diff --git a/App/GCS_zh_CN.qm b/App/GCS_zh_CN.qm
index 8ba1ba1..126c78e 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 257f0ec..2824968 100644
--- a/App/GCS_zh_CN.ts
+++ b/App/GCS_zh_CN.ts
@@ -2142,36 +2142,36 @@
         <translation type="vanished">参数</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="937"/>
-        <location filename="mainwindow.cpp" line="938"/>
+        <location filename="mainwindow.cpp" line="944"/>
+        <location filename="mainwindow.cpp" line="945"/>
         <source>Communication Lost</source>
         <translation>通讯丢失</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="992"/>
-        <location filename="mainwindow.cpp" line="993"/>
+        <location filename="mainwindow.cpp" line="999"/>
+        <location filename="mainwindow.cpp" line="1000"/>
         <source>Communication Regain</source>
         <translation>通讯已恢复</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1004"/>
+        <location filename="mainwindow.cpp" line="1011"/>
         <source>R:%1 / T:%2</source>
         <translation>收：%1/发：%2</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1151"/>
-        <location filename="mainwindow.cpp" line="2176"/>
-        <location filename="mainwindow.cpp" line="2359"/>
+        <location filename="mainwindow.cpp" line="1158"/>
+        <location filename="mainwindow.cpp" line="2183"/>
+        <location filename="mainwindow.cpp" line="2366"/>
         <source>未定位</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1155"/>
+        <location filename="mainwindow.cpp" line="1162"/>
         <source>%1D[%2颗]</source>
         <translation>%1D[%2颗]</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1158"/>
+        <location filename="mainwindow.cpp" line="1165"/>
         <source>fix[%1颗]</source>
         <oldsource>%1D Fix</oldsource>
         <translation>差分[%1颗]</translation>
@@ -2189,256 +2189,256 @@
         <translation type="vanished">GPS错误</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1161"/>
+        <location filename="mainwindow.cpp" line="1168"/>
         <source>float[%1颗]</source>
         <translation>浮点[%1颗]</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1164"/>
+        <location filename="mainwindow.cpp" line="1171"/>
         <source>err[%1颗]</source>
         <translation>错误[%1颗]</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1219"/>
+        <location filename="mainwindow.cpp" line="1226"/>
         <source>ARM</source>
         <translation>解锁</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1224"/>
+        <location filename="mainwindow.cpp" line="1231"/>
         <source>DISARM</source>
         <translation>上锁</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1247"/>
+        <location filename="mainwindow.cpp" line="1254"/>
         <source>MANUAL</source>
         <translation>手动</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1250"/>
+        <location filename="mainwindow.cpp" line="1257"/>
         <source>ALTCTL</source>
         <translation>定高</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1253"/>
+        <location filename="mainwindow.cpp" line="1260"/>
         <source>POSCTL</source>
         <translation>定点</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1256"/>
+        <location filename="mainwindow.cpp" line="1263"/>
         <source>AUTO</source>
         <translation>自主</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1259"/>
+        <location filename="mainwindow.cpp" line="1266"/>
         <source>ACRO</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1262"/>
+        <location filename="mainwindow.cpp" line="1269"/>
         <source>OFFBOARD</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1265"/>
+        <location filename="mainwindow.cpp" line="1272"/>
         <source>STABILIZED</source>
         <translation>增稳</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1268"/>
+        <location filename="mainwindow.cpp" line="1275"/>
         <source>RATTITUDE</source>
         <translation>速率</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1271"/>
+        <location filename="mainwindow.cpp" line="1278"/>
         <source>STANDBY</source>
         <translation>待机</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1274"/>
+        <location filename="mainwindow.cpp" line="1281"/>
         <source>BIT</source>
         <translation>测试</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1277"/>
+        <location filename="mainwindow.cpp" line="1284"/>
         <source>AUTO_READY</source>
         <translation>就绪</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1280"/>
+        <location filename="mainwindow.cpp" line="1287"/>
         <source>AUTO_TAKEOFF</source>
         <translation>起飞</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1283"/>
+        <location filename="mainwindow.cpp" line="1290"/>
         <source>AUTO_LOITER</source>
         <translation>盘旋</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1286"/>
+        <location filename="mainwindow.cpp" line="1293"/>
         <source>AUTO_MISSION</source>
         <translation>任务</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1289"/>
+        <location filename="mainwindow.cpp" line="1296"/>
         <source>AUTO_RTL</source>
         <translation>返航</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1292"/>
+        <location filename="mainwindow.cpp" line="1299"/>
         <source>AUTO_LAND</source>
         <translation>着陆</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1295"/>
+        <location filename="mainwindow.cpp" line="1302"/>
         <source>AUTO_RTGS</source>
         <translation>RTGS</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1298"/>
+        <location filename="mainwindow.cpp" line="1305"/>
         <source>AUTO_FOLLOW_TARGET</source>
         <translation>目标跟随</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1558"/>
+        <location filename="mainwindow.cpp" line="1565"/>
         <source>开加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1561"/>
+        <location filename="mainwindow.cpp" line="1568"/>
         <source>半加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1564"/>
+        <location filename="mainwindow.cpp" line="1571"/>
         <source>全加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1567"/>
-        <location filename="mainwindow.cpp" line="1576"/>
+        <location filename="mainwindow.cpp" line="1574"/>
+        <location filename="mainwindow.cpp" line="1583"/>
         <source>关加力</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1583"/>
+        <location filename="mainwindow.cpp" line="1590"/>
         <source>伞舱开</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1588"/>
+        <location filename="mainwindow.cpp" line="1595"/>
         <source>伞舱关</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1599"/>
+        <location filename="mainwindow.cpp" line="1606"/>
         <source>INS解算正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1604"/>
+        <location filename="mainwindow.cpp" line="1611"/>
         <source>INS星数不足</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1609"/>
+        <location filename="mainwindow.cpp" line="1616"/>
         <source>INS内部错误</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1614"/>
+        <location filename="mainwindow.cpp" line="1621"/>
         <source>INS速度超限</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1623"/>
+        <location filename="mainwindow.cpp" line="1630"/>
         <source>SBG解算正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1628"/>
+        <location filename="mainwindow.cpp" line="1635"/>
         <source>SBG星数不足</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1633"/>
+        <location filename="mainwindow.cpp" line="1640"/>
         <source>SBG内部错误</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1638"/>
+        <location filename="mainwindow.cpp" line="1645"/>
         <source>SBG速度超限</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1658"/>
+        <location filename="mainwindow.cpp" line="1665"/>
         <source>安控区内</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1658"/>
+        <location filename="mainwindow.cpp" line="1665"/>
         <source>安控区外</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1673"/>
+        <location filename="mainwindow.cpp" line="1680"/>
         <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="1691"/>
+        <location filename="mainwindow.cpp" line="1698"/>
         <source>VERT_OFF</source>
         <oldsource>OFF</oldsource>
         <translation>纵向制导关闭</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1694"/>
+        <location filename="mainwindow.cpp" line="1701"/>
         <source>VNAV2THT</source>
         <translation>消除纵向偏差</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1697"/>
+        <location filename="mainwindow.cpp" line="1704"/>
         <source>HDOT2THT</source>
         <translation>控制升降速率</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1700"/>
+        <location filename="mainwindow.cpp" line="1707"/>
         <source>GAMMA2THT</source>
         <translation>控制航迹角</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1703"/>
+        <location filename="mainwindow.cpp" line="1710"/>
         <source>AS2THT</source>
         <translation>俯仰控制速度</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1706"/>
+        <location filename="mainwindow.cpp" line="1713"/>
         <source>H2THT</source>
         <translation>控制绝对高度</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1709"/>
+        <location filename="mainwindow.cpp" line="1716"/>
         <source>AGL2THT</source>
         <translation>控制相对高度</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1720"/>
+        <location filename="mainwindow.cpp" line="1727"/>
         <source>LAT_OFF</source>
         <translation>横向制导关闭</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1723"/>
+        <location filename="mainwindow.cpp" line="1730"/>
         <source>LNAV2PHI</source>
         <translation>滚转消除侧偏</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1726"/>
+        <location filename="mainwindow.cpp" line="1733"/>
         <source>PSI2PHI</source>
         <translation>滚转控制航向</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1762"/>
-        <location filename="mainwindow.cpp" line="1764"/>
-        <location filename="mainwindow.cpp" line="1766"/>
+        <location filename="mainwindow.cpp" line="1769"/>
+        <location filename="mainwindow.cpp" line="1771"/>
+        <location filename="mainwindow.cpp" line="1773"/>
         <source> </source>
         <translation type="unfinished"></translation>
     </message>
@@ -2447,156 +2447,156 @@
         <translation type="vanished">未定位</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2070"/>
-        <location filename="mainwindow.cpp" line="2254"/>
+        <location filename="mainwindow.cpp" line="2077"/>
+        <location filename="mainwindow.cpp" line="2261"/>
         <source>未初始化</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2075"/>
-        <location filename="mainwindow.cpp" line="2258"/>
+        <location filename="mainwindow.cpp" line="2082"/>
+        <location filename="mainwindow.cpp" line="2265"/>
         <source>垂直陀螺</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2079"/>
-        <location filename="mainwindow.cpp" line="2262"/>
+        <location filename="mainwindow.cpp" line="2086"/>
+        <location filename="mainwindow.cpp" line="2269"/>
         <source>AHRS</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2083"/>
-        <location filename="mainwindow.cpp" line="2266"/>
+        <location filename="mainwindow.cpp" line="2090"/>
+        <location filename="mainwindow.cpp" line="2273"/>
         <source>速度导航</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2087"/>
-        <location filename="mainwindow.cpp" line="2270"/>
+        <location filename="mainwindow.cpp" line="2094"/>
+        <location filename="mainwindow.cpp" line="2277"/>
         <source>位置导航</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2094"/>
-        <location filename="mainwindow.cpp" line="2103"/>
-        <location filename="mainwindow.cpp" line="2112"/>
-        <location filename="mainwindow.cpp" line="2121"/>
-        <location filename="mainwindow.cpp" line="2277"/>
-        <location filename="mainwindow.cpp" line="2286"/>
-        <location filename="mainwindow.cpp" line="2295"/>
-        <location filename="mainwindow.cpp" line="2304"/>
+        <location filename="mainwindow.cpp" line="2101"/>
+        <location filename="mainwindow.cpp" line="2110"/>
+        <location filename="mainwindow.cpp" line="2119"/>
+        <location filename="mainwindow.cpp" line="2128"/>
+        <location filename="mainwindow.cpp" line="2284"/>
+        <location filename="mainwindow.cpp" line="2293"/>
+        <location filename="mainwindow.cpp" line="2302"/>
+        <location filename="mainwindow.cpp" line="2311"/>
         <source>正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2097"/>
-        <location filename="mainwindow.cpp" line="2106"/>
-        <location filename="mainwindow.cpp" line="2115"/>
-        <location filename="mainwindow.cpp" line="2124"/>
-        <location filename="mainwindow.cpp" line="2156"/>
-        <location filename="mainwindow.cpp" line="2280"/>
-        <location filename="mainwindow.cpp" line="2289"/>
-        <location filename="mainwindow.cpp" line="2298"/>
-        <location filename="mainwindow.cpp" line="2307"/>
-        <location filename="mainwindow.cpp" line="2339"/>
+        <location filename="mainwindow.cpp" line="2104"/>
+        <location filename="mainwindow.cpp" line="2113"/>
+        <location filename="mainwindow.cpp" line="2122"/>
+        <location filename="mainwindow.cpp" line="2131"/>
+        <location filename="mainwindow.cpp" line="2163"/>
+        <location filename="mainwindow.cpp" line="2287"/>
+        <location filename="mainwindow.cpp" line="2296"/>
+        <location filename="mainwindow.cpp" line="2305"/>
+        <location filename="mainwindow.cpp" line="2314"/>
+        <location filename="mainwindow.cpp" line="2346"/>
         <source>无效</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2134"/>
-        <location filename="mainwindow.cpp" line="2317"/>
+        <location filename="mainwindow.cpp" line="2141"/>
+        <location filename="mainwindow.cpp" line="2324"/>
         <source>解算正常</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2138"/>
-        <location filename="mainwindow.cpp" line="2321"/>
+        <location filename="mainwindow.cpp" line="2145"/>
+        <location filename="mainwindow.cpp" line="2328"/>
         <source>卫星数不足</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2142"/>
-        <location filename="mainwindow.cpp" line="2325"/>
+        <location filename="mainwindow.cpp" line="2149"/>
+        <location filename="mainwindow.cpp" line="2332"/>
         <source>内部错误</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2146"/>
-        <location filename="mainwindow.cpp" line="2329"/>
+        <location filename="mainwindow.cpp" line="2153"/>
+        <location filename="mainwindow.cpp" line="2336"/>
         <source>速度超限</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2160"/>
-        <location filename="mainwindow.cpp" line="2178"/>
-        <location filename="mainwindow.cpp" line="2343"/>
-        <location filename="mainwindow.cpp" line="2361"/>
+        <location filename="mainwindow.cpp" line="2167"/>
+        <location filename="mainwindow.cpp" line="2185"/>
+        <location filename="mainwindow.cpp" line="2350"/>
+        <location filename="mainwindow.cpp" line="2368"/>
         <source>未知</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2164"/>
-        <location filename="mainwindow.cpp" line="2347"/>
+        <location filename="mainwindow.cpp" line="2171"/>
+        <location filename="mainwindow.cpp" line="2354"/>
         <source>多普勒</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2168"/>
-        <location filename="mainwindow.cpp" line="2351"/>
+        <location filename="mainwindow.cpp" line="2175"/>
+        <location filename="mainwindow.cpp" line="2358"/>
         <source>微分</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2181"/>
-        <location filename="mainwindow.cpp" line="2364"/>
+        <location filename="mainwindow.cpp" line="2188"/>
+        <location filename="mainwindow.cpp" line="2371"/>
         <source>单点</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2184"/>
-        <location filename="mainwindow.cpp" line="2367"/>
+        <location filename="mainwindow.cpp" line="2191"/>
+        <location filename="mainwindow.cpp" line="2374"/>
         <source>伪距差分</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2187"/>
-        <location filename="mainwindow.cpp" line="2370"/>
+        <location filename="mainwindow.cpp" line="2194"/>
+        <location filename="mainwindow.cpp" line="2377"/>
         <source>SBAS广域差分</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2190"/>
-        <location filename="mainwindow.cpp" line="2373"/>
+        <location filename="mainwindow.cpp" line="2197"/>
+        <location filename="mainwindow.cpp" line="2380"/>
         <source>广域差分</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2193"/>
-        <location filename="mainwindow.cpp" line="2376"/>
+        <location filename="mainwindow.cpp" line="2200"/>
+        <location filename="mainwindow.cpp" line="2383"/>
         <source>RTK_FLOAT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2196"/>
-        <location filename="mainwindow.cpp" line="2379"/>
+        <location filename="mainwindow.cpp" line="2203"/>
+        <location filename="mainwindow.cpp" line="2386"/>
         <source>RTK_INT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2199"/>
-        <location filename="mainwindow.cpp" line="2382"/>
+        <location filename="mainwindow.cpp" line="2206"/>
+        <location filename="mainwindow.cpp" line="2389"/>
         <source>PPP_FLOAT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2202"/>
-        <location filename="mainwindow.cpp" line="2385"/>
+        <location filename="mainwindow.cpp" line="2209"/>
+        <location filename="mainwindow.cpp" line="2392"/>
         <source>PPP_INT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="2205"/>
-        <location filename="mainwindow.cpp" line="2388"/>
+        <location filename="mainwindow.cpp" line="2212"/>
+        <location filename="mainwindow.cpp" line="2395"/>
         <source>FIXED</source>
         <translation type="unfinished"></translation>
     </message>
@@ -2605,17 +2605,17 @@
         <translation type="vanished">未支持</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1316"/>
+        <location filename="mainwindow.cpp" line="1323"/>
         <source>flight mode</source>
         <translation>飞行模式</translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1648"/>
+        <location filename="mainwindow.cpp" line="1655"/>
         <source>连接内置惯导</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="mainwindow.cpp" line="1648"/>
+        <location filename="mainwindow.cpp" line="1655"/>
         <source>连接SBG</source>
         <translation></translation>
     </message>
@@ -2761,38 +2761,38 @@
         <translation>界面</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="30"/>
+        <location filename="MissionUI/MissionUI.cpp" line="52"/>
         <source>save</source>
         <translation>保存</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="33"/>
+        <location filename="MissionUI/MissionUI.cpp" line="55"/>
         <source>insert</source>
         <translation>插入</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="31"/>
+        <location filename="MissionUI/MissionUI.cpp" line="53"/>
         <source>upload</source>
         <translation>上传</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="36"/>
+        <location filename="MissionUI/MissionUI.cpp" line="58"/>
         <source>add</source>
         <translation>增加</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="32"/>
+        <location filename="MissionUI/MissionUI.cpp" line="54"/>
         <source>download</source>
         <oldsource>downlload</oldsource>
         <translation>下载</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="29"/>
+        <location filename="MissionUI/MissionUI.cpp" line="51"/>
         <source>load</source>
         <translation>打开</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="34"/>
+        <location filename="MissionUI/MissionUI.cpp" line="56"/>
         <source>delete</source>
         <translation>删除</translation>
     </message>
@@ -2802,7 +2802,7 @@
         <translation>围栏</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="35"/>
+        <location filename="MissionUI/MissionUI.cpp" line="57"/>
         <source>clean</source>
         <translation>清空</translation>
     </message>
@@ -2852,153 +2852,186 @@
         <translation type="vanished">起飞</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>number</source>
         <translation>航点</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>command</source>
         <translation>类型</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>par1</source>
         <translation>参数1</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>par2</source>
         <translation>参数2</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>par3</source>
         <translation>参数3</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>par4</source>
         <translation>参数4</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="265"/>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="293"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>lat</source>
         <translation>纬度</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="265"/>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="26"/>
+        <source>addCircle</source>
+        <translation>添加圆形</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="27"/>
+        <source>addPolygon</source>
+        <translation>添加多边形</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="28"/>
+        <source>delCircle</source>
+        <translation>删除圆形</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="29"/>
+        <source>delPolygon</source>
+        <translation>删除多边形</translation>
+    </message>
+    <message>
+        <location filename="MissionUI/MissionUI.cpp" line="293"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>lng</source>
         <translation>经度</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="265"/>
+        <location filename="MissionUI/MissionUI.cpp" line="293"/>
         <source>group</source>
         <translation>组别</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="265"/>
-        <location filename="MissionUI/MissionUI.cpp" line="374"/>
-        <location filename="MissionUI/MissionUI.cpp" line="435"/>
+        <location filename="MissionUI/MissionUI.cpp" line="293"/>
+        <location filename="MissionUI/MissionUI.cpp" line="466"/>
+        <location filename="MissionUI/MissionUI.cpp" line="530"/>
+        <location filename="MissionUI/MissionUI.cpp" line="776"/>
+        <location filename="MissionUI/MissionUI.cpp" line="898"/>
         <source>inclusion</source>
         <translation>包含</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="265"/>
+        <location filename="MissionUI/MissionUI.cpp" line="293"/>
         <source>par</source>
         <translation>参数</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="265"/>
+        <location filename="MissionUI/MissionUI.cpp" line="293"/>
         <source>type</source>
         <translation>类型</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="308"/>
+        <location filename="MissionUI/MissionUI.cpp" line="336"/>
         <source>alt</source>
         <translation>海拔</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="365"/>
+        <location filename="MissionUI/MissionUI.cpp" line="457"/>
+        <location filename="MissionUI/MissionUI.cpp" line="803"/>
+        <location filename="MissionUI/MissionUI.cpp" line="852"/>
+        <location filename="MissionUI/MissionUI.cpp" line="924"/>
+        <location filename="MissionUI/MissionUI.cpp" line="987"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1052"/>
         <source>Circle</source>
         <translation>圆形</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="377"/>
-        <location filename="MissionUI/MissionUI.cpp" line="438"/>
+        <location filename="MissionUI/MissionUI.cpp" line="469"/>
+        <location filename="MissionUI/MissionUI.cpp" line="533"/>
+        <location filename="MissionUI/MissionUI.cpp" line="781"/>
+        <location filename="MissionUI/MissionUI.cpp" line="903"/>
         <source>exclusion</source>
         <translation>除外</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="426"/>
+        <location filename="MissionUI/MissionUI.cpp" line="521"/>
+        <location filename="MissionUI/MissionUI.cpp" line="811"/>
+        <location filename="MissionUI/MissionUI.cpp" line="932"/>
+        <location filename="MissionUI/MissionUI.cpp" line="995"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1060"/>
         <source>Polygon</source>
         <translation>多边形</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="507"/>
-        <location filename="MissionUI/MissionUI.cpp" line="801"/>
+        <location filename="MissionUI/MissionUI.cpp" line="605"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1125"/>
         <source>航点</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="510"/>
-        <location filename="MissionUI/MissionUI.cpp" line="802"/>
+        <location filename="MissionUI/MissionUI.cpp" line="608"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1126"/>
         <source>返航</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="513"/>
-        <location filename="MissionUI/MissionUI.cpp" line="803"/>
+        <location filename="MissionUI/MissionUI.cpp" line="611"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1127"/>
         <source>降落</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="516"/>
-        <location filename="MissionUI/MissionUI.cpp" line="804"/>
+        <location filename="MissionUI/MissionUI.cpp" line="614"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1128"/>
         <source>起飞</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="529"/>
-        <location filename="MissionUI/MissionUI.cpp" line="826"/>
+        <location filename="MissionUI/MissionUI.cpp" line="627"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1150"/>
         <source>保持</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="532"/>
-        <location filename="MissionUI/MissionUI.cpp" line="827"/>
+        <location filename="MissionUI/MissionUI.cpp" line="630"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1151"/>
         <source>表速</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="535"/>
-        <location filename="MissionUI/MissionUI.cpp" line="828"/>
+        <location filename="MissionUI/MissionUI.cpp" line="633"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1152"/>
         <source>快升</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="538"/>
-        <location filename="MissionUI/MissionUI.cpp" line="829"/>
+        <location filename="MissionUI/MissionUI.cpp" line="636"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1153"/>
         <source>开加力</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="541"/>
-        <location filename="MissionUI/MissionUI.cpp" line="830"/>
+        <location filename="MissionUI/MissionUI.cpp" line="639"/>
+        <location filename="MissionUI/MissionUI.cpp" line="1154"/>
         <source>关加力</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="62"/>
-        <location filename="MissionUI/MissionUI.cpp" line="73"/>
+        <location filename="MissionUI/MissionUI.cpp" line="90"/>
+        <location filename="MissionUI/MissionUI.cpp" line="101"/>
         <source>Selete Way Point File...</source>
         <translation>选择载入文件...</translation>
     </message>
     <message>
-        <location filename="MissionUI/MissionUI.cpp" line="64"/>
-        <location filename="MissionUI/MissionUI.cpp" line="75"/>
+        <location filename="MissionUI/MissionUI.cpp" line="92"/>
+        <location filename="MissionUI/MissionUI.cpp" line="103"/>
         <source>plan file (*.plan)</source>
         <translation>任务文件 (*.plan)</translation>
     </message>
@@ -5101,87 +5134,87 @@ p, li { white-space: pre-wrap; }
     </message>
     <message>
         <location filename="MissionUI/propertyui.ui" line="500"/>
-        <location filename="MissionUI/propertyui.cpp" line="313"/>
-        <location filename="MissionUI/propertyui.cpp" line="696"/>
-        <location filename="MissionUI/propertyui.cpp" line="1536"/>
+        <location filename="MissionUI/propertyui.cpp" line="320"/>
+        <location filename="MissionUI/propertyui.cpp" line="703"/>
+        <location filename="MissionUI/propertyui.cpp" line="1543"/>
         <source>Relative</source>
         <translation>相对</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="317"/>
-        <location filename="MissionUI/propertyui.cpp" line="700"/>
-        <location filename="MissionUI/propertyui.cpp" line="1537"/>
+        <location filename="MissionUI/propertyui.cpp" line="324"/>
+        <location filename="MissionUI/propertyui.cpp" line="707"/>
+        <location filename="MissionUI/propertyui.cpp" line="1544"/>
         <source>Absolutely</source>
         <translation>绝对</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="642"/>
+        <location filename="MissionUI/propertyui.cpp" line="649"/>
         <source>param1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="643"/>
+        <location filename="MissionUI/propertyui.cpp" line="650"/>
         <source>param2</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="644"/>
+        <location filename="MissionUI/propertyui.cpp" line="651"/>
         <source>param3</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="645"/>
+        <location filename="MissionUI/propertyui.cpp" line="652"/>
         <source>param4</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="646"/>
+        <location filename="MissionUI/propertyui.cpp" line="653"/>
         <source>param5</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="647"/>
+        <location filename="MissionUI/propertyui.cpp" line="654"/>
         <source>param6</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="648"/>
+        <location filename="MissionUI/propertyui.cpp" line="655"/>
         <source>param7</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1568"/>
+        <location filename="MissionUI/propertyui.cpp" line="1575"/>
         <source>set</source>
         <translation>设置</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1568"/>
+        <location filename="MissionUI/propertyui.cpp" line="1575"/>
         <source>Altitude</source>
         <translation>海拔</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1591"/>
+        <location filename="MissionUI/propertyui.cpp" line="1598"/>
         <source>setLatitude</source>
         <translation>设置纬度</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="1612"/>
+        <location filename="MissionUI/propertyui.cpp" line="1619"/>
         <source>setLongitude</source>
         <translation>设置经度</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="2047"/>
-        <location filename="MissionUI/propertyui.cpp" line="2080"/>
+        <location filename="MissionUI/propertyui.cpp" line="2054"/>
+        <location filename="MissionUI/propertyui.cpp" line="2087"/>
         <source>plan file (*.plan)</source>
         <translation>任务文件 (*.plan)</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="2065"/>
+        <location filename="MissionUI/propertyui.cpp" line="2072"/>
         <source>click to clear all points</source>
         <translation>点击清除所有航点</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="2182"/>
+        <location filename="MissionUI/propertyui.cpp" line="2189"/>
         <source>Measuring</source>
         <translation>测量中</translation>
     </message>
@@ -5237,7 +5270,7 @@ p, li { white-space: pre-wrap; }
     </message>
     <message>
         <location filename="MissionUI/propertyui.ui" line="665"/>
-        <location filename="MissionUI/propertyui.cpp" line="2186"/>
+        <location filename="MissionUI/propertyui.cpp" line="2193"/>
         <source>Measure</source>
         <translation>测量</translation>
     </message>
@@ -5251,8 +5284,8 @@ p, li { white-space: pre-wrap; }
         <translation>组别</translation>
     </message>
     <message>
-        <location filename="MissionUI/propertyui.cpp" line="2045"/>
-        <location filename="MissionUI/propertyui.cpp" line="2078"/>
+        <location filename="MissionUI/propertyui.cpp" line="2052"/>
+        <location filename="MissionUI/propertyui.cpp" line="2085"/>
         <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 c79edf3..6f6fcd8 100644
--- a/App/MissionUI/MissionUI.cpp
+++ b/App/MissionUI/MissionUI.cpp
@@ -17,6 +17,28 @@ MissionUI::MissionUI(QWidget *parent) :
     this->setStyleSheet(stylesheet);
     file.close();
 
+    //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->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();
+
+    //航线编辑
     CustomButton *btn_load = new CustomButton(this);
     CustomButton *btn_save = new CustomButton(this);
     CustomButton *btn_upload = new CustomButton(this);
@@ -35,26 +57,32 @@ MissionUI::MissionUI(QWidget *parent) :
     btn_clean->setText(tr("clean"));
     btn_add->setText(tr("add"));
 
-    btn_load->setFixedSize(80,40);
-    btn_save->setFixedSize(80,40);
-    btn_upload->setFixedSize(80,40);
-    btn_download->setFixedSize(80,40);
-    btn_insert->setFixedSize(80,40);
-    btn_delete->setFixedSize(80,40);
-    btn_clean->setFixedSize(80,40);
-    btn_add->setFixedSize(80,40);
+    btn_load->setFixedSize(100,40);
+    btn_save->setFixedSize(100,40);
+    btn_upload->setFixedSize(100,40);
+    btn_download->setFixedSize(100,40);
+    btn_insert->setFixedSize(100,40);
+    btn_delete->setFixedSize(100,40);
+    btn_clean->setFixedSize(100,40);
+    btn_add->setFixedSize(100,40);
 
 
+    int btn_Count = 0;
+    ui->gridLayout_btn->addWidget(btn_load,    btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_save,    btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_upload,  btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_download,btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_insert,  btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_delete,  btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_clean,   btn_Count++,0,1,1);
+    ui->gridLayout_btn->addWidget(btn_add,     btn_Count++,0,1,1);
 
-    ui->gridLayout_btn->addWidget(btn_load,    0,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_save,    1,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_upload,  2,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_download,3,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_insert,  4,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_delete,  5,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_clean,   6,0,1,1);
-    ui->gridLayout_btn->addWidget(btn_add,     7,0,1,1);
-    ui->gridLayout_btn->setRowStretch(8,1);
+    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);
 
 
     connect(btn_load,&CustomButton::clicked,[=](){
@@ -327,6 +355,70 @@ MissionUI::MissionUI(QWidget *parent) :
          }
     }
 
+
+    connect(ui->tabWidget,&QTabWidget::tabBarClicked,[=](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;
+        }
+
+        if(index == 0)
+        {
+            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_clean->hide();
+            btn_add->hide();
+        }
+        else
+        {
+            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_clean->show();
+            btn_add->show();
+        }
+
+
+        QTableWidget *widget = tablelist.value(group);
+        int idx = widget->currentRow() + 1;
+        qDebug() << "tabWidget_currentChanged" << group << idx;
+        emit waypointSelect(group,idx);
+    });
+
 }
 
 MissionUI::~MissionUI()
@@ -645,70 +737,6 @@ void MissionUI::settableGroup(int group)
     ui->tabWidget->setCurrentIndex(index);
 }
 
-void MissionUI::on_tabWidget_tabBarClicked(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;
-    }
-
-    QTableWidget *widget = tablelist.value(group);
-    int idx = widget->currentRow() + 1;
-
-    qDebug() << "tabWidget_currentChanged" << group << idx;
-
-    emit waypointSelect(group,idx);
-}
-
-
-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;
-    }
-
-    QTableWidget *widget = tablelist.value(group);
-    int idx = widget->currentRow() + 1;
-
-    qDebug() << "tabWidget_currentChanged" << group << idx;
-
-    //emit waypointSelect(group,idx);
-}
 
 void MissionUI::itemSelectionChanged()
 {
diff --git a/App/MissionUI/MissionUI.h b/App/MissionUI/MissionUI.h
index 0e4085a..ff98974 100644
--- a/App/MissionUI/MissionUI.h
+++ b/App/MissionUI/MissionUI.h
@@ -59,15 +59,9 @@ protected slots:
 private slots:
    void itemSelectionChanged();
 
-   void on_tabWidget_currentChanged(int index);
-
    void itemClicked(QTableWidgetItem *item);
    void itemDoubleClicked(QTableWidgetItem *item);
 
-
-
-   void on_tabWidget_tabBarClicked(int index);
-
 signals:
 
    void setCommand(QVariant value);
diff --git a/opmap/MAP_zh_CN.ts b/opmap/MAP_zh_CN.ts
index c1f7090..eb24b88 100644
--- a/opmap/MAP_zh_CN.ts
+++ b/opmap/MAP_zh_CN.ts
@@ -83,27 +83,27 @@ Please first select the area of the map to rip with &lt;CTRL&gt;+Left mouse clic
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2382"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2418"/>
         <source>开始上传航点，总数%1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2596"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2632"/>
         <source>上传失败%1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2622"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2658"/>
         <source>polygons</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2625"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2661"/>
         <source>circles</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="mapwidget/opmapwidget.cpp" line="2633"/>
+        <location filename="mapwidget/opmapwidget.cpp" line="2669"/>
         <source>recieve way point group:%1 seq:%2</source>
         <translation>收到航点：第%1组，第%2点</translation>
     </message>
diff --git a/opmap/mapwidget/geoFencecircle.cpp b/opmap/mapwidget/geoFencecircle.cpp
index 2ebc1b4..441ae47 100644
--- a/opmap/mapwidget/geoFencecircle.cpp
+++ b/opmap/mapwidget/geoFencecircle.cpp
@@ -59,11 +59,11 @@ void geoFencecircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
 
     if(m_inclusion)
     {
-         painter->setBrush(m_brush);
+         painter->setBrush(Qt::NoBrush);
     }
     else
     {
-         painter->setBrush(Qt::NoBrush);
+         painter->setBrush(m_brush);
     }
 
     painter->drawPoint(0, 0);
diff --git a/opmap/mapwidget/geoFenceitem.cpp b/opmap/mapwidget/geoFenceitem.cpp
index 78f0bc5..bfeb2a5 100644
--- a/opmap/mapwidget/geoFenceitem.cpp
+++ b/opmap/mapwidget/geoFenceitem.cpp
@@ -43,11 +43,11 @@ void geoFenceitem::paint(QPainter *painter, const QStyleOptionGraphicsItem *opti
 
     if(m_inclusion)
     {
-         painter->setBrush(m_brush);
+         painter->setBrush(Qt::NoBrush);
     }
     else
     {
-         painter->setBrush(Qt::NoBrush);
+         painter->setBrush(m_brush);
     }
 
     painter->drawPoint(0, 0);
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index f3f4003..e36c6ac 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -2022,11 +2022,7 @@ void OPMapWidget::WPFollowPrevious(bool flag,WayPointItem *w)
        {
           WPLineCreate(w,next_item,Qt::green,false,2);
        }
-
-
-
     }
-
 }
 
 void OPMapWidget::setFenceCircle(int group,qreal radius, bool inclusion, qreal lat, qreal lng)
@@ -2036,20 +2032,9 @@ void OPMapWidget::setFenceCircle(int group,qreal radius, bool inclusion, qreal l
     foreach(QGraphicsItem * i, map->childItems()) {
         geoFencecircle *w = qgraphicsitem_cast<geoFencecircle *>(i);
         if ((w)&&(w->Group() == group)) {
-
-            /*
-             w->setInclusion(inclusion);
-             w->setRadius(radius);
-             w->setLatitude(lat);
-             w->setLongitude(lng);
-             */
-
              w->setParameter(group,radius,inclusion,lat,lng);
-
-             qDebug() << "set Circle value" << group << radius << inclusion << lat << lng;
         }
     }
-    qDebug() << "set Circle";
 }
 
 void OPMapWidget::setFencePolygon(int group,qreal vertex,bool inclusion,QList<QPointF> latlng)
@@ -2073,11 +2058,8 @@ void OPMapWidget::setFencePolygon(int group,qreal vertex,bool inclusion,QList<QP
             w->setInclusion(inclusion);
             w->setVertex(vertex);
             w->setPoints(p);
-            qDebug() << "set Polygon value";
         }
     }
-
-    qDebug() << "set Polygon";
 }
 
 
@@ -2123,13 +2105,7 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
 
 
         //生成一个⚪
-
-
-        //geoFenceitem *centeritem = new geoFenceitem(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),QColor("#FF8000"),map);
-
         geoFencecircle *c = new geoFencecircle(fenceCount,inclusion,version,internals::PointLatLng(lat,lng),radius,QColor("#FF8000"),map);
-
-
         emit createFenceCircle(fenceCount++,radius,inclusion,lat,lng);
 
     }
@@ -2405,50 +2381,57 @@ void OPMapWidget::WPDownload(void)
 
 void OPMapWidget::WPUpload(void)
 {
-      //发送第一个
-     QList<mapcontrol::WayPointItem *> list;
-     //先发送一个清空指令
-     foreach(QGraphicsItem * i, map->childItems()) {
-         WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
-         if (w) {
-             //上传当前选中的航线
-             if(w->MissionType() == currentGroup)
-             {
-                 list.append(w);
-                 w->emitWPProperty();
+    if(currentGroup == 1)//这是栅栏
+    {
 
-                 //w->setVisible(false);
+    }
+    else
+    {
+         //发送第一个
+         QList<mapcontrol::WayPointItem *> list;
+         //先发送一个清空指令
+         foreach(QGraphicsItem * i, map->childItems()) {
+             WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+             if (w) {
+                 //上传当前选中的航线
+                 if(w->MissionType() == currentGroup)
+                 {
+                     list.append(w);
+                     w->emitWPProperty();
+
+                     //w->setVisible(false);
+                 }
              }
          }
-     }
 
-     if(list.size() <= 0)
-     {
-         emit showMessage("请先载入任务航线");
-         return;
-     }
+         if(list.size() <= 0)
+         {
+             emit showMessage("请先载入任务航线");
+             return;
+         }
 
 
-     emit showMessage(tr("开始上传航点，总数%1").arg(list.size()));
+         emit showMessage(tr("开始上传航点，总数%1").arg(list.size()));
 
-     //选择当前ID号
+         //选择当前ID号
 
-     int sysid = 0;
-     int compid = 0;
+         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();
+         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,list.size(),currentGroup);//直接发送全部航点到
+                     //如果有选中，那么就发送，选中几个就发几个
+                     emit signal_WPUpload(sysid,compid,list.size(),currentGroup);//直接发送全部航点到
+                 }
              }
          }
-     }
+    }
 }
 
 //飞行界面收到的当前航点的消息
@@ -2669,115 +2652,225 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
 
    switch (mission_type - 2) {
    case -1:
-       typestr = tr("polygons");
-       break;
-   case 0:
-       typestr = tr("circles");
-       break;
+   {
+       typestr = tr("fence");
+   }break;
    default:
+   {
        typestr = QString::number(mission_type - 2);
-       break;
+   }break;
    }
 
-
    emit showMessage(tr("recieve way point group:%1 seq:%2").arg(typestr).arg(seq + 1));
 
+   if((mission_type - 2) == -1)
+   {
+        qDebug() << command <<  param1 << param2 << param3 <<  param4 << x << y;
 
-    //qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8;
+        if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION  )
+        {
+            static int PolygonCount = 0;
+            static QList<internals::PointLatLng> PolygonPoints;
 
-    bool isExist = false;
+            PolygonCount ++;
+            bool inclusion = true;
 
 
-    foreach(QGraphicsItem * i, map->childItems()) {
-        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
-        if (w) {
-            if(w->MissionType() == mission_type)//如果组别一样，那么就赋值
+            PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
+
+
+            if(PolygonCount >= param1)
             {
-                if(w->Number() == (seq+1))
+
+                QList<QPointF> latlng;
+                qreal lat_sum = 0;
+                qreal lng_sum = 0;
+
+                for (internals::PointLatLng point: PolygonPoints) {
+                    qreal lat    = point.Lat();
+                    qreal lng    = point.Lng();
+
+                    lat_sum += lat;
+                    lng_sum += lng;
+
+                    latlng.push_back(QPointF(lat,lng));
+                }
+
+                internals::PointLatLng center;
+
+                center.SetLat(lat_sum/latlng.size());
+                center.SetLng(lng_sum/latlng.size());
+
+                geoFenceitem *polyitem = new geoFenceitem(PolygonCount,inclusion,0,center,QColor("#FF8000"),map);
+
+                polyitem->setPoints(PolygonPoints);
+
+                emit createFencePolygon(PolygonCount,PolygonPoints.size(),inclusion,latlng);
+
+                PolygonCount = 0;
+                PolygonPoints.clear();
+            }
+        }
+        else if(command == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION  )
+        {
+            static int PolygonCount = 0;
+            static QList<internals::PointLatLng> PolygonPoints;
+
+            PolygonCount ++;
+            bool inclusion = false;
+
+
+            PolygonPoints.push_back(internals::PointLatLng(x * 10e-8,y * 10e-8));
+
+
+            if(PolygonCount >= param1)
+            {
+
+                QList<QPointF> latlng;
+                qreal lat_sum = 0;
+                qreal lng_sum = 0;
+
+                for (internals::PointLatLng point: PolygonPoints) {
+                    qreal lat    = point.Lat();
+                    qreal lng    = point.Lng();
+
+                    lat_sum += lat;
+                    lng_sum += lng;
+
+                    latlng.push_back(QPointF(lat,lng));
+                }
+
+                internals::PointLatLng center;
+
+                center.SetLat(lat_sum/latlng.size());
+                center.SetLng(lng_sum/latlng.size());
+
+                geoFenceitem *polyitem = new geoFenceitem(PolygonCount,inclusion,0,center,QColor("#FF8000"),map);
+
+                polyitem->setPoints(PolygonPoints);
+
+                emit createFencePolygon(PolygonCount,PolygonPoints.size(),inclusion,latlng);
+
+                PolygonCount = 0;
+                PolygonPoints.clear();
+            }
+        }
+        else if(command == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION  )
+        {
+            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);
+            emit createFenceCircle(0,radius,inclusion,x * 10e-8,y * 10e-8);
+
+        }
+        else if(command == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION  )
+        {
+            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);
+            emit createFenceCircle(0,radius,inclusion,x * 10e-8,y * 10e-8);
+        }
+        else if(command == MAV_CMD_NAV_RALLY_POINT  )
+        {
+
+        }
+   }
+   else
+   {
+        bool isExist = false;
+        foreach(QGraphicsItem * i, map->childItems()) {
+            WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+            if (w) {
+                if(w->MissionType() == mission_type)//如果组别一样，那么就赋值
                 {
-                    qDebug() << "waypoint exist:" << w->Number() << seq+1;
+                    if(w->Number() == (seq+1))
+                    {
+                        qDebug() << "waypoint exist:" << w->Number() << seq+1;
 
-                    isExist = true;
+                        isExist = true;
 
-                    internals::PointLatLng LatLng;
+                        internals::PointLatLng LatLng;
 
-                    LatLng.SetLat(x * 10e-8);
-                    LatLng.SetLng(y * 10e-8);
+                        LatLng.SetLat(x * 10e-8);
+                        LatLng.SetLng(y * 10e-8);
 
 
-                    w->SetLat(LatLng.Lat());
-                    LatLng.SetLng(LatLng.Lng());
-                    w->SetNumber(seq+1);
+                        w->SetLat(LatLng.Lat());
+                        LatLng.SetLng(LatLng.Lng());
+                        w->SetNumber(seq+1);
 
-                    emit setWPProperty(param1,param2,param3,param4,
-                                       x,y,z,
-                                       seq+1,
-                                       group,
-                                       command,
-                                       target_system,
-                                       target_component,
-                                       frame,
-                                       current,
-                                       autocontinue,
-                                       mission_type);
+                        emit setWPProperty(param1,param2,param3,param4,
+                                           x,y,z,
+                                           seq+1,
+                                           group,
+                                           command,
+                                           target_system,
+                                           target_component,
+                                           frame,
+                                           current,
+                                           autocontinue,
+                                           mission_type);
 
 
-                    w->emitWPProperty();
+                        w->emitWPProperty();
 
+                    }
                 }
             }
         }
-    }
 
 
-    if(!isExist)
-    {
-        internals::PointLatLng LatLng;
+        if(!isExist)
+        {
+            internals::PointLatLng LatLng;
 
-        LatLng.SetLat(x * 10e-8);
-        LatLng.SetLng(y * 10e-8);
+            LatLng.SetLat(x * 10e-8);
+            LatLng.SetLng(y * 10e-8);
 
-        //获取当前组下面的seq最大值
-        WayPointItem *Item = new WayPointItem(LatLng, z,seq+1,mission_type, map);
+            //获取当前组下面的seq最大值
+            WayPointItem *Item = new WayPointItem(LatLng, z,seq+1,mission_type, map);
 
-        ConnectWP(Item);
-        Item->setParentItem(map);
-        Item->SetMissionType(mission_type);
-        int position = Item->Number();
-        emit WPCreated(position, Item);
-        setOverlayOpacity(overlayOpacity);
+            ConnectWP(Item);
+            Item->setParentItem(map);
+            Item->SetMissionType(mission_type);
+            int position = Item->Number();
+            emit WPCreated(position, Item);
+            setOverlayOpacity(overlayOpacity);
 
 
-        emit setWPProperty(param1,param2,param3,param4,
-                           x,y,z,
-                           seq+1,
-                           group,
-                           command,
-                           target_system,
-                           target_component,
-                           frame,
-                           current,
-                           autocontinue,
-                           mission_type);
+            emit setWPProperty(param1,param2,param3,param4,
+                               x,y,z,
+                               seq+1,
+                               group,
+                               command,
+                               target_system,
+                               target_component,
+                               frame,
+                               current,
+                               autocontinue,
+                               mission_type);
 
 
-        Item->emitWPProperty();
-        Item->setisShowTip(isShowTip);
+            Item->emitWPProperty();
+            Item->setisShowTip(isShowTip);
 
-        qDebug() << "waypoint not exist:" << Item->Number() << seq+1 <<currentGroup <<  mission_type;
+            qDebug() << "waypoint not exist:" << Item->Number() << seq+1 <<currentGroup <<  mission_type;
 
-        //===========连线
+            //===========连线
 
 
-         WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
+             WayPointItem *w_last = WPFind(Item->MissionType(),Item->Number() - 1);
 
-         if(w_last)
-         {
-             WPLineCreate(w_last,Item,Qt::green,false,2);
-         }
-    }
+             if(w_last)
+             {
+                 WPLineCreate(w_last,Item,Qt::green,false,2);
+             }
+        }
 
-    qDebug() << "Exist" << isExist;
+        qDebug() << "Exist" << isExist;
+   }
 
 }