diff --git a/App/Setting/Index0/Global/GlobalSetting.cpp b/App/Setting/Index0/Global/GlobalSetting.cpp
index 51a76b5..d5464c2 100644
--- a/App/Setting/Index0/Global/GlobalSetting.cpp
+++ b/App/Setting/Index0/Global/GlobalSetting.cpp
@@ -142,6 +142,98 @@ void GlobalSetting::getServo(void)
 }
 
 
+void GlobalSetting::ServoParameter(QString type,QVariant data)
+{
+
+    Config *cfg = new Config();
+
+    QVariant dir_la;
+    QVariant dir_ra;
+    QVariant dir_le;
+    QVariant dir_re;
+    QVariant dir_ru;
+
+    QVariant max_la;
+    QVariant max_ra;
+    QVariant max_le;
+    QVariant max_re;
+    QVariant max_ru;
+
+    QVariant scale_la;
+    QVariant scale_ra;
+    QVariant scale_le;
+    QVariant scale_re;
+    QVariant scale_ru;
+
+    QVariant bias_la;
+    QVariant bias_ra;
+    QVariant bias_le;
+    QVariant bias_re;
+    QVariant bias_ru;
+
+    cfg->getServoOffset(&dir_la,&dir_ra,&dir_le,&dir_re,&dir_ru,
+                        &max_la,&max_ra,&max_le,&max_re,&max_ru,
+                        &scale_la,&scale_ra,&scale_le,&scale_re,&scale_ru,
+                        &bias_la,&bias_ra,&bias_le,&bias_re,&bias_ru);
+
+    dir_la = 1;
+    dir_ra = 1;
+    dir_le = 1;
+    dir_re = 1;
+    dir_ru = 1;
+
+
+    if(type == "dal0")
+    {
+        bias_la = data;
+    }
+    else if(type == "dar0")
+    {
+        bias_ra = data;
+    }
+    else if(type == "del0")
+    {
+        bias_le = data;
+    }
+    else if(type == "der0")
+    {
+        bias_re = data;
+    }
+    else if(type == "dr0")
+    {
+        bias_ru = data;
+    }
+    else if(type == "k_dal")
+    {
+        scale_la = data;
+    }
+    else if(type == "k_dar")
+    {
+        scale_ra = data;
+    }
+    else if(type == "k_del")
+    {
+        scale_le = data;
+    }
+    else if(type == "k_der")
+    {
+        scale_re = data;
+    }
+    else if(type == "k_dr")
+    {
+        scale_ru = data;
+    }
+
+    cfg->setServoOffset(dir_la,dir_ra,dir_le,dir_re,dir_ru,
+                        max_la,max_ra,max_le,max_re,max_ru,
+                        scale_la,scale_ra,scale_le,scale_re,scale_ru,
+                        bias_la,bias_ra,bias_le,bias_re,bias_ru);
+
+    on_pushButton_getServoOffset_clicked();
+
+}
+
+
 void GlobalSetting::on_pushButton_getServoOffset_clicked()
 {
     Config *cfg = new Config();
diff --git a/App/Setting/Index0/Global/GlobalSetting.h b/App/Setting/Index0/Global/GlobalSetting.h
index 8138f1a..d80cbe3 100644
--- a/App/Setting/Index0/Global/GlobalSetting.h
+++ b/App/Setting/Index0/Global/GlobalSetting.h
@@ -26,6 +26,7 @@ public:
 public slots:
     void MapTypes(QStringList list);
 
+    void ServoParameter(QString type,QVariant data);
 
 private slots:
 
diff --git a/App/Setting/Index0/Global/GlobalSetting.ui b/App/Setting/Index0/Global/GlobalSetting.ui
index bc895d9..38b87f9 100644
--- a/App/Setting/Index0/Global/GlobalSetting.ui
+++ b/App/Setting/Index0/Global/GlobalSetting.ui
@@ -54,6 +54,9 @@
      <layout class="QGridLayout" name="gridLayout_3">
       <item row="6" column="4">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_bias_re">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -78,6 +81,9 @@
       </item>
       <item row="4" column="4">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_bias_le">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -88,6 +94,9 @@
       </item>
       <item row="3" column="4">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_bias_ra">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -119,6 +128,9 @@
       </item>
       <item row="7" column="4">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_bias_ru">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -174,6 +186,9 @@
       </item>
       <item row="2" column="4">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_bias_la">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -253,6 +268,9 @@
       </item>
       <item row="2" column="3">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_scale_la">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -266,6 +284,9 @@
       </item>
       <item row="3" column="3">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_scale_ra">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -279,6 +300,9 @@
       </item>
       <item row="4" column="3">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_scale_le">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -292,6 +316,9 @@
       </item>
       <item row="6" column="3">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_scale_re">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
@@ -305,6 +332,9 @@
       </item>
       <item row="7" column="3">
        <widget class="QDoubleSpinBox" name="doubleSpinBox_scale_ru">
+        <property name="decimals">
+         <number>4</number>
+        </property>
         <property name="minimum">
          <double>-9999999.000000000000000</double>
         </property>
diff --git a/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp b/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
index f21a846..61f2709 100644
--- a/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
+++ b/App/Setting/Index1/ParameterInspector/ParameterInspector.cpp
@@ -205,25 +205,20 @@ void ParameterInspector::appendParameter(mavlink_message_t msg)
     {
         emit HILMode(param_Value(param_value).toString());
     }
-
-
-    //找到所有舵机参数，并发送出去
+    else if((param_id(param_value.param_id) == "dal0") ||
+            (param_id(param_value.param_id) == "dar0") ||
+            (param_id(param_value.param_id) == "del0") ||
+            (param_id(param_value.param_id) == "der0") ||
+            (param_id(param_value.param_id) == "dr0")  ||
+            (param_id(param_value.param_id) == "k_dal")||
+            (param_id(param_value.param_id) == "k_dar")||
+            (param_id(param_value.param_id) == "k_del")||
+            (param_id(param_value.param_id) == "k_der")||
+            (param_id(param_value.param_id) == "k_dr"))
     {
-         /*
-          *  del0  der0 dr0 dal0 dar0
-          *  k_dal k_dar k_del k_der k_dr
-          *
-          *
-          *
-          */
+          emit ServoParameter(param_id(param_value.param_id),param_Value(param_value));
     }
 
-
-
-
-
-
-
     isReflush = true;
 }
 
diff --git a/App/Setting/Index1/ParameterInspector/ParameterInspector.h b/App/Setting/Index1/ParameterInspector/ParameterInspector.h
index 93e9a16..cd8be71 100644
--- a/App/Setting/Index1/ParameterInspector/ParameterInspector.h
+++ b/App/Setting/Index1/ParameterInspector/ParameterInspector.h
@@ -128,7 +128,7 @@ signals:
     void APversion(QString);
     void HILMode(QString);
 
-    void ServoParameter(int type,int index, QVariant data);//
+    void ServoParameter(QString type,QVariant data);//
 
 
 
diff --git a/App/Setting/Setting.cpp b/App/Setting/Setting.cpp
index e475467..748f63b 100644
--- a/App/Setting/Setting.cpp
+++ b/App/Setting/Setting.cpp
@@ -37,6 +37,11 @@ Setting::Setting(QWidget *parent) :
     CurrentIndex = 0;
     emit IndexChanged(CurrentIndex);
 
+
+    connect(index1->paramInspect,&ParameterInspector::ServoParameter,
+            index0->globalsetting,&GlobalSetting::ServoParameter);
+
+
 }
 
 Setting::~Setting()
diff --git a/App/StatusUI/StatusUI.cpp b/App/StatusUI/StatusUI.cpp
index 7b49925..2cb5491 100644
--- a/App/StatusUI/StatusUI.cpp
+++ b/App/StatusUI/StatusUI.cpp
@@ -28,9 +28,9 @@ StatusUI::StatusUI(QWidget *parent) :
     ui->groupBox_Warn->hide();
     */
 
-    ui->label_VerticalMode->hide();
-    ui->label_HorizonMode->hide();
-    ui->label_navMode->hide();
+    //ui->label_VerticalMode->hide();
+    //ui->label_HorizonMode->hide();
+    //ui->label_navMode->hide();
 
     int w = 150;
     int h = 20;
diff --git a/App/ToolsUI/PowerSystem/PowerSystem.cpp b/App/ToolsUI/PowerSystem/PowerSystem.cpp
index 2b6f1f9..7162b2e 100644
--- a/App/ToolsUI/PowerSystem/PowerSystem.cpp
+++ b/App/ToolsUI/PowerSystem/PowerSystem.cpp
@@ -147,6 +147,14 @@ PowerSystem::~PowerSystem()
     delete ui;
 }
 
+void PowerSystem::updateUI()
+{
+    ScopeRPM->setGeometry(0,0,ui->frame_RPM->width(),ui->frame_RPM->height());
+    ScopeTemp->setGeometry(0,0,ui->frame_Temp->width(),ui->frame_Temp->height());
+    ScopeAlt->setGeometry(0,0,ui->frame_Alt->width(),ui->frame_Alt->height());
+    ScopeMa->setGeometry(0,0,ui->frame_Ma->width(),ui->frame_Ma->height());
+}
+
 void PowerSystem::resizeEvent(QResizeEvent *event)
 {
     qDebug() << "resize event";
@@ -198,6 +206,7 @@ void PowerSystem::setFloat(void)
         this->move((screen->availableGeometry().width()-this->width())/2,(screen->availableGeometry().height()-this->height())/2);
         this->show();
         this->resize(m_parent->size());
+        updateUI();
     }
     else
     {
@@ -207,7 +216,7 @@ void PowerSystem::setFloat(void)
         this->show();
         this->resize(m_parent->size());
         //qDebug() << m_parent->children();
-
+        updateUI();
     }
 }
 
diff --git a/App/ToolsUI/PowerSystem/PowerSystem.h b/App/ToolsUI/PowerSystem/PowerSystem.h
index 3999242..f2b1f3b 100644
--- a/App/ToolsUI/PowerSystem/PowerSystem.h
+++ b/App/ToolsUI/PowerSystem/PowerSystem.h
@@ -52,6 +52,8 @@ public:
 
     void setFuel(QVariant press,QVariant value);
 
+    void updateUI();
+
 private:
 
     void resizeEvent(QResizeEvent *event);
diff --git a/App/ToolsUI/Senser/Senser.cpp b/App/ToolsUI/Senser/Senser.cpp
index 5d8cbc9..38f8c8e 100644
--- a/App/ToolsUI/Senser/Senser.cpp
+++ b/App/ToolsUI/Senser/Senser.cpp
@@ -106,6 +106,9 @@ Senser::Senser(QWidget *parent) :
             this,&Senser::chartSelect);
 
 
+
+
+
     //StringModel = new QStringListModel(ui->listView_Data);
 
     ItemModel = new QStandardItemModel(ui->listView_Data);
@@ -286,10 +289,21 @@ void Senser::setValue(QLabel *w,QString s)
     w->setText(s);
 }
 
+void Senser::updateUI()
+{
+    attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
+    gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
+    accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());
 
+    servoChart->setGeometry(0,0,ui->frame_Servo->width(),ui->frame_Servo->height());
+    altChart->setGeometry(0,0,ui->frame_Altitude->width(),ui->frame_Altitude->height());
+    speedChart->setGeometry(0,0,ui->frame_Speed->width(),ui->frame_Speed->height());
+}
 
 void Senser::resizeEvent(QResizeEvent *event)
 {
+    //attChart->resizeEvent(event);
+
     attChart->setGeometry(0,0,ui->frame_Attitude->width(),ui->frame_Attitude->height());
     gyroChart->setGeometry(0,0,ui->frame_Gyro->width(),ui->frame_Gyro->height());
     accChart->setGeometry(0,0,ui->frame_Accelerate->width(),ui->frame_Accelerate->height());
@@ -314,6 +328,7 @@ void Senser::setFloat(void)
         this->move((screen->availableGeometry().width()-this->width())/2,(screen->availableGeometry().height()-this->height())/2);
         this->show();
         this->resize(m_parent->size());
+        updateUI();
     }
     else
     {
@@ -321,7 +336,7 @@ void Senser::setFloat(void)
         this->move(0,0);
         this->show();
         this->resize(m_parent->size());
-
+        updateUI();
     }
 }
 
@@ -758,5 +773,41 @@ void Senser::setINSState(int source,int pos,state value)
      }
 }
 
+//设置曲线
+
+/*
+ *
+    attChart->setOperation(false);
+    角度
+
+    gyroChart->setOperation(false);
+    角速度
+
+    accChart->setOperation(false);
+    加速度
+
+    servoChart->setOperation(false);
+    舵机指令和反馈
+
+    altChart->setOperation(false);
+    海拔
+
+    speedChart->setOperation(false);
+    速度
+
+
+    ScopeRPM->setSerieData(tr("物理"),t->RPM_mea);
+    ScopeRPM->setSerieData(tr("期望"),t->RPM_des);
+
+ *
+ *
+ *
+ */
+
+
+
+
+
+
 
 
diff --git a/App/ToolsUI/Senser/Senser.h b/App/ToolsUI/Senser/Senser.h
index 7b959f6..be33205 100644
--- a/App/ToolsUI/Senser/Senser.h
+++ b/App/ToolsUI/Senser/Senser.h
@@ -53,6 +53,8 @@ public:
 
     void setINSState(int source,int pos,state value);
 
+    void updateUI();
+
     Chart *attChart = nullptr;
     Chart *gyroChart = nullptr;
     Chart *accChart = nullptr;
diff --git a/App/ToolsUI/ServoSystem/ServoSystem.cpp b/App/ToolsUI/ServoSystem/ServoSystem.cpp
index bba3b60..fee3f63 100644
--- a/App/ToolsUI/ServoSystem/ServoSystem.cpp
+++ b/App/ToolsUI/ServoSystem/ServoSystem.cpp
@@ -342,11 +342,13 @@ void ServoSystem::setServoState(mavlink_servo_output_raw_t *t)
 void ServoSystem::setAPversion(QString ver)
 {
     ui->label_APVer->setText(ver);
+    emit showMessage(tr("飞控软件版本信息：%1").arg(ver));
 }
 
 void ServoSystem::setHILMode(QString mode)
 {
     ui->label_HILMode->setText(mode);
+    emit showMessage((mode>0)?("进入HIL仿真"):("退出HIL仿真"));
 }
 
 
diff --git a/App/ToolsUI/ToolsUI.cpp b/App/ToolsUI/ToolsUI.cpp
index 1969790..ef493f3 100644
--- a/App/ToolsUI/ToolsUI.cpp
+++ b/App/ToolsUI/ToolsUI.cpp
@@ -262,11 +262,13 @@ void ToolsUI::onTabIndexChanged(const int &index)//界面选择管理
         if(powersystem->parent())
         {
             powersystem->show();
+            powersystem->updateUI();
         }
         else
         {
             powersystem->showNormal();
             powersystem->activateWindow();
+            powersystem->updateUI();
         }
     }
     else {
@@ -333,11 +335,13 @@ void ToolsUI::onTabIndexChanged(const int &index)//界面选择管理
         if(senser->parent())
         {
             senser->show();
+            senser->updateUI();
         }
         else
         {
             senser->showNormal();
             senser->activateWindow();
+            senser->updateUI();
         }
     }
     else {
@@ -598,6 +602,7 @@ void ToolsUI::on_pushButton_ShowExtern_clicked()
         break;
     case 9:
         senser->setFloat();
+
         break;
     }
 }
diff --git a/opmap/mapwidget/opmapwidget.cpp b/opmap/mapwidget/opmapwidget.cpp
index e60a9d3..a730c2f 100644
--- a/opmap/mapwidget/opmapwidget.cpp
+++ b/opmap/mapwidget/opmapwidget.cpp
@@ -1505,9 +1505,6 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
 
              WayPointItem *w = i.value();
 
-             qDebug() << w->Number();
-
-
              if (w) {//逐渐往下增加
                  if(w->Number()>0)
                  {
@@ -1713,12 +1710,12 @@ void OPMapWidget::WPUpload(void)
 
      if(list.size() <= 0)
      {
-         emit showMessage(tr("please create a plan"));
+         emit showMessage("请先载入任务航线");
          return;
      }
 
 
-     emit showMessage(tr("start to send mossion %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
 
@@ -1747,14 +1744,16 @@ void OPMapWidget::WPUpload(void)
      {
          QString str;
 
-         str.append(tr("send way point %1").arg(seq));
+         //str.append(tr("send way point %1").arg(seq));
+         str.append("上传航点");
+         str.append(QString::number(seq));
          emit showMessage(str);
      }
      else
      {
          QString str;
 
-         str.append(tr("fail to send %1").arg(seq));
+         str.append(tr("上传失败%1").arg(seq));
          emit showMessage(str);
      }
 
@@ -1838,8 +1837,8 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
     //         << QThread::currentThreadId();
 
 
-   emit showMessage(tr("recieve way point %1").arg(seq + 1));
-
+   //emit showMessage(tr("recieve way point %1").arg(seq + 1));
+   emit showMessage(tr("收到航点 %1").arg(seq + 1));
 
 
     //qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8;