircle->hide();
-            btn_deletePolygon->hide();
 
             btn_load->show();
             btn_save->show();
             //btn_upload->show();
             //btn_download->show();
             btn_insert->show();
-            btn_delete->show();
+            //btn_delete->show();
             btn_clean->show();
             btn_add->show();
         }
diff --git a/App/MissionUI/MissionUI.h b/App/MissionUI/MissionUI.h
index ff98974..c5f58d4 100644
--- a/App/MissionUI/MissionUI.h
+++ b/App/MissionUI/MissionUI.h
@@ -98,8 +98,9 @@ signals:
    void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
 
 
-
-
+   void addCircle();
+   void addPolygon();
+   void delFence(int group);
 
 private:
     Ui::MissionUI *ui;
diff --git a/App/MissionUI/propertyui.cpp b/App/MissionUI/propertyui.cpp
index 2ddf4a3..21e18b6 100644
--- a/App/MissionUI/propertyui.cpp
+++ b/App/MissionUI/propertyui.cpp
@@ -181,6 +181,14 @@ propertyui::propertyui(QWidget *parent) :
             this,&propertyui::setFencePolygon);
 
 
+    connect(table,&MissionUI::addCircle,
+            this,&propertyui::addCircle);
+
+    connect(table,&MissionUI::addPolygon,
+            this,&propertyui::addPolygon);
+
+    connect(table,&MissionUI::delFence,
+            this,&propertyui::delFence);
 
     //初始化参数
     setWayPointProperty(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3);
diff --git a/App/MissionUI/propertyui.h b/App/MissionUI/propertyui.h
index 2b6ead5..f0c324b 100644
--- a/App/MissionUI/propertyui.h
+++ b/App/MissionUI/propertyui.h
@@ -269,6 +269,10 @@ Q_SIGNALS:
     void setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
     void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
 
+    void addCircle();
+    void addPolygon();
+    void delFence(int group);
+
 private slots:
 
     void GroupChanged(int value);
diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index efdc478..6f9b505 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -440,6 +440,14 @@ MainWindow::MainWindow(QWidget *parent)
     connect(missionUI,SIGNAL(setFencePolygon(int,qreal,bool,QList<QPointF>)),
             map,SLOT(setFencePolygon(int,qreal,bool,QList<QPointF>)));
 
+    connect(missionUI,SIGNAL(addCircle()),
+            map,SLOT(addCircle()));
+
+    connect(missionUI,SIGNAL(addPolygon()),
+            map,SLOT(addPolygon()));
+
+    connect(missionUI,SIGNAL(delFence(int)),
+            map,SLOT(delFence(int)));
 
     //dlink  ----- map
     connect(map,SIGNAL(signal_WPDownload(uint8_t,uint8_t,int)),
@@ -470,6 +478,10 @@ MainWindow::MainWindow(QWidget *parent)
     connect(dlink->mavlinknode->Mission,SIGNAL(sendItemOK(uint16_t,bool)),
             map,SLOT(WPSendItemOK(uint16_t,bool)));
 
+    connect(map,SIGNAL(sendFence(qreal,qreal,qreal,qreal,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t)),
+            dlink->mavlinknode->Mission,SLOT(sendFence(qreal,qreal,qreal,qreal,uint16_t,uint16_t,uint16_t,uint16_t,uint16_t)),Qt::DirectConnection);
+
+
     //航点确认窗口
     connect(map,SIGNAL(setCurrent(int)),
             commandUI,SLOT(missionConfirm(int)));
diff --git a/MavLinkNode/missionprocess.cpp b/MavLinkNode/missionprocess.cpp
index bee44e3..27e030c 100644
--- a/MavLinkNode/missionprocess.cpp
+++ b/MavLinkNode/missionprocess.cpp
@@ -88,6 +88,50 @@ void MissionProcess::SetCurrentPoint(int seq)
     }
 }
 
+void MissionProcess::sendFence(qreal Vertex,
+                               qreal group,
+                               qreal Lat,
+                               qreal Lng,
+                               uint16_t FecneSeq,
+                               uint16_t command,
+                               uint16_t sysid,
+                               uint16_t compid,
+                               uint16_t mission_type)
+{
+
+    mapcontrol::WayPointItem::_property item;
+
+    qDebug() << Vertex
+             << group
+             << Lat
+             << Lng
+             << FecneSeq
+             << command
+             << sysid
+             << compid
+             << mission_type;
+
+    item.param1 = Vertex;
+    item.param2 = group;
+    item.param3 = 0;
+    item.param4 = 0;
+    item.x = Lat * 10e6;
+    item.y = Lng * 10e6;
+    item.z = 0;
+    item.seq = FecneSeq;
+    item.group = 0;
+    item.command = command;
+    item.target_system = sysid;
+    item.target_component = compid;
+    item.frame = 0;
+    item.current = 0;
+    item.autocontinue = 0;
+    item.mission_type = mission_type;
+
+    items.insert(item.seq,item);
+}
+
+
 
 void MissionProcess::transmitPoint(float param1,float param2,float param3,float param4,
                      int32_t x,int32_t y,float z,
diff --git a/MavLinkNode/missionprocess.h b/MavLinkNode/missionprocess.h
index 1a10e98..ffabf78 100644
--- a/MavLinkNode/missionprocess.h
+++ b/MavLinkNode/missionprocess.h
@@ -94,6 +94,15 @@ public slots:
                          uint8_t autocontinue,
                          uint8_t mission_type);
 
+    void sendFence(qreal Vertex,
+                   qreal group,
+                   qreal Lat,
+                   qreal Lng,
+                   uint16_t FecneSeq,
+                   uint16_t command,
+                   uint16_t sysid,
+                   uint16_t compid,
+                   uint16_t mission_type);
 
 private slots:
    //线程私有接口
@@ -182,6 +191,8 @@ private:
 
     QMap<int,mapcontrol::WayPointItem::_property> items;
 
+     QMap<int,mapcontrol::WayPointItem::_property> FenceItems;
+
 
 };
 #endif // MISSIONPROCESS_H
diff --git a/opmap/mapwidget/geoFencecircle.cpp b/opmap/mapwidget/geoFencecircle.cpp
index 441ae47..75d13fe 100644
--- a/opmap/mapwidget/geoFencecircle.cpp
+++ b/opmap/mapwidget/geoFencecircle.cpp
@@ -66,10 +66,22 @@ void geoFencecircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
          painter->setBrush(m_brush);
     }
 
+
+
     painter->drawPoint(0, 0);
-    //painter->drawEllipse(QPointF(0,0),line.length(),line.length());
     painter->drawEllipse(rectangle);
 
+    QFont font;
+    font.setWeight(QFont::ExtraBold);
+    font.setFamily("Arial");//非衬线
+    font.setPixelSize(40);
+    painter->setFont(font);
+
+    myPen.setWidth(lineWidth);
+    myPen.setColor(QColor("#FFFFFF"));
+    painter->setPen(myPen);
+    painter->drawText(rectangle,Qt::AlignCenter,QString::number(m_group));
+
 }
 
 void geoFencecircle::refreshLocations()
diff --git a/opmap/mapwidget/geoFenceitem.cpp b/opmap/mapwidget/geoFenceitem.cpp
index bfeb2a5..6d6c6b3 100644
--- a/opmap/mapwidget/geoFenceitem.cpp
+++ b/opmap/mapwidget/geoFenceitem.cpp
@@ -52,6 +52,19 @@ void geoFenceitem::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti
 
     painter->drawPoint(0, 0);
     painter->drawPolygon(polygon());
+
+
+    QFont font;
+    font.setWeight(QFont::ExtraBold);
+    font.setFamily("Arial");//非衬线
+    font.setPixelSize(40);
+    painter->setFont(font);
+
+    myPen.setWidth(lineWidth);
+    myPen.setColor(QColor("#FFFFFF"));
+    painter->setPen(myPen);
+    painter->drawText(boundingRect(),Qt::AlignCenter,QString::number(m_group));
+
 }
 
 int geoFenceitem::type() const
diff --git a/opmap/mapwidget/geoFenceitem.h b/opmap/mapwidget/geoFenceitem.h
index e1c46ef..1ba2e2e 100644
--- a/opmap/mapwidget/geoFenceitem.h
+++ b/opmap/mapwidget/geoFenceitem.h
@@ -30,6 +30,11 @@ public:
     QList<internals::PointLatLng> points;
 
     void setPoints(QList<internals::PointLatLng> p);
+    QList<internals::PointLatLng> Points(void)
+    {
+        return points;
+    }
+
 
     int Group(void)
     {
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index e36c6ac..3d33288 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -1447,6 +1447,26 @@ void OPMapWidget::WPDeleteAll()
             }
         }
     }
+
+    if(currentGroup == 1)
+    {
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
+            if (w) {
+                delete w;
+            }
+        }
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
+            if (w) {
+                delete w;
+            }
+        }
+    }
+
+
 }
 bool OPMapWidget::WPPresent()
 {
@@ -1529,9 +1549,6 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
     connect(item,SIGNAL(SetCurrent(int)),
             this,SIGNAL(setCurrent(int)), Qt::DirectConnection);
 
-
-
-
     connect(item,SIGNAL(ElevationChanged(int,double)),
             this,SLOT(ElevationChanged(int,double)), Qt::DirectConnection);
 
@@ -1786,9 +1803,6 @@ void OPMapWidget::WPSetCurrent(int seq)
 }
 
 
-
-
-
 void OPMapWidget::WPsearchall(void)
 {
     //重新排序一下
@@ -2062,12 +2076,96 @@ void OPMapWidget::setFencePolygon(int group,qreal vertex,bool inclusion,QList<QP
     }
 }
 
+void OPMapWidget::addCircle()
+{
+    bool inclusion     =  true;
+    int version        = 1;
+
+    internals::PointLatLng center = GetFromLocalToLatLng(QPointF(this->pos().x() + this->width()/2,this->pos().y() + this->height()/2));
+
+    qreal lat    = center.Lat();
+    qreal lng    = center.Lng();
+    qreal radius = 10000;
+
+    //生成一个⚪
+    geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
+    emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
+}
+
+void OPMapWidget::addPolygon()
+{
+
+    //找到地图中心,做4个点
+    bool inclusion     =  true;
+    int version        = 1;
+
+    internals::PointLatLng center = GetFromLocalToLatLng(QPointF(this->pos().x() + this->width()/2,this->pos().y() + this->height()/2));
+
+    QList<QPointF> latlng;
+    QList<internals::PointLatLng> points;
+    latlng.clear();
+    points.clear();
+
+
+
+    qreal lat    = center.Lat();
+    qreal lng    = center.Lng();
+
+    //生成一个多边形
+    points.push_back(internals::PointLatLng(lat + 0.2,lng - 0.2));
+    points.push_back(internals::PointLatLng(lat + 0.2,lng + 0.2));
+    points.push_back(internals::PointLatLng(lat - 0.2,lng + 0.2));
+    points.push_back(internals::PointLatLng(lat - 0.2,lng - 0.2));
+
+    latlng.push_back(QPointF(points.value(0).Lat(),points.value(0).Lng()));
+    latlng.push_back(QPointF(points.value(1).Lat(),points.value(1).Lng()));
+    latlng.push_back(QPointF(points.value(2).Lat(),points.value(2).Lng()));
+    latlng.push_back(QPointF(points.value(3).Lat(),points.value(3).Lng()));
+
+
+
+    geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,version,center,QColor("#FF8000"),map);
+
+    polyitem->setPoints(points);
+
+    emit createFencePolygon(fenceCount++,latlng.size(),inclusion,latlng);
+
+}
+
+void OPMapWidget::delFence(int group)
+{
+    //找出编号为group的栅栏，删除
+    foreach(QGraphicsItem * i, map->childItems()) {
+        geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
+        if (w) {
+
+            if(w->Group() == group)
+            {
+                w->deleteLater();
+            }
+        }
+    }
+
+    foreach(QGraphicsItem * i, map->childItems()) {
+        geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
+        if (w) {
+            if(w->Group() == group)
+            {
+                w->deleteLater();
+            }
+        }
+    }
+}
+
+
+
 
 //先清除再读取
 void OPMapWidget::WPLoad(QString path)//带文件目录参数
 {
     //清除所有
     WPDeleteAll();//清除当前航线
+    //fenceCount = 0;
     qDebug() << "WPLoad" << path;
     //读取
     QFile jsonFile(path);
@@ -2089,27 +2187,6 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
     QJsonObject json = doc.object();
 
     //栅栏解码
-    int fenceCount = 0;
-    QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
-    for(QJsonValue item: circlesArray) {
-
-        bool inclusion     =  item.toObject().value("inclusion").toBool();
-        QJsonObject circle = item.toObject().value("circle").toObject();
-        int version        = item.toObject().value("version").toInt();
-
-        QJsonArray center = circle.value("center").toArray();
-
-        qreal lat    = center.at(0).toDouble();
-        qreal lng    = center.at(1).toDouble();
-        qreal radius = circle.value("radius").toDouble();
-
-
-        //生成一个⚪
-        geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
-        emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
-
-    }
-
     QJsonArray polygonsArray = json.value("geoFence").toObject().value("polygons").toArray();
     for(QJsonValue item: polygonsArray) {
 
@@ -2151,6 +2228,26 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
         emit createFencePolygon(fenceCount++,points.size(),inclusion,latlng);
     }
 
+    QJsonArray circlesArray = json.value("geoFence").toObject().value("circles").toArray();
+    for(QJsonValue item: circlesArray) {
+
+        bool inclusion     =  item.toObject().value("inclusion").toBool();
+        QJsonObject circle = item.toObject().value("circle").toObject();
+        int version        = item.toObject().value("version").toInt();
+
+        QJsonArray center = circle.value("center").toArray();
+
+        qreal lat    = center.at(0).toDouble();
+        qreal lng    = center.at(1).toDouble();
+        qreal radius = circle.value("radius").toDouble();
+
+
+        //生成一个⚪
+        geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
+        emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
+
+    }
+
 
 
     //任务解码
@@ -2362,6 +2459,11 @@ void OPMapWidget::WPDownload(void)
 
      WPDeleteAll();
 
+     if(currentGroup == 1)
+     {
+         //fenceCount = 0;
+     }
+
      int sysid = 0;
      int compid = 0;
 
@@ -2383,7 +2485,98 @@ void OPMapWidget::WPUpload(void)
 {
     if(currentGroup == 1)//这是栅栏
     {
+        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();
+                }
+            }
+        }
+
+
+        int FecneSeq = 0;
+
+        //查找所有的子类
+        bool FenceItemExit = false;
+        foreach(QGraphicsItem * i, map->childItems()) {
+            geoFenceitem *w = qgraphicsitem_cast<geoFenceitem *>(i);
+            if (w) {
+                FenceItemExit = true;
+
+                QList<internals::PointLatLng> latlng = w->Points();
+                bool inclusion = w->Inclusion();
+                qreal Vertex = w->Vertex();
+                qreal group = w->Group();
+
+                for(internals::PointLatLng p:latlng)
+                {
+                     emit sendFence(Vertex,
+                                    group,
+                                    p.Lat(),
+                                    p.Lng(),
+                                    FecneSeq++,
+                                    (inclusion)?(MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION):(MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION) ,
+                                    sysid,
+                                    compid,
+                                    1);
+
+                    qDebug() << "send fence to thread";
+                }
+            }
+        }
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
+            if (w) {
+                FenceItemExit = true;
+
+                internals::PointLatLng p = w->coord;
+                bool inclusion = w->Inclusion();
+                qreal Vertex = w->Radius();
+                qreal group = w->Group();
+
+                 emit sendFence(Vertex,
+                                group,
+                                p.Lat(),
+                                p.Lng(),
+                                FecneSeq++,
+                                (inclusion)?(MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION ):(MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION ),
+                                sysid,
+                                compid,
+                                1);
+            }
+        }
+
+
+        if(FenceItemExit == false)
+        {
+            emit showMessage("请先载入围栏");
+            return;
+        }
+
+
+        emit showMessage(tr("开始上传围栏，总数%1").arg(FecneSeq));
+
+        //选择当前ID号
+        foreach(QGraphicsItem * i, map->childItems()) {
+            UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+            if (u) {
+                if(u->Select() == true)
+                {
+                    sysid = u->SysID();
+                    compid = u->CompID();
+
+                    //如果有选中，那么就发送，选中几个就发几个
+                    emit signal_WPUpload(sysid,compid,FecneSeq,1);//直接发送全部围栏到
+                }
+            }
+        }
     }
     else
     {
@@ -2520,7 +2713,6 @@ void OPMapWidget::groupchanged(int value)
                 }
             }
         }
-
     }
 
 
@@ -2665,7 +2857,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
 
    if((mission_type - 2) == -1)
    {
-        qDebug() << command <<  param1 << param2 << param3 <<  param4 << x << y;
+        qDebug() << command << seq <<  param1 << param2 << param3 <<  param4 << x << y;
 
         if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION  )
         {
@@ -2675,10 +2867,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
             PolygonCount ++;
             bool inclusion = true;
 
-
             PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
 
-
             if(PolygonCount >= param1)
             {
 
@@ -2701,11 +2891,11 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
                 center.SetLat(lat_sum/latlng.size());
                 center.SetLng(lng_sum/latlng.size());
 
-                geoFenceitem *polyitem = new geoFenceitem(PolygonCount,inclusion,0,center,QColor("#FF8000"),map);
+                geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
 
                 polyitem->setPoints(PolygonPoints);
 
-                emit createFencePolygon(PolygonCount,PolygonPoints.size(),inclusion,latlng);
+                emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
 
                 PolygonCount = 0;
                 PolygonPoints.clear();
@@ -2745,11 +2935,11 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
                 center.SetLat(lat_sum/latlng.size());
                 center.SetLng(lng_sum/latlng.size());
 
-                geoFenceitem *polyitem = new geoFenceitem(PolygonCount,inclusion,0,center,QColor("#FF8000"),map);
+                geoFenceitem *polyitem = new geoFenceitem(fenceCount,inclusion,0,center,QColor("#FF8000"),map);
 
                 polyitem->setPoints(PolygonPoints);
 
-                emit createFencePolygon(PolygonCount,PolygonPoints.size(),inclusion,latlng);
+                emit createFencePolygon(fenceCount++,PolygonPoints.size(),inclusion,latlng);
 
                 PolygonCount = 0;
                 PolygonPoints.clear();
@@ -2760,7 +2950,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
             bool inclusion = true;
             qreal radius = param1;
 
-            geoFencecircle *c = new geoFencecircle(1,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
+            geoFencecircle *c = new geoFencecircle(fenceCount++,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
             emit createFenceCircle(0,radius,inclusion,x * 10e-8,y * 10e-8);
 
         }
@@ -2769,7 +2959,7 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
             bool inclusion = false;
             qreal radius = param1;
 
-            geoFencecircle *c = new geoFencecircle(1,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
+            geoFencecircle *c = new geoFencecircle(fenceCount++,inclusion,0,internals::PointLatLng(x * 10e-8,y * 10e-8),radius,QColor("#FF8000"),map);
             emit createFenceCircle(0,radius,inclusion,x * 10e-8,y * 10e-8);
         }
         else if(command == MAV_CMD_NAV_RALLY_POINT  )
diff --git a/opmap/mapwidget/opmapwidget.h b/opmap/mapwidget/opmapwidget.h
index 9e842df..f6a7130 100644
--- a/opmap/mapwidget/opmapwidget.h
+++ b/opmap/mapwidget/opmapwidget.h
@@ -513,6 +513,7 @@ private:
 
     bool isShowTip = false;
 
+    int fenceCount = 0;
 
 private slots:
     void diagRefresh();
@@ -622,6 +623,7 @@ signals:
     void signal_WPDownload(uint8_t m_sysid, uint8_t m_compid,int missiontype);
     void signal_WPUpload(uint8_t m_sysid, uint8_t m_compid, uint32_t count,int missiontype);
 
+    void signal_FenceUpload(uint8_t m_sysid, uint8_t m_compid, uint32_t count,int missiontype);
 
     void transmitPoint(float param1,float param2,float param3,float param4,
                          int32_t x,int32_t y,float z,
@@ -649,6 +651,18 @@ signals:
     void createFenceCircle(int group,qreal radius,bool inclusion,qreal lat,qreal lng);
     void createFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
 
+    void sendFence(qreal Vertex,
+                   qreal group,
+                   qreal Lat,
+                   qreal Lng,
+                   uint16_t FecneSeq,
+                   uint16_t command,
+                   uint16_t sysid,
+                   uint16_t compid,
+                   uint16_t currentGroup);
+
+
+
 
 public slots:
 
@@ -736,6 +750,12 @@ public slots:
     void setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng);
     void setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng);
 
+    void addCircle();
+    void addPolygon();
+    void delFence(int group);
+
+
+
 };
 }
 #endif // OPMAPWIDGET_H