diff --git a/App/mainwindow.cpp b/App/mainwindow.cpp
index dd643e9..05c069d 100644
--- a/App/mainwindow.cpp
+++ b/App/mainwindow.cpp
@@ -1005,7 +1005,6 @@ void MainWindow::setServoOffset(QVariant dirla, QVariant dirra, QVariant dirle,
 // 16~20Hz左右 运行频率可能太高
 void MainWindow::updateUI()//事件驱动式更新数据
 {
-
     static uint32_t custommode_old = 0;
     static uint8_t state_old = 0;
     bool isCustomChanged = false;
@@ -1293,6 +1292,10 @@ void MainWindow::updateUI()//事件驱动式更新数据
                    dlink->mavlinknode->vehicle.attitude.yaw * 57.3);
 
 
+
+
+
+
     uint64_t time = ((uint64_t)dlink->mavlinknode->vehicle.ins2.time)% 1000000;
     uint64_t date = ((uint64_t)dlink->mavlinknode->vehicle.ins2.time)/ 1000000;
 
@@ -1442,6 +1445,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
         toolsui->servosystem->setCheckState(10,getBit(health,26)?(HealthUI::state::failure):(HealthUI::state::success));
         toolsui->servosystem->setCheckState(11,getBit(health,27)?(HealthUI::state::failure):(HealthUI::state::success));
 
+
+
         /*
         qDebug() << getBit(health,22)
                  << getBit(health,23)
@@ -1465,6 +1470,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
         //qDebug() << getBit(health,16);
 
+
         uint16_t servoHealt = dlink->mavlinknode->vehicle.servo_output_raw.servo10_raw;
 
         healthui->setState(11,getBit(health,16)?(getBit(servoHealt,3)?(HealthUI::state::success):(HealthUI::state::warning)):(HealthUI::state::failure));//LA
@@ -1714,6 +1720,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
     if(toolsui->senser)
     {
+
         toolsui->senser->setAltChart("海拔高度",dlink->mavlinknode->vehicle.global_position_int.alt * 10e-4,2);
         toolsui->senser->setAltChart("气压高度",dlink->mavlinknode->vehicle.vfr_hud.alt,1);
 
@@ -1740,6 +1747,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
         toolsui->senser->setSpeedChart("目标表速",dlink->mavlinknode->vehicle.vfr_hud.airspeed
                                             +dlink->mavlinknode->vehicle.nav_controller_output.aspd_error,1);
 
+
     }
 
 
@@ -1768,7 +1776,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
     statusui->setServo(5,QString::number(ru_command,'f',2),
                          QString::number(ru_angle,'f',2));
 
-    /*
+
 
     if(toolsui->senser)
     {
@@ -1783,7 +1791,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
         toolsui->senser->setServoChart("方向舵",ru_angle,2);
         //toolsui->senser->setServoChart("方向舵角度",ru_command);
     }
-*/
+
 
     statusui->setEngine(1,QString::number((dlink->mavlinknode->vehicle.servo_output_raw.servo6_raw - 1000) * 0.1,'f',0),
                           QString::number(dlink->mavlinknode->vehicle.turbinstate.RPM_mea,'f',0));
@@ -1921,6 +1929,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
 */
 
+
+    /*
     QString Fix;
     switch (dlink->mavlinknode->vehicle.gps_raw_int.fix_type) {
     case 0:
@@ -1941,6 +1951,9 @@ void MainWindow::updateUI()//事件驱动式更新数据
         Fix.append(tr("%1").arg(dlink->mavlinknode->vehicle.gps_raw_int.fix_type));
         break;
     }
+
+    */
+
 /*
     toolsui->diagram->setNavigation(1,Fix);//定位状态
     toolsui->diagram->setNavigation(2,QString::number(dlink->mavlinknode->vehicle.gps_raw_int.satellites_visible));//微型数
@@ -1983,6 +1996,7 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
     //dlink->mavlinknode->vehicle.turbinstate.RPM_mea = 12000;
 
+
     if((isEngineStartUp == false)&&(dlink->mavlinknode->vehicle.turbinstate.RPM_mea >= 10000))
     {
          StartupTime->setTime(QDateTime::currentDateTime().time());
diff --git a/MavLinkNode/Terminal.cpp b/MavLinkNode/Terminal.cpp
index 59b8b7b..ba46c84 100644
--- a/MavLinkNode/Terminal.cpp
+++ b/MavLinkNode/Terminal.cpp
@@ -26,8 +26,8 @@ void terminal::process()//线程函数
          {
             default:
             case Nop_Mode     : QThread::msleep(1000/frq());break;
-            case RecieveMode  : ReadStateMachine();break;
-            case TransmitMode : WriteStateMachine();break;
+            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
+            case TransmitMode : WriteStateMachine();QApplication::processEvents();break;
          }
 
          if(isInterruptionRequested())//退出
diff --git a/MavLinkNode/ThreadTemplet.cpp b/MavLinkNode/ThreadTemplet.cpp
index fd837ff..cdcfdc3 100644
--- a/MavLinkNode/ThreadTemplet.cpp
+++ b/MavLinkNode/ThreadTemplet.cpp
@@ -4,6 +4,9 @@ ThreadTemplet::ThreadTemplet(QObject *parent) : QObject(parent)
 {
     running_flag = false;
     thread = new QThread();
+
+    thread->setPriority(QThread::IdlePriority);
+
     this->moveToThread(thread);
     connect(thread, &QThread::started, this, &ThreadTemplet::process);
 
diff --git a/MavLinkNode/commandprocess.cpp b/MavLinkNode/commandprocess.cpp
index 5d32906..916f7d8 100644
--- a/MavLinkNode/commandprocess.cpp
+++ b/MavLinkNode/commandprocess.cpp
@@ -31,8 +31,8 @@ void commandprocess::process()//线程函数
          {
             default:
             case Nop_Mode     : QThread::msleep(1000.0/frq());break;
-            case RecieveMode  : ReadStateMachine();break;//QApplication::processEvents();break;
-            case TransmitMode : WriteStateMachine();break;//QApplication::processEvents();break;
+            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
+            case TransmitMode : WriteStateMachine();QApplication::processEvents();break;
          }
 
          if(isInterruptionRequested())//退出
diff --git a/MavLinkNode/mavlinknode.cpp b/MavLinkNode/mavlinknode.cpp
index b032b7f..fbafc9f 100644
--- a/MavLinkNode/mavlinknode.cpp
+++ b/MavLinkNode/mavlinknode.cpp
@@ -480,6 +480,7 @@ void MavLinkNode::process()//线程函数
 
     uint8_t count = 0;
     QByteArray datagram = nullptr;
+    bool isIdle = true;
     while (running_flag)
     {
          count ++;
@@ -493,12 +494,6 @@ void MavLinkNode::process()//线程函数
          {
              //qDebug() << "client parse";
               Mavlinkparse(SourceType::c_sock,datagram);
-              //QApplication::processEvents();
-         }
-         else
-         {
-             QThread::msleep(1000/running_frq);
-             //QThread::yieldCurrentThread();
          }
 
          //解码从串口来的
@@ -507,21 +502,23 @@ void MavLinkNode::process()//线程函数
          //qDebug() << "serial port parse";
          if(!datagram.isEmpty())
          {
+              //isIdle
               //qDebug() << "serial port parse";
               Mavlinkparse(SourceType::s_port,datagram);
-              //QApplication::processEvents();
-         }
-         else
-         {
-             QThread::msleep(1000/running_frq);
-             //QThread::yieldCurrentThread();//打开这个CPU占用50%
+
          }
 
          if(isInterruptionRequested())//退出
          {
              break;
          }
-          //QApplication::processEvents();
+         QApplication::processEvents();
+         //QThread::yieldCurrentThread();//打开这个CPU占用50%
+
+         if(isIdle)
+         {
+           // QThread::msleep(1000/running_frq);
+         }
     }
 }
 
@@ -610,6 +607,8 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
     for (QByteArray::const_iterator i = datagram.cbegin(); i != datagram.cend(); ++i)
     {
 
+            //QApplication::processEvents();
+
 
         if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
         {
@@ -1157,7 +1156,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
 
 
-        emit signal_vehicle(vehicle);
+        //emit signal_vehicle(vehicle);
 
         emit state_updated();
 
diff --git a/MavLinkNode/missionprocess.cpp b/MavLinkNode/missionprocess.cpp
index bee44e3..30680f0 100644
--- a/MavLinkNode/missionprocess.cpp
+++ b/MavLinkNode/missionprocess.cpp
@@ -27,10 +27,10 @@ void MissionProcess::process()//线程函数
          {
             default:
             case Nop_Mode     : QThread::msleep(1000/frq());break;
-            case RecieveMode  : ReadStateMachine();break;//QApplication::processEvents();break;
+            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
             case TransmitMode :
              {
-                 //QApplication::processEvents();
+                 QApplication::processEvents();
                  if(mission_status.transmit.type == 0)//航线传输
                  {
                     WriteStateMachine();
diff --git a/MavLinkNode/parameterprocess.cpp b/MavLinkNode/parameterprocess.cpp
index ec759b3..a30dd39 100644
--- a/MavLinkNode/parameterprocess.cpp
+++ b/MavLinkNode/parameterprocess.cpp
@@ -24,8 +24,8 @@ void ParameterProcess::process()//线程函数
          {
             default:
             case Nop_Mode     : QThread::msleep(1000/frq());break;
-            case RecieveMode  : ReadStateMachine();break;//QApplication::processEvents();break;
-            case TransmitMode : WriteStateMachine();break;//QApplication::processEvents();break;
+            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
+            case TransmitMode : WriteStateMachine();QApplication::processEvents();break;
          }
 
          if(isInterruptionRequested())//退出
diff --git a/MavLinkNode/rcprocess.cpp b/MavLinkNode/rcprocess.cpp
index deaff0d..6c1eaa6 100644
--- a/MavLinkNode/rcprocess.cpp
+++ b/MavLinkNode/rcprocess.cpp
@@ -49,9 +49,11 @@ void rcprocess::process()//线程函数
          //解码从串口来的
          datagram.clear();
          datagram = readbuff(SourceType::s_port);//每次全部读取
-         //qDebug() << "serial port parse";
+
+
          if(datagram.size() > 0)
          {
+              QApplication::processEvents();
               parse(SourceType::s_port,datagram);
          }
 
diff --git a/MavLinkNode/replay.cpp b/MavLinkNode/replay.cpp
index eac49b9..982e43d 100644
--- a/MavLinkNode/replay.cpp
+++ b/MavLinkNode/replay.cpp
@@ -108,6 +108,8 @@ void Replay::process()//线程函数
                          emit readReady();
 
                          lastTimestamp = currentTimestamp;
+
+                         QApplication::processEvents();
                      }
                      else
                      {
diff --git a/MavLinkNode/rtkprocess.cpp b/MavLinkNode/rtkprocess.cpp
index 026eec9..5e62fe7 100644
--- a/MavLinkNode/rtkprocess.cpp
+++ b/MavLinkNode/rtkprocess.cpp
@@ -29,6 +29,7 @@ void rtkprocess::process()//线程函数
           datagram = readbuff(SourceType::s_port);//每次全部读取
           if(datagram.size() > 0)
           {
+              QApplication::processEvents();
                rtkrawdata.append(datagram);
           }
 
diff --git a/MavLinkNode/statusprocess.cpp b/MavLinkNode/statusprocess.cpp
index 17eeb7c..9a593f6 100644
--- a/MavLinkNode/statusprocess.cpp
+++ b/MavLinkNode/statusprocess.cpp
@@ -33,9 +33,10 @@ void statusprocess::process()//线程函数
          {
             default:
             case Nop_Mode     : QThread::msleep(1000.0/frq());break;
-            case RecieveMode  : ReadStateMachine();break;
+            case RecieveMode  : ReadStateMachine();QApplication::processEvents();break;
             case TransmitMode :
              {
+                 QApplication::processEvents();
                  if((QTime::currentTime().msecsSinceStartOfDay() - time) > (1000.0/running_frq))
                  {
                      heartbeat(m_heartbeat.custom_mode,
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index b3edef4..ddc47b7 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -557,7 +557,7 @@ void OPMapWidget::SetUseOpenGL(const bool &value)
 {
     useOpenGL = value;
     if (useOpenGL) {
-        setViewport(new QGLWidget(QGLFormat(QGL::SampleBuffers)));
+        setViewport(new QGLWidget(QGLFormat(QGL::DoubleBuffer)));
     } else {
         setupViewport(new QWidget());
     }
@@ -1828,20 +1828,6 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
 
         Item->SetNumber(seq);
 
-        if(command > MAV_CMD::MAV_CMD_NAV_LAST)
-        {
-
-        }
-        else
-        {
-            //WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
-        }
-
-        //Item->setParent(map);
-
-       //qDebug() << "autocontinue" << autocontinue;
-
-
         emit setWPProperty(param1,param2,param3,param4,
                            x,y,z,
                            seq,
@@ -1857,6 +1843,15 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
 
         Item->emitWPProperty();
 
+
+
+        WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
+
+        if(w_last)
+        {
+            WPLineCreate(w_last,Item,Qt::green,false,2);
+        }
+
     }
 }
 
diff --git a/opmap/mapwidget/traillineitem.cpp b/opmap/mapwidget/traillineitem.cpp
index 2cf5341..6cfd3fb 100644
--- a/opmap/mapwidget/traillineitem.cpp
+++ b/opmap/mapwidget/traillineitem.cpp
@@ -34,6 +34,9 @@ TrailLineItem::TrailLineItem(internals::PointLatLng const & coord1, internals::P
     pen.setBrush(m_brush);
     pen.setWidth(2);
     this->setPen(pen);
+
+
+
 }
 
 int TrailLineItem::type() const