From d9ea2813871c9a94675f61c1ce30614d4ea5cdba Mon Sep 17 00:00:00 2001
From: cuijingzhou <1150427534@qq.com>
Date: Wed, 3 Sep 2025 15:53:49 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9C=80=E6=96=B0=E7=89=88(=E8=88=AA=E7=BA=BF?=
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 =?UTF-8?q?=E6=8E=A7=E5=99=A8..=E9=A1=B5=E9=9D=A2=E5=9F=BA=E6=9C=AC?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/deploymentTargetSelector.xml            |    4 +-
 app/build.gradle                              |    3 +
 app/src/main/AndroidManifest.xml              |   24 +-
 .../Funcation/Activity/FuncationActivity.java |    1 +
 .../MAVLink/common/msg_attitude_target.java   |   35 +-
 .../Main/Activity/MainActivity.java           | 1032 +++++++++-
 .../Main/Activity/PlayBackActivity.java       |   87 +
 .../Main/Adapter/AllLinkAdapter.java          |  150 ++
 .../Main/Adapter/CreateLinkAdapter.java       |  108 ++
 .../Main/Adapter/TypeAdapter.java             |   22 +-
 .../Main/Base/CreateLink.java                 |   60 +
 .../Main/Service/MyBoundService.java          |   86 +-
 .../Setting/Activity/SettingActivity.java     |  208 +-
 .../Adapter/FoundationPagerAdapter.java       |   38 +
 .../Setting/Adapter/ParamGridAdapter.java     |   83 +-
 .../Main/Setting/Base/AirplaneModel.java      |   27 +
 .../Main/Setting/Base/ChannelItem.java        |   25 +
 .../Setting/Fragment/ControlFragment.java     |   77 +-
 .../Main/Setting/Fragment/FlyFragment.java    |  272 ++-
 .../Foundation/FlyAccelerationFragment.java   |   71 +
 .../Foundation/FlyInstallFragment.java        |   71 +
 .../Foundation/FlyMagnetometerFragment.java   |   71 +
 .../Fragment/Foundation/FlyModelFragment.java |   81 +
 .../Setting/Fragment/FoundationFragment.java  |   75 +-
 .../Main/Setting/Fragment/LoadFragment.java   |  847 ++++++++-
 .../Main/Setting/Fragment/MotorFragment.java  |    8 +-
 .../Main/Setting/Fragment/SecureFragment.java |  257 ++-
 .../Main/Setting/Fragment/SensorFragment.java |    8 +-
 .../Setting/Fragment/SettingsFragment.java    |   17 +-
 .../Main/View/BombingDialog.java              |  111 ++
 .../Main/View/CustomSeekBar.java              |  136 ++
 .../Main/View/DpadView.java                   |  319 ++++
 .../Main/View/LandDialog.java                 |   19 +-
 .../Main/View/SlideToUnlockView.java          |    4 +-
 .../Main/View/TakeOffDialog.java              |   31 +-
 .../Main/View/TurnBackDialog.java             |   33 +-
 .../Main/Void/AllView.java                    |   63 +-
 .../Main/Void/AllVoid.java                    |   65 +
 .../Main/Void/FlyVoid.java                    |  202 +-
 .../Main/Void/FpvGestureHandler.java          |  121 ++
 .../Main/Void/LogCat/LogManager.java          |  163 ++
 .../Main/Void/LogCat/LogUtil.java             |   16 +
 .../Main/Void/MapVoid.java                    |   82 +-
 .../Main/Void/MyReceiver.java                 |   74 +-
 .../Main/Void/MyTool.java                     |   52 +
 .../Main/Void/SQLClass.java                   |  441 +++++
 .../Main/Void/SerialTool.java                 |  105 ++
 .../Main/Void/XiangTuo/Instruction.java       |   90 +
 .../Main/Void/XiangTuo/Protocol.java          |   54 +
 .../Main/Void/XiangTuo/TcpClientUtil.java     |  295 +++
 .../longyi_groundstation/MainActivity2.java   |  203 +-
 .../Util/BroadcastUtil.java                   |   40 +
 .../main/res/drawable/custom_info_bubble.xml  |    9 +
 ...b_4round_bg.xml => ff029a45_4round_bg.xml} |    2 +-
 .../main/res/drawable/ff8decec_2round_bg.xml  |    2 +-
 app/src/main/res/layout/activity_login.xml    |    2 +-
 app/src/main/res/layout/activity_main.xml     | 1680 +++++++++--------
 app/src/main/res/layout/activity_main2.xml    |  114 +-
 .../main/res/layout/activity_play_back.xml    |  591 ++++++
 app/src/main/res/layout/activity_setting.xml  |   16 +-
 .../main/res/layout/adapter_all_link_item.xml |   99 +
 .../res/layout/adapter_control_data_item.xml  |   60 +-
 .../res/layout/adapter_create_link_item.xml   |  114 ++
 app/src/main/res/layout/adapter_log.xml       |    2 +-
 .../res/layout/adapter_motor_data_item.xml    |    7 +-
 app/src/main/res/layout/adapter_type_item.xml |   10 +-
 .../main/res/layout/custom_info_window.xml    |   32 +
 .../main/res/layout/custom_marker_layout.xml  |   28 +
 app/src/main/res/layout/dialog_bombing.xml    |   77 +
 app/src/main/res/layout/dialog_error_log.xml  |    2 +-
 app/src/main/res/layout/dialog_land.xml       |    2 +-
 app/src/main/res/layout/dialog_take_off.xml   |    2 +-
 app/src/main/res/layout/dialog_turn_back.xml  |    2 +-
 app/src/main/res/layout/fragment_control.xml  |   23 +-
 app/src/main/res/layout/fragment_fly.xml      |  444 ++++-
 .../res/layout/fragment_fly_acceleration.xml  |   12 +
 .../main/res/layout/fragment_fly_install.xml  |   12 +
 .../res/layout/fragment_fly_magnetometer.xml  |   12 +
 .../main/res/layout/fragment_fly_model.xml    |   13 +
 .../main/res/layout/fragment_foundation.xml   |   39 +-
 app/src/main/res/layout/fragment_load.xml     | 1486 ++++++++++++++-
 app/src/main/res/layout/fragment_logcat.xml   |   15 +
 app/src/main/res/layout/fragment_motor.xml    |  315 ++--
 app/src/main/res/layout/fragment_secure.xml   |  474 ++++-
 app/src/main/res/mipmap-xhdpi/icon_ft60.png   |  Bin 0 -> 33831 bytes
 app/src/main/res/mipmap-xhdpi/icon_marker.png |  Bin 0 -> 1416 bytes
 .../res/mipmap-xhdpi/icon_ptz_amplify.png     |  Bin 0 -> 1541 bytes
 .../main/res/mipmap-xhdpi/icon_ptz_down.png   |  Bin 0 -> 928 bytes
 .../main/res/mipmap-xhdpi/icon_ptz_left.png   |  Bin 0 -> 928 bytes
 .../res/mipmap-xhdpi/icon_ptz_one_bottom.png  |  Bin 0 -> 559 bytes
 .../main/res/mipmap-xhdpi/icon_ptz_reduce.png |  Bin 0 -> 1416 bytes
 .../main/res/mipmap-xhdpi/icon_ptz_right.png  |  Bin 0 -> 937 bytes
 .../main/res/mipmap-xhdpi/icon_ptz_top.png    |  Bin 0 -> 885 bytes
 app/src/main/res/mipmap-xhdpi/icon_save.png   |  Bin 0 -> 557 bytes
 .../res/mipmap-xhdpi/icon_spinner_dowm.png    |  Bin 0 -> 636 bytes
 95 files changed, 10729 insertions(+), 1536 deletions(-)
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Activity/PlayBackActivity.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Adapter/AllLinkAdapter.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Adapter/CreateLinkAdapter.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Base/CreateLink.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/FoundationPagerAdapter.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/AirplaneModel.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/ChannelItem.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyAccelerationFragment.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyInstallFragment.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyMagnetometerFragment.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyModelFragment.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/View/BombingDialog.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/View/CustomSeekBar.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/View/DpadView.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/AllVoid.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/FpvGestureHandler.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogManager.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogUtil.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/SQLClass.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/SerialTool.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Instruction.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Protocol.java
 create mode 100644 app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/TcpClientUtil.java
 create mode 100644 app/src/main/res/drawable/custom_info_bubble.xml
 rename app/src/main/res/drawable/{eb51518b_4round_bg.xml => ff029a45_4round_bg.xml} (83%)
 create mode 100644 app/src/main/res/layout/activity_play_back.xml
 create mode 100644 app/src/main/res/layout/adapter_all_link_item.xml
 create mode 100644 app/src/main/res/layout/adapter_create_link_item.xml
 create mode 100644 app/src/main/res/layout/custom_info_window.xml
 create mode 100644 app/src/main/res/layout/custom_marker_layout.xml
 create mode 100644 app/src/main/res/layout/dialog_bombing.xml
 create mode 100644 app/src/main/res/layout/fragment_fly_acceleration.xml
 create mode 100644 app/src/main/res/layout/fragment_fly_install.xml
 create mode 100644 app/src/main/res/layout/fragment_fly_magnetometer.xml
 create mode 100644 app/src/main/res/layout/fragment_fly_model.xml
 create mode 100644 app/src/main/res/layout/fragment_logcat.xml
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ft60.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_marker.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_amplify.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_down.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_left.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_one_bottom.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_reduce.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_right.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_ptz_top.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_save.png
 create mode 100644 app/src/main/res/mipmap-xhdpi/icon_spinner_dowm.png

diff --git a/.idea/deploymentTargetSelector.xml b/.idea/deploymentTargetSelector.xml
index 2459be5..a8cfab5 100644
--- a/.idea/deploymentTargetSelector.xml
+++ b/.idea/deploymentTargetSelector.xml
@@ -4,10 +4,10 @@
     <selectionStates>
       <SelectionState runConfigName="app">
         <option name="selectionMode" value="DROPDOWN" />
-        <DropdownSelection timestamp="2025-06-27T06:06:37.137599900Z">
+        <DropdownSelection timestamp="2025-08-18T01:38:39.489587200Z">
           <Target type="DEFAULT_BOOT">
             <handle>
-              <DeviceId pluginId="PhysicalDevice" identifier="serial=235cb949" />
+              <DeviceId pluginId="PhysicalDevice" identifier="serial=3571a890" />
             </handle>
           </Target>
         </DropdownSelection>
diff --git a/app/build.gradle b/app/build.gradle
index 7584912..6ce823b 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -69,6 +69,9 @@ dependencies {
     implementation files("libs/rcsdk-v1.2.1.aar")
     implementation files("libs/isoparser-1.1.9.jar")//用于H264封装为MP4
 
+    implementation 'com.squareup.okhttp3:okhttp:4.10.0'
+    implementation 'com.squareup.okio:okio:3.2.0'
+
 
 
 //    implementation 'com.github.licheedev.Android-SerialPort-API:serialport:2.0.0'
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
index bc754a0..a366c75 100644
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@@ -18,30 +18,26 @@
         android:allowBackup="true"
         android:dataExtractionRules="@xml/data_extraction_rules"
         android:fullBackupContent="@xml/backup_rules"
+        android:hardwareAccelerated="true"
         android:icon="@mipmap/logo"
         android:label="LYUAV"
         android:roundIcon="@mipmap/logo"
         android:supportsRtl="true"
         android:theme="@style/Theme.LongYiGroundStation"
-        tools:targetApi="31"
-        android:hardwareAccelerated="true">
-
-
+        tools:targetApi="31">
+        <activity
+            android:name=".Main.Activity.PlayBackActivity"
+            android:exported="false" />
         <activity
             android:name=".Funcation.Activity.FuncationActivity"
-            android:exported="true" >
-        </activity>
-
+            android:exported="true"></activity>
         <activity
             android:name=".Main.Setting.Activity.SettingActivity"
-            android:exported="true" >
-
-
-        </activity>
-
+            android:exported="true"></activity>
         <activity
             android:name=".MainActivity2"
-            android:exported="true"></activity>
+            android:exported="true"
+            android:screenOrientation="landscape"></activity>
 
         <meta-data
             android:name="com.amap.api.v2.apikey"
@@ -52,13 +48,11 @@
             android:name=".Login.Activity.LoginActivity"
             android:exported="true"
             android:screenOrientation="landscape">
-
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
 
                 <category android:name="android.intent.category.LAUNCHER" />
             </intent-filter>
-
         </activity>
         <activity
             android:name=".Main.Activity.MainActivity"
diff --git a/app/src/main/java/com/example/longyi_groundstation/Funcation/Activity/FuncationActivity.java b/app/src/main/java/com/example/longyi_groundstation/Funcation/Activity/FuncationActivity.java
index 184d4c4..9751c3c 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Funcation/Activity/FuncationActivity.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Funcation/Activity/FuncationActivity.java
@@ -75,6 +75,7 @@ public class FuncationActivity extends AppCompatActivity {
                 intents.putExtra("port", intent.getStringExtra("port"));
             }
             startActivity(intents);
+            finish();
         });
 
     }
diff --git a/app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_attitude_target.java b/app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_attitude_target.java
index 48f75cf..782028c 100644
--- a/app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_attitude_target.java
+++ b/app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_attitude_target.java
@@ -12,6 +12,9 @@ import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
 import com.example.longyi_groundstation.MAVLink.Messages.Units;
 import com.example.longyi_groundstation.MAVLink.Messages.Description;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
 /**
  * Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.
  */
@@ -189,7 +192,37 @@ public class msg_attitude_target extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_ATTITUDE_TARGET - sysid:"+sysid+" compid:"+compid+" time_boot_ms:"+time_boot_ms+" q:"+q+" body_roll_rate:"+body_roll_rate+" body_pitch_rate:"+body_pitch_rate+" body_yaw_rate:"+body_yaw_rate+" thrust:"+thrust+" type_mask:"+type_mask+"";
+
+        JSONObject jsonObject = new JSONObject();
+        try {
+            jsonObject.put("msgid",MAVLINK_MSG_ID_ATTITUDE_TARGET);
+            jsonObject.put("sysid",sysid);
+            jsonObject.put("compid",compid);
+            jsonObject.put("time_boot_ms",time_boot_ms);
+            jsonObject.put("q",q);
+            jsonObject.put("body_roll_rate",body_roll_rate);
+            jsonObject.put("body_pitch_rate",body_pitch_rate);
+            jsonObject.put("body_yaw_rate",body_yaw_rate);
+            jsonObject.put("thrust",thrust);
+            jsonObject.put("type_mask",type_mask);
+
+            return jsonObject.toString();
+        } catch (JSONException e) {
+            return null;
+        }
+
+//        return "MAVLINK_MSG_ID_ATTITUDE_TARGET - sysid:"+
+//                sysid+" compid:"+
+//                compid+" time_boot_ms:"+
+//                time_boot_ms+" q:"+
+//                q+" body_roll_rate:"+
+//                body_roll_rate+" body_pitch_rate:"+
+//                body_pitch_rate+" body_yaw_rate:"+
+//                body_yaw_rate+" thrust:"+
+//                thrust+" type_mask:"+
+//                type_mask+"";
+
+
     }
 
     /**
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Activity/MainActivity.java b/app/src/main/java/com/example/longyi_groundstation/Main/Activity/MainActivity.java
index 45ec8d4..f765833 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Activity/MainActivity.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Activity/MainActivity.java
@@ -13,11 +13,13 @@ import static javax.xml.transform.OutputKeys.VERSION;
 import android.Manifest;
 import android.animation.ObjectAnimator;
 import android.annotation.SuppressLint;
+import android.app.AlertDialog;
 import android.content.ComponentName;
 import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
 import android.content.ServiceConnection;
+import android.graphics.Bitmap;
 import android.graphics.Color;
 import android.graphics.Outline;
 import android.os.Build;
@@ -28,8 +30,10 @@ import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewOutlineProvider;
 import android.view.WindowManager;
+import android.widget.Button;
 import android.widget.ImageView;
 import android.widget.LinearLayout;
+import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.activity.EdgeToEdge;
@@ -48,36 +52,49 @@ import com.amap.api.maps.model.LatLng;
 import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.MyLocationStyle;
+import com.amap.api.maps.model.Polyline;
+import com.amap.api.maps.model.PolylineOptions;
 import com.example.longyi_groundstation.MAVLink.common.msg_command_long;
 import com.example.longyi_groundstation.MAVLink.common.msg_mission_clear_all;
 import com.example.longyi_groundstation.MAVLink.common.msg_mission_count;
 import com.example.longyi_groundstation.MAVLink.common.msg_mission_item;
 import com.example.longyi_groundstation.MAVLink.enums.MAV_CMD;
 import com.example.longyi_groundstation.MAVLink.enums.MAV_FRAME;
+import com.example.longyi_groundstation.Main.Adapter.AllLinkAdapter;
+import com.example.longyi_groundstation.Main.Adapter.CreateLinkAdapter;
 import com.example.longyi_groundstation.Main.Adapter.LogAdapter;
 import com.example.longyi_groundstation.Main.Adapter.TypeAdapter;
+import com.example.longyi_groundstation.Main.Base.CreateLink;
 import com.example.longyi_groundstation.Main.Base.LogItem;
 import com.example.longyi_groundstation.Main.Base.Msg;
 import com.example.longyi_groundstation.Main.Service.MyBoundService;
 import com.example.longyi_groundstation.Main.Setting.Activity.SettingActivity;
+import com.example.longyi_groundstation.Main.View.BombingDialog;
+import com.example.longyi_groundstation.Main.View.DpadView;
 import com.example.longyi_groundstation.Main.View.ErrorLogDialog;
 import com.example.longyi_groundstation.Main.View.FPV_Void;
 import com.example.longyi_groundstation.Main.View.LandDialog;
 import com.example.longyi_groundstation.Main.View.TakeOffDialog;
 import com.example.longyi_groundstation.Main.View.TurnBackDialog;
 import com.example.longyi_groundstation.Main.Void.AllView;
+import com.example.longyi_groundstation.Main.Void.AllVoid;
 import com.example.longyi_groundstation.Main.Void.ContrastTool;
 import com.example.longyi_groundstation.Main.Void.CoordinateConverter;
 import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.FpvGestureHandler;
 import com.example.longyi_groundstation.Main.Void.KeDaTTS;
 import com.example.longyi_groundstation.Main.Void.MapVoid;
 import com.example.longyi_groundstation.Main.Void.MyReceiver;
 import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.SQLClass;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.Protocol;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.TcpClientUtil;
 import com.example.longyi_groundstation.R;
 import com.google.android.flexbox.FlexDirection;
 import com.google.android.flexbox.FlexWrap;
 import com.google.android.flexbox.FlexboxLayoutManager;
 
+import java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.Date;
 import java.util.List;
@@ -109,7 +126,7 @@ public class MainActivity extends AppCompatActivity {
     //广播接收器
     private MyReceiver myReceiver_ATTITUDE, myReceiver_GPS_RAW_INT, myReceiver_GLOBAL_POSITION_INT,
             myReceiver_POWER_STATUS, myReceiver_SYS_STATUS, myReceiver_STATUSTEXT,
-            myReceiver_HEARTBEAT;
+            myReceiver_HEARTBEAT, myReceiver_VFR_HUD;
     //所有组件
     private AllView allView;
     private ArrayList<Msg> typeList = new ArrayList<>();
@@ -117,6 +134,8 @@ public class MainActivity extends AppCompatActivity {
     private TakeOffDialog takeOffDialog;//起飞弹窗
     private TurnBackDialog turnBackDialog;//返航弹窗
     private LandDialog landDialog;//降落弹窗
+    private BombingDialog bombingDialog;//投弹弹窗
+
     private ArrayList<LogItem> LogItemList = new ArrayList<>();
     private LogAdapter adapter;
     private FPV_Void fpvVoid = new FPV_Void();
@@ -127,6 +146,17 @@ public class MainActivity extends AppCompatActivity {
     private FlyVoid flyVoid = new FlyVoid();
     private boolean islocation = true;//是否第一次定位
     private LatLng homeLatLng = null;
+    private FpvGestureHandler fpvGestureHandler; // 云台手势类
+    private TcpClientUtil tcpClient;//云台连接类
+
+    // 在 MainActivity 类中添加以下成员变量
+    private List<Marker> waypointMarkers = new ArrayList<>();
+    private List<LatLng> waypointPositions = new ArrayList<>();
+    private Polyline flightPathPolyline = null;
+    private boolean isSetLink = false;
+    // 在成员变量部分添加
+    private CreateLinkAdapter createLinkAdapter;
+    private List<CreateLink> createLinkList = new ArrayList<>();
 
 
     @Override
@@ -227,15 +257,33 @@ public class MainActivity extends AppCompatActivity {
             registerReceiver(myReceiver_HEARTBEAT, filter7);
         }
 
+        //油门
+        myReceiver_VFR_HUD = new MyReceiver();
+        IntentFilter filter8 = new IntentFilter("Broadcast_VFR_HUD");
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            registerReceiver(myReceiver_VFR_HUD, filter8, Context.RECEIVER_EXPORTED);
+        } else {
+            registerReceiver(myReceiver_VFR_HUD, filter8);
+        }
+
 
         // 初始化数据源
         typeList = new ArrayList<>();
         typeList.add(new Msg("relative_alt", "0", true));
         typeList.add(new Msg("alt", "0", true));
+        typeList.add(new Msg("throttle", "0", true));
         typeList.add(new Msg("time_boot_ms", "0", true));
+        typeList.add(new Msg("home_distance", "0", true));
         typeList.add(new Msg("lat", "0", true));
         typeList.add(new Msg("lon", "0", true));
 
+        // 使用新的静态方法:
+        try {
+            tcpClient = new TcpClientUtil();
+            AllVoid.connectToPTZWithRetry(tcpClient, "192.168.144.119", 2000, this, TAG);
+        } catch (Exception e) {
+            Toast.makeText(this, "云台控制初始化失败", Toast.LENGTH_SHORT).show();
+        }
 
 //        typeList.add(new Msg("relative_alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("relative_alt"), true));
 //        typeList.add(new Msg("alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("alt"), true));
@@ -254,7 +302,6 @@ public class MainActivity extends AppCompatActivity {
     private void initView() {
         //所有组件
         allView = new AllView(this);
-
         //地图全局方法类
         mapVoid = new MapVoid(MainActivity.this);
         mainMarker = mapVoid.aMap.addMarker(new MarkerOptions().anchor(0.5f, 0.5f) // 设置锚点为图片中心
@@ -267,8 +314,6 @@ public class MainActivity extends AppCompatActivity {
                 .title("飞机").snippet("型号"));
         // 更换 Marker 图标
         flyMarker.setIcon(BitmapDescriptorFactory.fromResource(R.drawable.icon_fly));
-        // 更换 Marker 图标
-
 
         Intent intents = new Intent(this, MyBoundService.class);
         intents.putExtra("type", intent.getIntExtra("type", 0));
@@ -288,7 +333,7 @@ public class MainActivity extends AppCompatActivity {
 
         // 设置视频路径
         fpvVoid.setupFpvWidget(allView.fpvWidget, "rtsp://192.168.144.119/live");
-
+        // 初始化FPV手势处理
 
         //起飞弹窗
         takeOffDialog = new TakeOffDialog(MainActivity.this);
@@ -296,11 +341,17 @@ public class MainActivity extends AppCompatActivity {
         turnBackDialog = new TurnBackDialog(MainActivity.this);
         //降落弹窗
         landDialog = new LandDialog(MainActivity.this);
+        //投弹弹窗
+        bombingDialog = new BombingDialog(MainActivity.this);
 
         allView.rv_error_list.setLayoutManager(new LinearLayoutManager(this));
         adapter = new LogAdapter();
         allView.rv_error_list.setAdapter(adapter);
 
+        // 初始化路线适配器
+        createLinkAdapter = new CreateLinkAdapter();
+        allView.rv_create_link_list.setLayoutManager(new LinearLayoutManager(this, LinearLayoutManager.VERTICAL, false));
+        allView.rv_create_link_list.setAdapter(createLinkAdapter);
 
         //启用裁剪
         allView.cll_layout.post(() -> {
@@ -318,6 +369,9 @@ public class MainActivity extends AppCompatActivity {
         //启动参数加载监控
         FlyVoid.startParamLoadMonitoring(allView.tv_param_load);
 
+        //拿到数据库里所有的航线
+        setupAllLinkList();
+
     }
 
     /**
@@ -325,7 +379,7 @@ public class MainActivity extends AppCompatActivity {
      *
      * @cuijingzhou
      */
-    @SuppressLint("NotifyDataSetChanged")
+    @SuppressLint({"NotifyDataSetChanged", "DefaultLocale"})
     private void initReceiver() {
 
         //广播接收-ATTITUDE
@@ -339,7 +393,7 @@ public class MainActivity extends AppCompatActivity {
                 flyVoid.setAttitude(getApplicationContext(), allView, MyReceiver.ATTITUDE_json.optDouble("roll"), MyReceiver.ATTITUDE_json.optDouble("pitch"), MyReceiver.ATTITUDE_json.optDouble("yaw"));
             }
             //地图上飞机的朝向
-            mainMarker.setRotateAngle((int) Math.toDegrees(MyReceiver.ATTITUDE_json.optDouble("yaw")) );
+            mainMarker.setRotateAngle((int) Math.toDegrees(MyReceiver.ATTITUDE_json.optDouble("yaw")));
 
             allView.tv_yaw.setText((int) Math.toDegrees(MyReceiver.ATTITUDE_json.optDouble("yaw")) + "°");
             mainMarker.setVisible(true);
@@ -361,7 +415,9 @@ public class MainActivity extends AppCompatActivity {
 //            Log.d(TAG, "收到新数据GLOBAL：" + data.toString());
 
             //要把经纬度转换成高德经纬度
-            double[] doubles = CoordinateConverter.wgs84ToGcj02((MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000), (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000));
+            double[] doubles = CoordinateConverter.wgs84ToGcj02(
+                    (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000),
+                    (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000));
 
             if (doubles[1] != 0) {
                 //获取到位置后移动视角到当前位置
@@ -377,23 +433,25 @@ public class MainActivity extends AppCompatActivity {
             mainMarker.setVisible(true);
             // 示例：更新 typeList 数据并刷新 RecyclerView
             if (data != null) {
-                typeList.clear();
-                typeList.add(0, new Msg("relative_alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("relative_alt"), true));
-                typeList.add(1, new Msg("alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("alt"), true));
-                typeList.add(2, new Msg("time_boot_ms", MyReceiver.GLOBAL_POSITION_INT_json.optString("time_boot_ms"), true));
-                typeList.add(3, new Msg("home_distance", mapVoid.calculateDistance(homeLatLng, new LatLng(doubles[1], doubles[0]))+"m", true));
-                typeList.add(4, new Msg("lat", doubles[1] + "", true));
-                typeList.add(5, new Msg("lon", doubles[0] + "", true));
-
-
+//                typeList.clear();
+                typeList.set(0, new Msg("relative_alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("relative_alt"), true));
+                typeList.set(1, new Msg("alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("alt"), true));
+                typeList.set(3, new Msg("time_boot_ms", MyReceiver.GLOBAL_POSITION_INT_json.optString("time_boot_ms"), true));
+                typeList.set(4, new Msg("home_distance", mapVoid.calculateDistance(homeLatLng, new LatLng(doubles[1], doubles[0])) + "m", true));
+                typeList.set(5, new Msg("lat", doubles[1] + "", true));
+                typeList.set(6, new Msg("lon", doubles[0] + "", true));
 
                 // 添加更多字段...
                 typeAdapter.notifyDataSetChanged();
-                allView.tv_height.setText(Math.round((MyReceiver.GLOBAL_POSITION_INT_json.optDouble("relative_alt") / 100) / 10.0) + "m");
+                if (FlyVoid.parseSerialData != null) {
+//                    allView.tv_height.setText(Math.round((MyReceiver.GLOBAL_POSITION_INT_json.optDouble("relative_alt") / 100) / 10.0) + "m");
+                    allView.tv_height.setText(flyVoid.parseSerialData[0] + "m");
+                }
+
             }
 
             //如果有相同的点位就不添加到列表里面去
-            if (doubles[1] != 0) {
+            if (doubles.length != 0) {
                 if (doubles[1] != mapVoid.latLngss.get(mapVoid.latLngss.size() - 1).latitude) {
                     mapVoid.latLngss.add(new LatLng(doubles[1], doubles[0]));
                 }
@@ -419,7 +477,6 @@ public class MainActivity extends AppCompatActivity {
 //                            + " V");
         });
 
-
         //广播接收-setSysStatuslistener
         myReceiver_SYS_STATUS.setSysStatuslistener(data -> {
             // 这里可以更新 UI 或刷新数据
@@ -430,14 +487,14 @@ public class MainActivity extends AppCompatActivity {
         //广播接收-setStatustextlistener
         myReceiver_STATUSTEXT.setStatustextlistener(data -> {
             // 这里可以更新 UI 或刷新数据
-            allView.iv_error.setVisibility(VISIBLE);
-            if (MyReceiver.STATUSTEXT_json.optInt("severity") <= 5){
+            if (MyReceiver.STATUSTEXT_json.optInt("severity") <= 5) {
                 LogItemList.add(0, new LogItem(
                         MyReceiver.STATUSTEXT_json.optString("text"),
                         ContrastTool.findMostSimilarMatch(MyReceiver.STATUSTEXT_json.optString("text")),
                         new Date(),
                         MyReceiver.STATUSTEXT_json.optInt("severity")));
                 adapter.setList(LogItemList);
+                allView.iv_error.setVisibility(VISIBLE);
             }
 //            adapter.notifyDataSetChanged();
 //            Log.d(TAG, "收到新数据STATUSTEXT：" + data.toString());
@@ -484,10 +541,31 @@ public class MainActivity extends AppCompatActivity {
                     allView.tv_connect.setText("未知模式");
                     break;
             }
+        });
 
-//            allView.tv_connect.setText("位置保持");
-//            Log.d(TAG, "收到新数据HEARTBEAT：" + data.toString());
-
+        //广播接收-setAttitudeTargetlistener
+        myReceiver_VFR_HUD.setVfrHudlistener(data -> {
+//            Log.d(TAG, "myReceiver_VFR_HUD: "+ FlyVoid.paramList.get("MOT_SPIN_MIN").getParam_value()+"-"+
+//                    Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MAX").getParam_value())+"-"+
+//                    Double.parseDouble(FlyVoid.paramList.get("MOT_THST_EXPO").getParam_value())+"-"+
+//                    data.optDouble("throttle")/100);
+//
+//            Log.d(TAG, "myReceiver_VFR_HUDs: "+String.format("%.1f", MyTool.getThrottle(
+//                    Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MIN").getParam_value()),
+//                    Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MAX").getParam_value()),
+//                    Double.parseDouble(FlyVoid.paramList.get("MOT_THST_EXPO").getParam_value()),
+//                    data.optDouble("throttle")/100,
+//                    1
+//            )));
+            if (data.optDouble("throttle") != 0){
+                typeList.set(2, new Msg("throttle",  String.format("%.1f", MyTool.getThrottle(
+                        Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MIN").getParam_value()),
+                        Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MAX").getParam_value()),
+                        Double.parseDouble(FlyVoid.paramList.get("MOT_THST_EXPO").getParam_value()),
+                        data.optDouble("throttle")/100,
+                        1
+                )*100)  + "%", true));
+            }
 
         });
 
@@ -498,10 +576,9 @@ public class MainActivity extends AppCompatActivity {
      *
      * @cuijingzhou
      */
-    @SuppressLint({"NotifyDataSetChanged", "SetTextI18n", "DefaultLocale"})
+    @SuppressLint({"NotifyDataSetChanged", "SetTextI18n", "DefaultLocale", "ClickableViewAccessibility"})
     private void initOnClick() {
 
-
         //点击切换窗口显示
         allView.v_mainDisplay.setOnClickListener(v -> {
             if (mainDisplay == 1) {
@@ -518,6 +595,9 @@ public class MainActivity extends AppCompatActivity {
 //                allView.map_s.setVisibility(VISIBLE);
 //                allView.fpvWidget.setVisibility(VISIBLE);
 //                allView.fpvWidget_s.setVisibility(GONE);
+                allView.ll_left_error_layout.setVisibility(GONE);
+                allView.ll_ptz_ctrl.setVisibility(VISIBLE);
+                allView.ll_ptz_fun.setVisibility(VISIBLE);
             } else {
                 mainDisplay = 1;
                 MyTool.setViewWH(this, allView.fpvWidget, 150, 95, 3);
@@ -532,6 +612,10 @@ public class MainActivity extends AppCompatActivity {
 //                allView.map_s.setVisibility(VISIBLE);
 //                allView.fpvWidget.setVisibility(VISIBLE);
 //                allView.fpvWidget_s.setVisibility(GONE);
+                allView.ll_left_error_layout.setVisibility(GONE);
+                allView.ll_ptz_ctrl.setVisibility(GONE);
+                allView.ll_ptz_fun.setVisibility(GONE);
+
             }
         });
 
@@ -539,10 +623,10 @@ public class MainActivity extends AppCompatActivity {
         //点击异常窗口
         allView.iv_error.setOnClickListener(v -> {
 
-            if (allView.ll_left_layout.getVisibility() == VISIBLE) {
-                allView.ll_left_layout.setVisibility(INVISIBLE);
+            if (allView.ll_left_error_layout.getVisibility() == VISIBLE) {
+                allView.ll_left_error_layout.setVisibility(GONE);
             } else {
-                allView.ll_left_layout.setVisibility(VISIBLE);
+                allView.ll_left_error_layout.setVisibility(VISIBLE);
             }
         });
 
@@ -571,17 +655,21 @@ public class MainActivity extends AppCompatActivity {
         });
         //进设置页面
         allView.ll_setting.setOnClickListener(v -> {
-            if (FlyVoid.isParamUpdateComplete()){
-                Intent intent = new Intent(this, SettingActivity.class);
-                startActivity(intent);
-            }else {
-                Toast.makeText(this, "请等待参数更新完成", Toast.LENGTH_SHORT).show();
-            }
-
+//            Toast.makeText(this, "维护中..", Toast.LENGTH_SHORT).show();
+            Intent intent = new Intent(this, SettingActivity.class);
+            startActivity(intent);
         });
 
-        //定点飞行
+        //路线执行
         allView.ll_line_fly_layout.setOnClickListener(v -> {
+            refreshLinkList();
+            allView.v_mainDisplay.setVisibility(GONE);
+            allView.ll_open_layout.setVisibility(GONE);
+            allView.ll_text.setVisibility(GONE);
+            allView.ll_link_start.setVisibility(VISIBLE);
+            allView.ll_all_link_layout.setVisibility(VISIBLE);
+            allView.fpvWidget.setVisibility(GONE);
+
 //            mapVoid.showLine(!mapVoid.polyline.isVisible());
             //清除现有任务
 //            msg_mission_clear_all clearCmd = new msg_mission_clear_all();
@@ -615,6 +703,17 @@ public class MainActivity extends AppCompatActivity {
 //            count.count = 1; // 航点数量
 //            flyVoid.sendMavlinkMessage(MyBoundService.type,count);
         });
+        //路线执行-退出
+        allView.ll_link_start_back.setOnClickListener(v -> {
+            // 清除当前地图上的所有航点和航线
+            clearWaypoints();
+            allView.v_mainDisplay.setVisibility(VISIBLE);
+            allView.ll_open_layout.setVisibility(VISIBLE);
+            allView.ll_text.setVisibility(VISIBLE);
+            allView.ll_link_start.setVisibility(GONE);
+            allView.ll_all_link_layout.setVisibility(GONE);
+            allView.fpvWidget.setVisibility(VISIBLE);
+        });
 
         allView.ll_left_open.setOnClickListener(v -> {
             if (allView.ll_function_layout.getVisibility() == VISIBLE) {
@@ -630,9 +729,123 @@ public class MainActivity extends AppCompatActivity {
         allView.ll_antenna.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
+        //路线规划
         allView.ll_map.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
+//            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
+            isSetLink = true;
+            allView.v_mainDisplay.setVisibility(GONE);
+            allView.ll_open_layout.setVisibility(GONE);
+            allView.ll_text.setVisibility(GONE);
+            allView.ll_link.setVisibility(VISIBLE);
+            allView.ll_create_link_layout.setVisibility(VISIBLE);
+            allView.fpvWidget.setVisibility(GONE);
         });
+        //路线规划功能-保存
+        allView.ll_link_save.setOnClickListener(v -> {
+            // 初始化数据库
+            SQLClass sqlClass = new SQLClass(this);
+            // 添加一个CreateLink列表
+            ArrayList<CreateLink> createLinkLists = new ArrayList<>();
+            createLinkLists.addAll(createLinkList);
+            // 添加CreateLink对象到列表中
+            boolean success = sqlClass.addCreateLinkList("路线-"+new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()), createLinkLists);
+            if (success){
+                // 清除所有航点和航线
+                clearWaypoints();
+                isSetLink = false;
+                allView.v_mainDisplay.setVisibility(VISIBLE);
+                allView.ll_open_layout.setVisibility(VISIBLE);
+                allView.ll_text.setVisibility(VISIBLE);
+                allView.ll_link.setVisibility(GONE);
+                allView.ll_create_link_layout.setVisibility(GONE);
+                allView.fpvWidget.setVisibility(VISIBLE);
+                // 获取列表数量
+                int count = sqlClass.getLinkListCount();
+                Toast.makeText(this, "保存成功-"+count, Toast.LENGTH_SHORT).show();
+
+            }
+
+        });
+        // 路线规划功能-1：反转航点顺序
+        allView.ll_link_fun1.setOnClickListener(v -> {
+            // 创建确认对话框
+            AlertDialog.Builder builder = new AlertDialog.Builder(this);
+            builder.setTitle("反转航点顺序");
+            builder.setMessage("确定要反转当前航点的顺序吗？");
+
+            builder.setPositiveButton("确定", (dialog, which) -> {
+                // 反转航点位置列表
+                java.util.Collections.reverse(waypointPositions);
+
+                // 反转航点标记列表
+                java.util.Collections.reverse(waypointMarkers);
+
+                // 重新编号航点标记
+                renumberWaypoints();
+
+                // 更新航线显示
+                updateFlightPath();
+
+                dialog.dismiss();
+            });
+
+            builder.setNegativeButton("取消", (dialog, which) -> {
+                dialog.dismiss();
+            });
+
+            AlertDialog dialog = builder.create();
+            dialog.show();
+        });
+
+        // 路线规划功能-2：清除所有线路
+        allView.ll_link_fun2.setOnClickListener(v -> {
+            // 创建确认对话框
+            AlertDialog.Builder builder = new AlertDialog.Builder(this);
+            builder.setTitle("清除所有航点");
+            builder.setMessage("确定要清除所有航点和航线吗？");
+
+            builder.setPositiveButton("确定", (dialog, which) -> {
+                // 清除所有航点和航线
+                clearWaypoints();
+                dialog.dismiss();
+            });
+
+            builder.setNegativeButton("取消", (dialog, which) -> {
+                dialog.dismiss();
+            });
+
+            AlertDialog dialog = builder.create();
+            dialog.show();
+        });
+        //路线规划功能-退出
+        allView.ll_link_back.setOnClickListener(v -> {
+            // 创建确认对话框
+            AlertDialog.Builder builder = new AlertDialog.Builder(this);
+            builder.setTitle("退出");
+            builder.setMessage("确定要退出嘛？退出前的航线不会保存");
+
+            builder.setPositiveButton("确定", (dialog, which) -> {
+                // 清除所有航点和航线
+                clearWaypoints();
+                isSetLink = false;
+                allView.v_mainDisplay.setVisibility(VISIBLE);
+                allView.ll_open_layout.setVisibility(VISIBLE);
+                allView.ll_text.setVisibility(VISIBLE);
+                allView.ll_link.setVisibility(GONE);
+                allView.ll_create_link_layout.setVisibility(GONE);
+                allView.fpvWidget.setVisibility(VISIBLE);
+                dialog.dismiss();
+            });
+
+            builder.setNegativeButton("取消", (dialog, which) -> {
+                dialog.dismiss();
+            });
+
+            AlertDialog dialog = builder.create();
+            dialog.show();
+
+        });
+
         allView.ll_one_word.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
@@ -646,7 +859,8 @@ public class MainActivity extends AppCompatActivity {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
         allView.ll_bombing.setOnClickListener(v -> {
-            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
+            bombingDialog.show();
+//            Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
         allView.ll_shout.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
@@ -663,39 +877,725 @@ public class MainActivity extends AppCompatActivity {
         allView.ll_mode_select.setOnClickListener(v -> {
             Toast.makeText(this, "正在研发..", Toast.LENGTH_SHORT).show();
         });
+        //初始化FPV手势处理
+        fpvGestureHandler = new FpvGestureHandler(allView.fpvWidget);
+        fpvGestureHandler.setOnFpvGestureListener(new FpvGestureHandler.OnFpvGestureListener() {
+            // 添加一个标志位来跟踪是否已经处理过滑动
+            private boolean isSwiping = false;
+            private String lastDirection = "";
+
+            @Override
+            public void onTap(float x, float y) {
+                // 处理单击事件
+                Log.d(TAG, "FPV单击: x=" + x + ", y=" + y);
+                // 获取FPV控件的宽度和高度
+                int fpvWidth = allView.fpvWidget.getWidth();
+                int fpvHeight = allView.fpvWidget.getHeight();
+
+                // 将坐标转换为0x00-0xff范围内的值
+                // X方向: 从左(0x00)到右(0xff)
+                // Y方向: 从上(0x00)到下(0xff)
+                byte convertedX = (byte) Math.max(0x00, Math.min(0xFF, Math.round((x / fpvWidth) * 255)));
+                byte convertedY = (byte) Math.max(0x00, Math.min(0xFF, Math.round((y / fpvHeight) * 255)));
+
+                if (!tcpClient.isConnected()) {
+                    Toast.makeText(getApplicationContext(), "未连接到服务器", Toast.LENGTH_SHORT).show();
+                } else {
+                    // 发送指点
+                    byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x10, 0x00, convertedX, convertedY,
+                            Protocol.calculateCheckCode((byte) 0x01, (byte) 0x10, (byte) 0x00, convertedX, convertedY)};
+                    tcpClient.sendBytes(testData);
+                }
+            }
+
+            @Override
+            public void onDoubleTap(float x, float y) {
+                // 处理双击事件
+                Log.d(TAG, "FPV双击: x=" + x + ", y=" + y);
+                // 在这里添加您的双击处理逻辑
+            }
+
+            @Override
+            public void onLongPress(float x, float y) {
+                // 处理长按事件
+                Log.d(TAG, "FPV长按: x=" + x + ", y=" + y);
+                // 在这里添加您的长按处理逻辑
+            }
+
+            @Override
+            public void onSwipe(float startX, float startY, float endX, float endY, float distanceX, float distanceY) {
+                // 处理滑动事件
+//                Log.d(TAG, "FPV滑动: startX=" + startX + ", startY=" + startY +
+//                        ", endX=" + endX + ", endY=" + endY +
+//                        ", distanceX=" + distanceX + ", distanceY=" + distanceY);
+
+                // 判断滑动方向
+                String currentDirection;
+                if (Math.abs(distanceX) > Math.abs(distanceY)) {
+                    // 水平滑动
+                    if (distanceX > 0) {
+                        // 向右滑动
+                        currentDirection = "right";
+//                        Log.d(TAG, "FPV向右滑动");
+                    } else {
+                        // 向左滑动
+                        currentDirection = "left";
+//                        Log.d(TAG, "FPV向左滑动");
+                    }
+                } else {
+                    // 垂直滑动
+                    if (distanceY > 0) {
+                        // 向下滑动
+                        currentDirection = "down";
+//                        Log.d(TAG, "FPV向下滑动");
+                    } else {
+                        // 向上滑动
+                        currentDirection = "up";
+//                        Log.d(TAG, "FPV向上滑动");
+                    }
+                }
+
+                // 如果方向改变或者刚开始滑动，则更新方向并处理
+                if (!isSwiping || !lastDirection.equals(currentDirection)) {
+                    isSwiping = true;
+                    lastDirection = currentDirection;
+                    Log.d(TAG, "FPV向" + currentDirection + "滑动");
+                    // 在这里添加您的滑动处理逻辑
+                    switch (currentDirection) {
+                        case "up":
+                            if (!tcpClient.isConnected()) {
+                                Toast.makeText(getApplicationContext(), "未连接到服务器", Toast.LENGTH_SHORT).show();
+                                break;
+                            } else {
+                                // 发送左转数据
+                                byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x08, 0x00, (byte) 0xFF, 0x08};
+                                tcpClient.sendBytes(testData);
+                            }
+                            break;
+
+                        case "down":
+                            if (!tcpClient.isConnected()) {
+                                Toast.makeText(getApplicationContext(), "未连接到服务器", Toast.LENGTH_SHORT).show();
+                                break;
+                            } else {
+                                // 发送左转数据
+                                byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x10, 0x00, (byte) 0xFF, 0x10};
+                                tcpClient.sendBytes(testData);
+                            }
+                            break;
+
+                        case "left":
+                            if (!tcpClient.isConnected()) {
+                                Toast.makeText(getApplicationContext(), "未连接到服务器", Toast.LENGTH_SHORT).show();
+                                break;
+                            } else {
+                                // 发送左转数据
+                                byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x04, (byte) 0xFF, 0x00, 0x04};
+                                tcpClient.sendBytes(testData);
+                            }
+                            break;
+
+                        case "right":
+                            // 停止数据
+                            if (!tcpClient.isConnected()) {
+                                Toast.makeText(getApplicationContext(), "未连接到服务器", Toast.LENGTH_SHORT).show();
+                                break;
+                            } else {
+                                // 发送左转数据
+                                byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x02, (byte) 0xFF, 0x00, 0x02};
+                                tcpClient.sendBytes(testData);
+                            }
+
+                    }
+                }
+            }
+
+            @Override
+            public void onSwipeUp() {
+                // 向上滑动的专门处理方法
+//                Log.d(TAG, "FPV向上滑动事件");
+            }
+
+            @Override
+            public void onSwipeDown() {
+                // 向下滑动的专门处理方法
+//                Log.d(TAG, "FPV向下滑动事件");
+            }
+
+            @Override
+            public void onSwipeLeft() {
+                // 向左滑动的专门处理方法
+//                Log.d(TAG, "FPV向左滑动事件");
+
+            }
+
+            @Override
+            public void onSwipeRight() {
+                // 向右滑动的专门处理方法
+//                Log.d(TAG, "FPV向右滑动事件");
+            }
+
+            @Override
+            public void onZoom(float scaleFactor) {
+                // 处理缩放事件
+                Log.d(TAG, "FPV缩放: scaleFactor=" + scaleFactor);
+                // 在这里添加您的缩放处理逻辑
+            }
+
+            @Override
+            public void onSwipeEnd() {
+                // 滑动结束（抬起）事件
+                Log.d(TAG, "FPV滑动结束（手指抬起）");
+                // 重置标志位，以便下一次滑动可以被处理
+                isSwiping = false;
+                lastDirection = "";
+                // 发送停止数据
+                byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                tcpClient.sendBytes(testData1);
+            }
+        });
+
+        // 为iv_ptz_top添加按下和抬起事件
+        allView.iv_ptz_top.setOnTouchListener((v, event) -> {
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    // 按下事件
+                    Log.d("PTZ", "iv_ptz_top被按下");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送左转数据
+                        byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x08, 0x00, (byte) 0xFF, 0x08};
+                        tcpClient.sendBytes(testData);
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送停止数据
+                        byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                        tcpClient.sendBytes(testData1);
+                    }
+                    break;
+            }
+            return true; // 返回true表示处理了触摸事件
+        });
+
+        // 为iv_ptz_left添加按下和抬起事件
+        allView.iv_ptz_left.setOnTouchListener((v, event) -> {
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    // 按下事件
+                    Log.d("PTZ", "iv_ptz_left被按下");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送左转数据
+                        byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x04, (byte) 0xFF, 0x00, 0x04};
+                        tcpClient.sendBytes(testData);
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    // 抬起或取消事件
+                    Log.d("PTZ", "iv_ptz_left被释放");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送停止数据
+                        byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                        tcpClient.sendBytes(testData1);
+                    }
+
+                    // 在这里添加抬起时需要执行的代码
+                    // 例如停止云台转动
+                    break;
+            }
+            return true; // 返回true表示处理了触摸事件
+        });
+
+        // 为iv_ptz_right添加按下和抬起事件
+        allView.iv_ptz_right.setOnTouchListener((v, event) -> {
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    // 按下事件
+                    Log.d("PTZ", "iv_ptz_right被按下");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送左转数据
+                        byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x02, (byte) 0xFF, 0x00, 0x02};
+                        tcpClient.sendBytes(testData);
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    // 抬起或取消事件
+                    Log.d("PTZ", "iv_ptz_right被释放");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送停止数据
+                        byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                        tcpClient.sendBytes(testData1);
+                    }
+                    break;
+            }
+            return true; // 返回true表示处理了触摸事件
+        });
+
+        // 为iv_ptz_bottom添加按下和抬起事件
+        allView.iv_ptz_bottom.setOnTouchListener((v, event) -> {
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    // 按下事件
+                    Log.d("PTZ", "iv_ptz_bottom被按下");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送左转数据
+                        byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x10, 0x00, (byte) 0xFF, 0x10};
+                        tcpClient.sendBytes(testData);
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送停止数据
+                        byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                        tcpClient.sendBytes(testData1);
+                    }
+                    break;
+            }
+            return true; // 返回true表示处理了触摸事件
+        });
+
+        //一键回中
+        allView.ll_PTZ_one_center.setOnClickListener(v -> {
+            // 发送左转数据
+            byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x13, 0x03, 0x00, 0x00, 0x17};
+            tcpClient.sendBytes(testData);
+        });
+        //一键向下
+        allView.ll_PTZ_one_bottom.setOnClickListener(v -> {
+            // 发送左转数据
+            byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x13, 0x02, 0x00, 0x00, 0x16};
+            tcpClient.sendBytes(testData);
+        });
 
 
-        //todo 没用
+        // 为ll_PTZ_amplify添加按下和抬起事件
+        allView.ll_PTZ_amplify.setOnTouchListener((v, event) -> {
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    // 按下事件
+                    Log.d("PTZ", "ll_PTZ_amplify被按下");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送变倍数据
+                        byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x40, 0x04, 0x00, 0x45};
+                        tcpClient.sendBytes(testData);
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送停止数据
+                        byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x60, 0x00, 0x00, 0x61};
+                        tcpClient.sendBytes(testData1);
+                    }
+                    break;
+            }
+            return true; // 返回true表示处理了触摸事件
+        });
+
+        // 为ll_PTZ_reduce添加按下和抬起事件
+        allView.ll_PTZ_reduce.setOnTouchListener((v, event) -> {
+            switch (event.getAction()) {
+                case MotionEvent.ACTION_DOWN:
+                    // 按下事件
+                    Log.d("PTZ", "ll_PTZ_reduce被按下");
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送变倍数据
+                        byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x20, 0x04, 0x00, 0x25};
+                        tcpClient.sendBytes(testData);
+                    }
+                    break;
+                case MotionEvent.ACTION_UP:
+                case MotionEvent.ACTION_CANCEL:
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        break;
+                    } else {
+                        // 发送停止数据
+                        byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x60, 0x00, 0x00, 0x61};
+                        tcpClient.sendBytes(testData1);
+                    }
+                    break;
+            }
+            return true; // 返回true表示处理了触摸事件
+        });
+
+
+        // 设置地图点击监听器以添加航点
         allView.map.getMap().setOnMapClickListener(latLng -> {
-            Log.d("没用", latLng.toString());
-//            double[] doubles = CoordinateConverter
-//                    .wgs84ToGcj02(
-//                            latLng.longitude,
-//                            latLng.latitude);
-//            mapVoid.flyPointList.add(new LatLng(
-//                    doubles[0],
-//                    doubles[1]
-//            ));
-//            flyMarker.setPosition(latLng);
-//            flyMarker.setVisible(true);
+            if (isSetLink) {
+                addWaypoint(latLng);
+            }
+        });
+        // 设置标记点击监听器以删除航点
+        allView.map.getMap().setOnMarkerClickListener(marker -> {
+            if (isSetLink) {
+                // 检查是否是航点标记
+                int index = findWaypointMarkerIndex(marker);
+                if (index != -1) {
+                    // 显示删除确认对话框
+                    showDeleteWaypointDialog(index, marker);
+                    return true; // 消费点击事件
+                }
+            }
+
+            return false; // 不消费点击事件
+        });
+
+        // 设置标记的标题始终显示
+        allView.map.getMap().setOnMapLoadedListener(() -> {
+            if (isSetLink) {
+                // 地图加载完成后，确保所有航点标题可见
+                for (Marker marker : waypointMarkers) {
+                    marker.showInfoWindow();
+                }
+            }
 
         });
 
-        //todo 没用 设置POI点击监听器（替换null）
-//        allView.map.getMap().setOnPOIClickListener(new AMap.OnPOIClickListener() {
-//            @Override
-//            public void onPOIClick(com.amap.api.maps.model.Poi poi) {
-//                // poi对象包含坐标信息
-//                LatLng latLng = poi.getCoordinate();
-//                mapVoid.latLngss.add(latLng);
-//            }
-//        });
+        // 设置删除监听器
+        createLinkAdapter.setOnItemClickListener(new CreateLinkAdapter.OnItemClickListener() {
+            @Override
+            public void onDeleteClick(int position) {
+                // 删除对应的航点
+                removeWaypointByIndex(position);
+            }
+        });
+
+
     }
 
+    /**
+     * 显示删除航点确认对话框
+     *
+     * @param index  航点索引
+     * @param marker 航点标记
+     */
+    private void showDeleteWaypointDialog(int index, Marker marker) {
+        // 创建自定义对话框
+        AlertDialog.Builder builder = new AlertDialog.Builder(this);
+        builder.setTitle("删除航点");
+        builder.setMessage("确定要删除点位" +(index+1) + "吗？");
+
+        builder.setPositiveButton("确定", (dialog, which) -> {
+            // 删除航点时同时删除对应的列表项
+            removeWaypointByIndex(index);
+            dialog.dismiss();
+        });
+
+        builder.setNegativeButton("取消", (dialog, which) -> {
+            dialog.dismiss();
+        });
+
+        AlertDialog dialog = builder.create();
+        dialog.show();
+    }
+
+
+    // 修改 addWaypoint 方法
+    private void addWaypoint(LatLng latLng) {
+        // 创建自定义标记视图
+        View markerView = getLayoutInflater().inflate(R.layout.custom_marker_layout, null);
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView markerText = markerView.findViewById(R.id.marker_text);
+        markerText.setText("点位" + (waypointMarkers.size() + 1));
+
+        // 将视图转换为Bitmap
+        markerView.measure(View.MeasureSpec.UNSPECIFIED, View.MeasureSpec.UNSPECIFIED);
+        markerView.layout(0, 0, markerView.getMeasuredWidth(), markerView.getMeasuredHeight());
+        markerView.buildDrawingCache();
+        Bitmap markerBitmap = markerView.getDrawingCache();
+
+        // 创建标记选项
+        MarkerOptions markerOptions = new MarkerOptions()
+                .position(latLng)
+                .icon(BitmapDescriptorFactory.fromBitmap(markerBitmap))
+                .draggable(false);
+
+        // 添加标记到地图
+        Marker marker = allView.map.getMap().addMarker(markerOptions);
+
+        waypointMarkers.add(marker);
+        waypointPositions.add(latLng);
+
+        // 添加到列表
+        CreateLink createLink = new CreateLink("点位" + waypointMarkers.size(), 30, 10, waypointMarkers.size() - 1, latLng);
+        createLinkList.add(createLink);
+        createLinkAdapter.setCreateLinkList(createLinkList);
+
+        // 更新航线
+        updateFlightPath();
+    }
+
+    // 添加新的方法
+    private void removeWaypointByIndex(int position) {
+        if (position >= 0 && position < waypointMarkers.size()) {
+            // 移除标记
+            waypointMarkers.get(position).remove();
+            waypointMarkers.remove(position);
+            waypointPositions.remove(position);
+            createLinkList.remove(position);
+
+            // 更新适配器
+            createLinkAdapter.setCreateLinkList(createLinkList);
+
+            // 重新编号剩余的航点
+            renumberWaypoints();
+
+            // 更新航线
+            updateFlightPath();
+        }
+    }
+
+    // 修改 renumberWaypoints 方法以同步更新列表项
+    private void renumberWaypoints() {
+        for (int i = 0; i < waypointMarkers.size(); i++) {
+            // 创建新的自定义标记Bitmap
+            Bitmap markerBitmap = createCustomMarkerBitmap("点位" + (i + 1));
+            // 更新标记图标
+            waypointMarkers.get(i).setIcon(BitmapDescriptorFactory.fromBitmap(markerBitmap));
+
+            // 更新列表项名称
+            if (i < createLinkList.size()) {
+                createLinkList.get(i).setName("点位" + (i + 1));
+            }
+        }
+        createLinkAdapter.setCreateLinkList(createLinkList);
+    }
+
+    /**
+     * 创建自定义标记Bitmap
+     * @param text 标记文字
+     * @return Bitmap
+     */
+    private Bitmap createCustomMarkerBitmap(String text) {
+        View markerView = getLayoutInflater().inflate(R.layout.custom_marker_layout, null);
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView markerText = markerView.findViewById(R.id.marker_text);
+        markerText.setText(text);
+
+        markerView.measure(View.MeasureSpec.UNSPECIFIED, View.MeasureSpec.UNSPECIFIED);
+        markerView.layout(0, 0, markerView.getMeasuredWidth(), markerView.getMeasuredHeight());
+        markerView.buildDrawingCache();
+        return markerView.getDrawingCache();
+    }
+
+
+    // 修改 clearWaypoints 方法
+    public void clearWaypoints() {
+        // 移除所有标记
+        for (Marker marker : waypointMarkers) {
+            if (marker != null) {
+                marker.remove();
+            }
+        }
+        waypointMarkers.clear();
+        waypointPositions.clear();
+        createLinkList.clear();
+        createLinkAdapter.setCreateLinkList(createLinkList);
+
+        // 移除航线
+        if (flightPathPolyline != null) {
+            flightPathPolyline.remove();
+            flightPathPolyline = null;
+        }
+    }
+
+
+    /**
+     * 根据标记查找航点索引
+     *
+     * @param marker 标记对象
+     * @return 航点索引，未找到返回-1
+     */
+    private int findWaypointMarkerIndex(Marker marker) {
+        return waypointMarkers.indexOf(marker);
+    }
+
+
+
+    /**
+     * 更新航线显示
+     */
+    private void updateFlightPath() {
+        // 如果已有航线，先移除
+        if (flightPathPolyline != null) {
+            flightPathPolyline.remove();
+            flightPathPolyline = null;
+        }
+
+        // 只有当航点数量大于1时才绘制航线
+        if (waypointPositions.size() > 1) {
+            flightPathPolyline = allView.map.getMap().addPolyline(new PolylineOptions()
+                    .addAll(waypointPositions)
+                    .width(8)
+                    .color(Color.BLACK));
+        }
+    }
+
+    /**
+     * 获取所有航点的经纬度列表（按顺序）
+     *
+     * @return 航点经纬度列表
+     */
+    public List<LatLng> getWaypointPositions() {
+        return new ArrayList<>(waypointPositions);
+    }
+
+
+    // 创建航线列表适配器
+    private AllLinkAdapter allLinkAdapter;
+    private SQLClass sqlClass;
+    private List<SQLClass.LinkListInfo> linkListInfoList;
+    private void setupAllLinkList() {
+        // 初始化数据库
+        sqlClass = new SQLClass(this);
+
+        // 获取所有航线列表信息
+        linkListInfoList = sqlClass.getAllLinkListInfo();
+
+        // 设置适配器
+        allLinkAdapter = new AllLinkAdapter(this, linkListInfoList, sqlClass);
+        allView.rv_all_link_list.setLayoutManager(new LinearLayoutManager(this));
+        allView.rv_all_link_list.setAdapter(allLinkAdapter);
+
+        // 设置item点击监听器（可选）
+        allLinkAdapter.setOnItemClickListener(new AllLinkAdapter.OnItemClickListener() {
+            @Override
+            public void onItemClick(int listId, int position) {
+                // 清除当前地图上的所有航点和航线
+                clearWaypoints();
+
+                // 从数据库中获取选中的航线数据
+                ArrayList<CreateLink> selectedLinkList = sqlClass.getCreateLinkList(listId);
+
+                if (selectedLinkList != null && !selectedLinkList.isEmpty()) {
+                    // 在地图上显示航线
+                    displayRouteOnMap(selectedLinkList);
+
+                    Toast.makeText(MainActivity.this, "已加载航线: " + linkListInfoList.get(position).getListName(),
+                            Toast.LENGTH_SHORT).show();
+                } else {
+                    Toast.makeText(MainActivity.this, "加载航线失败", Toast.LENGTH_SHORT).show();
+                }
+            }
+        });
+    }
+
+    // 如果需要刷新数据，可以调用此方法
+    private void refreshLinkList() {
+        if (sqlClass != null && allLinkAdapter != null) {
+            List<SQLClass.LinkListInfo> updatedList = sqlClass.getAllLinkListInfo();
+            allLinkAdapter.updateDataList(updatedList);
+        }
+    }
+
+
+    /**
+     * 在地图上显示航线
+     * @param createLinkList 航线数据列表
+     */
+    private void displayRouteOnMap(ArrayList<CreateLink> createLinkList) {
+        // 清除现有的航点和航线
+        clearWaypoints();
+
+        // 遍历航线数据并在地图上显示
+        for (int i = 0; i < createLinkList.size(); i++) {
+            CreateLink createLink = createLinkList.get(i);
+
+            // 获取航点坐标
+            LatLng latLng = createLink.getLatLng();
+            if (latLng == null) continue;
+
+            // 创建自定义标记视图
+            View markerView = getLayoutInflater().inflate(R.layout.custom_marker_layout, null);
+            TextView markerText = markerView.findViewById(R.id.marker_text);
+            markerText.setText(createLink.getName());
+
+            // 将视图转换为Bitmap
+            markerView.measure(View.MeasureSpec.UNSPECIFIED, View.MeasureSpec.UNSPECIFIED);
+            markerView.layout(0, 0, markerView.getMeasuredWidth(), markerView.getMeasuredHeight());
+            markerView.buildDrawingCache();
+            Bitmap markerBitmap = markerView.getDrawingCache();
+
+            // 创建标记选项
+            MarkerOptions markerOptions = new MarkerOptions()
+                    .position(latLng)
+                    .icon(BitmapDescriptorFactory.fromBitmap(markerBitmap))
+                    .draggable(false);
+
+            // 添加标记到地图
+            Marker marker = allView.map.getMap().addMarker(markerOptions);
+
+            // 添加到航点列表
+            waypointMarkers.add(marker);
+            waypointPositions.add(latLng);
+
+            // 更新CreateLink列表（用于适配器显示）
+            CreateLink newCreateLink = new CreateLink(
+                    createLink.getName(),
+                    createLink.getHeight(),
+                    createLink.getSpeed(),
+                    createLink.getWaypointIndex(),
+                    latLng
+            );
+            this.createLinkList.add(newCreateLink);
+        }
+
+        // 更新适配器
+        createLinkAdapter.setCreateLinkList(this.createLinkList);
+
+        // 更新航线显示
+        updateFlightPath();
+
+        // 如果有航点，将地图中心移动到第一个航点
+        if (!waypointPositions.isEmpty()) {
+            LatLng firstWaypoint = waypointPositions.get(0);
+            allView.map.getMap().moveCamera(CameraUpdateFactory.newLatLngZoom(firstWaypoint, 15));
+        }
+    }
+
+
 
     @Override
     protected void onDestroy() {
         super.onDestroy();
+        // 清理航点和航线
+//        mapVoid.clearWaypoints();
         //在activity执行onDestroy时执行map.onDestroy()，销毁地图
         mapVoid.allView.map.onDestroy();
         // 解绑服务
@@ -729,7 +1629,7 @@ public class MainActivity extends AppCompatActivity {
             unregisterReceiver(myReceiver_SYS_STATUS);
             myReceiver_SYS_STATUS.isReceiverRegistered = false;
         }
-        //注销广播接收器（避免内存泄漏）
+        //注销广播接收器（避免内存泄漏）·
         if (myReceiver_STATUSTEXT.isReceiverRegistered) {
             unregisterReceiver(myReceiver_STATUSTEXT);
             myReceiver_STATUSTEXT.isReceiverRegistered = false;
@@ -740,15 +1640,21 @@ public class MainActivity extends AppCompatActivity {
             myReceiver_HEARTBEAT.isReceiverRegistered = false;
         }
 
+        //注销广播接收器（避免内存泄漏）
+        if (myReceiver_VFR_HUD.isReceiverRegistered) {
+            unregisterReceiver(myReceiver_VFR_HUD);
+            myReceiver_VFR_HUD.isReceiverRegistered = false;
+        }
         fpvVoid.Fstop(allView.fpvWidget);
     }
 
+
     @Override
     protected void onResume() {
         super.onResume();
         //在activity执行onResume时执行map.onResume ()，重新绘制加载地图
         mapVoid.allView.map.onResume();
-        MyTool.hideBottomNavigationBar( this);
+        MyTool.hideBottomNavigationBar(this);
         //恢复FPV播放
 //        fpvVoid.setupFpvWidget(allView.fpvWidget, "rtsp://192.168.144.119/live");
 
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Activity/PlayBackActivity.java b/app/src/main/java/com/example/longyi_groundstation/Main/Activity/PlayBackActivity.java
new file mode 100644
index 0000000..b2d4671
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Activity/PlayBackActivity.java
@@ -0,0 +1,87 @@
+package com.example.longyi_groundstation.Main.Activity;
+
+import android.os.Bundle;
+import android.util.Log;
+
+import androidx.activity.EdgeToEdge;
+import androidx.appcompat.app.AppCompatActivity;
+import androidx.core.graphics.Insets;
+import androidx.core.view.ViewCompat;
+import androidx.core.view.WindowInsetsCompat;
+
+import com.example.longyi_groundstation.Main.View.CustomSeekBar;
+import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.R;
+
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+
+public class PlayBackActivity extends AppCompatActivity {
+
+
+    // 在类成员变量中添加
+    private CustomSeekBar customSeekBar;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        EdgeToEdge.enable(this);
+        setContentView(R.layout.activity_play_back);
+        MyTool.hideBottomNavigationBar(this);
+        ViewCompat.setOnApplyWindowInsetsListener(findViewById(R.id.main), (v, insets) -> {
+            Insets systemBars = insets.getInsets(WindowInsetsCompat.Type.systemBars());
+            v.setPadding(systemBars.left, systemBars.top, systemBars.right, systemBars.bottom);
+            return insets;
+        });
+
+        initData();
+        initView();
+        initOnClick();
+    }
+
+    /**
+     * 方法：初始化数据
+     *
+     * @cuijingzhou
+     */
+    private void initData() {
+
+    }
+
+    /**
+     * 方法：初始化视图
+     *
+     * @cuijingzhou
+     */
+    private void initView() {
+        // 初始化自定义进度条
+        customSeekBar = findViewById(R.id.custom_seekbar);
+
+        // 设置默认进度（例如50%）
+        customSeekBar.setProgress(0.5f);
+    }
+
+    /**
+     * 方法：初始化点击事件
+     *
+     * @cuijingzhou
+     */
+    private void initOnClick() {
+        // 设置进度变化监听器
+        customSeekBar.setOnProgressChangeListener(new CustomSeekBar.OnProgressChangeListener() {
+            @Override
+            public void onProgressChanged(float progress) {
+                // 这里可以获取到保留两位小数的进度值
+                // 例如：如果进度是0.1099，会显示为10.99%
+                BigDecimal bd = new BigDecimal(progress * 100);
+                bd = bd.setScale(2, RoundingMode.HALF_UP);
+                String progressText = bd.toString() + "%";
+
+                // 可以在这里处理进度变化的逻辑
+                Log.d("CustomSeekBar", "Progress: " + progressText);
+            }
+        });
+    }
+
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/AllLinkAdapter.java b/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/AllLinkAdapter.java
new file mode 100644
index 0000000..db88742
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/AllLinkAdapter.java
@@ -0,0 +1,150 @@
+package com.example.longyi_groundstation.Main.Adapter;
+
+import android.content.Context;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Button;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.example.longyi_groundstation.Main.Base.CreateLink;
+import com.example.longyi_groundstation.Main.Void.SQLClass;
+import com.example.longyi_groundstation.R;
+
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.Locale;
+
+public class AllLinkAdapter extends RecyclerView.Adapter<AllLinkAdapter.AllLinkViewHolder> {
+    private static final String TAG = "AllLinkAdapter";
+    
+    private Context context;
+    private List<SQLClass.LinkListInfo> linkListInfoList;
+    private SQLClass sqlClass;
+    private OnItemClickListener onItemClickListener;
+
+    public AllLinkAdapter(Context context, List<SQLClass.LinkListInfo> linkListInfoList, SQLClass sqlClass) {
+        this.context = context;
+        this.linkListInfoList = linkListInfoList;
+        this.sqlClass = sqlClass;
+    }
+
+    @NonNull
+    @Override
+    public AllLinkViewHolder onCreateViewHolder(@NonNull ViewGroup parent, int viewType) {
+        View view = LayoutInflater.from(parent.getContext()).inflate(R.layout.adapter_all_link_item, parent, false);
+        return new AllLinkViewHolder(view);
+    }
+
+    @Override
+    public void onBindViewHolder(@NonNull AllLinkViewHolder holder, int position) {
+        SQLClass.LinkListInfo linkListInfo = linkListInfoList.get(position);
+        
+        // 显示航线名称
+        holder.tv_title.setText(linkListInfo.getListName());
+        
+        // 显示创建时间
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm", Locale.getDefault());
+        String createTime = sdf.format(new Date(linkListInfo.getCreatedTime()));
+        holder.tv_time.setText(createTime);
+        
+        // 获取点位数量
+        ArrayList<CreateLink> createLinkList = sqlClass.getCreateLinkList(linkListInfo.getListId());
+        int waypointCount = (createLinkList != null) ? createLinkList.size() : 0;
+        holder.tv_number.setText( waypointCount+"个");
+        
+        // 设置删除按钮点击事件
+        holder.tv_del.setOnClickListener(v -> {
+            deleteLinkList(position);
+            List<SQLClass.LinkListInfo> updatedList = sqlClass.getAllLinkListInfo();
+            updateDataList(updatedList);
+        });
+        
+        // 设置整个item的点击事件
+        holder.itemView.setOnClickListener(v -> {
+            if (onItemClickListener != null) {
+                onItemClickListener.onItemClick(linkListInfo.getListId(), position);
+            }
+        });
+    }
+
+    @Override
+    public int getItemCount() {
+        return linkListInfoList != null ? linkListInfoList.size() : 0;
+    }
+
+    /**
+     * 删除指定位置的航线列表
+     * @param position 要删除的位置
+     */
+    private void deleteLinkList(int position) {
+        if (position < 0 || position >= linkListInfoList.size()) {
+            return;
+        }
+        
+        SQLClass.LinkListInfo linkListInfo = linkListInfoList.get(position);
+        int listId = linkListInfo.getListId();
+        
+        // 从数据库中删除
+        boolean isDeleted = sqlClass.deleteCreateLinkList(listId);
+        
+        if (isDeleted) {
+            // 从列表中移除
+            linkListInfoList.remove(position);
+            // 通知适配器数据已更改
+            notifyItemRemoved(position);
+            notifyItemRangeChanged(position, linkListInfoList.size());
+            
+            Toast.makeText(context, "航线删除成功", Toast.LENGTH_SHORT).show();
+        } else {
+            Log.e(TAG, "删除航线失败，列表ID: " + listId);
+            Toast.makeText(context, "航线删除失败", Toast.LENGTH_SHORT).show();
+        }
+    }
+
+    /**
+     * 更新数据列表
+     * @param newLinkListInfoList 新的数据列表
+     */
+    public void updateDataList(List<SQLClass.LinkListInfo> newLinkListInfoList) {
+        this.linkListInfoList = newLinkListInfoList;
+        notifyDataSetChanged();
+    }
+
+    /**
+     * 设置item点击监听器
+     * @param listener 监听器
+     */
+    public void setOnItemClickListener(OnItemClickListener listener) {
+        this.onItemClickListener = listener;
+    }
+
+    static class AllLinkViewHolder extends RecyclerView.ViewHolder {
+        TextView tv_title;
+        TextView tv_time;
+        TextView tv_number;
+        TextView tv_del;
+
+        public AllLinkViewHolder(@NonNull View itemView) {
+            super(itemView);
+            tv_title = itemView.findViewById(R.id.tv_title);
+            tv_time = itemView.findViewById(R.id.tv_time);
+            tv_number = itemView.findViewById(R.id.tv_number);
+            tv_del = itemView.findViewById(R.id.tv_del);
+        }
+    }
+
+    /**
+     * Item点击监听器接口
+     */
+    public interface OnItemClickListener {
+        void onItemClick(int listId, int position);
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/CreateLinkAdapter.java b/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/CreateLinkAdapter.java
new file mode 100644
index 0000000..3e67a35
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/CreateLinkAdapter.java
@@ -0,0 +1,108 @@
+// 文件: CreateLinkAdapter.java
+package com.example.longyi_groundstation.Main.Adapter;
+
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.EditText;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.example.longyi_groundstation.Main.Base.CreateLink;
+import com.example.longyi_groundstation.R;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public class CreateLinkAdapter extends RecyclerView.Adapter<CreateLinkAdapter.ViewHolder> {
+    private List<CreateLink> createLinkList;
+    private OnItemClickListener onItemClickListener;
+
+    public interface OnItemClickListener {
+        void onDeleteClick(int position);
+    }
+
+    public CreateLinkAdapter() {
+        this.createLinkList = new ArrayList<>();
+    }
+
+    public void setOnItemClickListener(OnItemClickListener listener) {
+        this.onItemClickListener = listener;
+    }
+
+    public void setCreateLinkList(List<CreateLink> createLinkList) {
+        this.createLinkList = createLinkList;
+        notifyDataSetChanged();
+    }
+
+    public List<CreateLink> getCreateLinkList() {
+        return createLinkList;
+    }
+
+    @NonNull
+    @Override
+    public ViewHolder onCreateViewHolder(@NonNull ViewGroup parent, int viewType) {
+        View view = LayoutInflater.from(parent.getContext()).inflate(R.layout.adapter_create_link_item, parent, false);
+        return new ViewHolder(view);
+    }
+
+    @Override
+    public void onBindViewHolder(@NonNull ViewHolder holder, int position) {
+        CreateLink createLink = createLinkList.get(position);
+        holder.bind(createLink, position);
+    }
+
+    @Override
+    public int getItemCount() {
+        return createLinkList.size();
+    }
+
+    public class ViewHolder extends RecyclerView.ViewHolder {
+        private TextView tvDel,tv_title;
+        private EditText etHeight;
+        private EditText etSpeed;
+
+        public ViewHolder(@NonNull View itemView) {
+            super(itemView);
+            tvDel = itemView.findViewById(R.id.tv_del);
+            tv_title = itemView.findViewById(R.id.tv_title);
+            etHeight = itemView.findViewById(R.id.et_height);
+            etSpeed = itemView.findViewById(R.id.et_speed);
+        }
+
+        public void bind(CreateLink createLink, int position) {
+            etHeight.setText(String.valueOf((int) createLink.getHeight()));
+            etSpeed.setText(String.valueOf((int) createLink.getSpeed()));
+            tv_title.setText(createLink.getName());
+
+            tvDel.setOnClickListener(v -> {
+                if (onItemClickListener != null) {
+                    onItemClickListener.onDeleteClick(position);
+                }
+            });
+
+            // 可以添加文本变化监听器来更新数据
+            etHeight.setOnFocusChangeListener((v, hasFocus) -> {
+                if (!hasFocus) {
+                    try {
+                        createLink.setHeight(Double.parseDouble(etHeight.getText().toString()));
+                    } catch (NumberFormatException e) {
+                        etHeight.setText(String.valueOf((int) createLink.getHeight()));
+                    }
+                }
+            });
+
+            etSpeed.setOnFocusChangeListener((v, hasFocus) -> {
+                if (!hasFocus) {
+                    try {
+                        createLink.setSpeed(Double.parseDouble(etSpeed.getText().toString()));
+                    } catch (NumberFormatException e) {
+                        etSpeed.setText(String.valueOf((int) createLink.getSpeed()));
+                    }
+                }
+            });
+        }
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/TypeAdapter.java b/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/TypeAdapter.java
index 1d89b2e..712ecd8 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/TypeAdapter.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Adapter/TypeAdapter.java
@@ -43,26 +43,46 @@ public class TypeAdapter extends RecyclerView.Adapter<TypeAdapter.TypeViewHolder
 
             case "relative_alt":
                 holder.textView.setText("融合高度：" + (Integer.parseInt(item.getMsg()) / 1000) + " m");
+                holder.textView.setMaxWidth(Integer.MAX_VALUE); // 移除最大宽度限制
+                holder.textView.setMinimumWidth(0); // 移除最小宽度限制
                 break;
 
             case "alt":
                 holder.textView.setText("海拔高度：" +  (Integer.parseInt(item.getMsg()) / 1000) + " m");
+                holder.textView.setMaxWidth(Integer.MAX_VALUE); // 移除最大宽度限制
+                holder.textView.setMinimumWidth(0); // 移除最小宽度限制
                 break;
 
             case "time_boot_ms":
                 holder.textView.setText("飞行时间：" + Tool.formatMillisecondsLong(Long.parseLong(item.getMsg())));
+                holder.textView.setMaxWidth(Integer.MAX_VALUE); // 移除最大宽度限制
+                holder.textView.setMinimumWidth(0); // 移除最小宽度限制
                 break;
 
             case "lat":
                 holder.textView.setText("纬度：" + item.getMsg());
+                // 设置纬度显示的最大宽度，确保能完整显示坐标值
+                holder.textView.setMaxWidth(Integer.MAX_VALUE);
+                holder.textView.setMinimumWidth(400); // 设置最小宽度确保足够显示
                 break;
 
             case "lon":
                 holder.textView.setText("经度：" + item.getMsg());
+                // 设置经度显示的最大宽度，确保能完整显示坐标值
+                holder.textView.setMaxWidth(Integer.MAX_VALUE);
+                holder.textView.setMinimumWidth(400); // 设置最小宽度确保足够显示
+                break;
+
+            case "throttle":
+                holder.textView.setText("油门量：" + item.getMsg());
+                holder.textView.setMaxWidth(Integer.MAX_VALUE); // 移除最大宽度限制
+                holder.textView.setMinimumWidth(0); // 移除最小宽度限制
                 break;
 
             default:
                 holder.textView.setText("距家距离："+item.getMsg());
+                holder.textView.setMaxWidth(Integer.MAX_VALUE); // 移除最大宽度限制
+                holder.textView.setMinimumWidth(0); // 移除最小宽度限制
                 break;
 
         }
@@ -72,9 +92,9 @@ public class TypeAdapter extends RecyclerView.Adapter<TypeAdapter.TypeViewHolder
         }else {
             holder.ll_main.setVisibility(GONE);
         }
-
     }
 
+
     @Override
     public int getItemCount() {
         return dataList.size();
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Base/CreateLink.java b/app/src/main/java/com/example/longyi_groundstation/Main/Base/CreateLink.java
new file mode 100644
index 0000000..e666ddd
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Base/CreateLink.java
@@ -0,0 +1,60 @@
+// 文件: CreateLink.java
+package com.example.longyi_groundstation.Main.Base;
+
+import com.amap.api.maps.model.LatLng;
+
+public class CreateLink {
+    private String name;
+    private double height;
+    private double speed;
+    private int waypointIndex;
+    private LatLng latLng;
+
+    public CreateLink(String name, double height, double speed, int waypointIndex, LatLng latLng) {
+        this.name = name;
+        this.height = height;
+        this.speed = speed;
+        this.waypointIndex = waypointIndex;
+        this.latLng = latLng;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public double getHeight() {
+        return height;
+    }
+
+    public void setHeight(double height) {
+        this.height = height;
+    }
+
+    public double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(double speed) {
+        this.speed = speed;
+    }
+
+    public int getWaypointIndex() {
+        return waypointIndex;
+    }
+
+    public void setWaypointIndex(int waypointIndex) {
+        this.waypointIndex = waypointIndex;
+    }
+
+    public LatLng getLatLng() {
+        return latLng;
+    }
+
+    public void setLatLng(LatLng latLng) {
+        this.latLng = latLng;
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Service/MyBoundService.java b/app/src/main/java/com/example/longyi_groundstation/Main/Service/MyBoundService.java
index bb9bcd1..ed45f43 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Service/MyBoundService.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Service/MyBoundService.java
@@ -1,16 +1,22 @@
 package com.example.longyi_groundstation.Main.Service;
 
 import static com.example.longyi_groundstation.MAVLink.common.msg_attitude.MAVLINK_MSG_ID_ATTITUDE;
+import static com.example.longyi_groundstation.MAVLink.common.msg_attitude_target.MAVLINK_MSG_ID_ATTITUDE_TARGET;
 import static com.example.longyi_groundstation.MAVLink.common.msg_global_position_int.MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 import static com.example.longyi_groundstation.MAVLink.common.msg_gps_raw_int.MAVLINK_MSG_ID_GPS_RAW_INT;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_request_list.MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_request_read.MAVLINK_MSG_ID_PARAM_REQUEST_READ;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_value.MAVLINK_MSG_ID_PARAM_VALUE;
 import static com.example.longyi_groundstation.MAVLink.common.msg_power_status.MAVLINK_MSG_ID_POWER_STATUS;
+import static com.example.longyi_groundstation.MAVLink.common.msg_rc_channels.MAVLINK_MSG_ID_RC_CHANNELS;
+import static com.example.longyi_groundstation.MAVLink.common.msg_rc_channels_raw.MAVLINK_MSG_ID_RC_CHANNELS_RAW;
 import static com.example.longyi_groundstation.MAVLink.common.msg_statustext.MAVLINK_MSG_ID_STATUSTEXT;
 import static com.example.longyi_groundstation.MAVLink.common.msg_sys_status.MAVLINK_MSG_ID_SYS_STATUS;
+import static com.example.longyi_groundstation.MAVLink.common.msg_vfr_hud.MAVLINK_MSG_ID_VFR_HUD;
 import static com.example.longyi_groundstation.MAVLink.enums.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL;
 import static com.example.longyi_groundstation.MAVLink.minimal.msg_heartbeat.MAVLINK_MSG_ID_HEARTBEAT;
+import static com.example.longyi_groundstation.Main.Void.SerialTool.bytesToHex;
+import static com.example.longyi_groundstation.Main.Void.SerialTool.parseSerialData;
 
 import android.app.Service;
 import android.content.Intent;
@@ -31,6 +37,7 @@ import com.example.longyi_groundstation.MAVLink.common.msg_request_data_stream;
 import com.example.longyi_groundstation.Main.Base.MLData;
 import com.example.longyi_groundstation.Main.Setting.Base.Param;
 import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.LogCat.LogUtil;
 import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.Util.BroadcastUtil;
 import com.example.longyi_groundstation.Util.Tool;
@@ -61,6 +68,8 @@ public class MyBoundService extends Service {
     private static final String TAG = "UDPServer";
     private TextView tv_text;
     public static DatagramSocket serverSocket;
+    public static DatagramSocket serverSocket2;
+
     private boolean isRunning = false;
     private String serverPort = "14551"; // 服务端监听端口
 
@@ -99,7 +108,7 @@ public class MyBoundService extends Service {
     }
 
 
-    public static SerialHelper serialHelper;
+    public static SerialHelper serialHelper, serialHelper2;
     private Parser parser = new Parser();
     private MAVLinkMessage msgOld = null;
 
@@ -173,9 +182,67 @@ public class MyBoundService extends Service {
         wordT();
     }
 
+    /**
+     * 方法：连接串口2，获取高度或一些其他的硬件设施
+     *
+     * @cuijingzhou
+     */
+    private void getDataSerial() {
+
+        if (type == 0){
+            serialHelper2 = new SerialHelper("/dev/ttyHS2", 9600) {
+                @Override
+                protected void onDataReceived(final ComBean comBean) {
+//                Log.d("cuijingzhou", Tool.bytesToHex(comBean.bRec));
+                    // 接收数据
+                    byte[] receivedData = comBean.bRec;
+                    int[] parseSerialData = parseSerialData(receivedData);
+                    // 保存接收到的数据
+                    FlyVoid.parseSerialData = parseSerialData;
+                    Log.d("cuijingzhou_getDataSerial", parseSerialData[0]+"-"+parseSerialData[1]);
+//                dataWork(receivedData, receivedData.length);
+                }
+            };
+            try {
+                serialHelper2.open();
+//            wordT1();
+            } catch (IOException e) {
+//                throw new RuntimeException(e);
+                Log.d(TAG, e.toString());
+            }
+        }else {
+            new Thread(() -> {
+                try {
+                    serverSocket2 = new DatagramSocket(13551);
+                    byte[] buffer = new byte[1024];
+                    while (isRunning) {
+                        try {
+                            DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
+                            serverSocket2.receive(packet);
+                            // 获取客户端IP和端口
+                            int[] parseSerialData = parseSerialData(packet.getData());
+                            // 保存接收到的数据
+                            FlyVoid.parseSerialData = parseSerialData;
+                            Log.d("cuijingzhou_getDataSerial", parseSerialData[0]+"-"+parseSerialData[1]);
+//                            Log.e("cuijingzhou-IP:", logMsg);
+                        } catch (Exception e) {
+                            Log.e(TAG, "接收数据错误: " + e.getMessage());
+                        }
+                    }
+                } catch (SocketException e) {
+                    Log.e(TAG, "启动服务端失败: " + e.getMessage());
+
+                } finally {
+                    stopUdpServer();
+                }
+            }).start();
+        }
+
+
+    }
 
     /**
-     * 发送请求姿态数据的MAVLink指令
+     * 方法：发送请求姿态数据的MAVLink指令
      */
     public void requestAttitudeData() {
         // 构造REQUEST_DATA_STREAM消息
@@ -268,6 +335,8 @@ public class MyBoundService extends Service {
                 //判断当前索引下的数据是否有变动，如过没有变动，就不储存，用一个判断增加性能
                 if (!msg.toString().equals(MsgList.get(msg.msgid))) {
 //                    Log.d("cuijigzhou_msg_all", msg.toString());
+                    LogUtil.d("cuijigzhou_msg_all", msg.toString());
+
 
                     MsgList.set(msg.msgid, msg.toString());
                     if (msgOld == null) {
@@ -279,7 +348,6 @@ public class MyBoundService extends Service {
                         msgOld = msg;
                     }
 
-
                 }
             }
         }
@@ -313,6 +381,16 @@ public class MyBoundService extends Service {
                     if (MsgList.get(MAVLINK_MSG_ID_HEARTBEAT) != null) {
                         BroadcastUtil.Broadcast_HEARTBEAT(getApplication(), MsgList.get(MAVLINK_MSG_ID_HEARTBEAT));
                     }
+                    if (MsgList.get(MAVLINK_MSG_ID_RC_CHANNELS) != null) {
+                        BroadcastUtil.Broadcast_RC_CHANNELS(getApplication(), MsgList.get(MAVLINK_MSG_ID_RC_CHANNELS));
+                    }
+                    if (MsgList.get(MAVLINK_MSG_ID_RC_CHANNELS_RAW) != null) {
+                        BroadcastUtil.Broadcast_RC_CHANNELS_RAW(getApplication(), MsgList.get(MAVLINK_MSG_ID_RC_CHANNELS_RAW));
+                    }
+                    if (MsgList.get(MAVLINK_MSG_ID_VFR_HUD) != null) {
+//                        Log.e("MAVLINK_MSG_ID_ATTITUDE_TARGET", 1+"");
+                        BroadcastUtil.Broadcast_VFR_HUD(getApplication(), MsgList.get(MAVLINK_MSG_ID_VFR_HUD));
+                    }
 
                     Thread.sleep(50);
                 }
@@ -354,7 +432,6 @@ public class MyBoundService extends Service {
                     FlyVoid.setParamUpdateComplete(false);
                 }
 
-
             default:
 //                Log.d("cuijigzhou_msg_all_id", "不做处理:"+msg.msgid);
 
@@ -384,6 +461,7 @@ public class MyBoundService extends Service {
         // 初始化服务逻辑
         initList();
         getData();
+        getDataSerial();
 
 
         return binder;
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Activity/SettingActivity.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Activity/SettingActivity.java
index 62fcb16..8124e79 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Activity/SettingActivity.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Activity/SettingActivity.java
@@ -1,11 +1,14 @@
+// SettingActivity.java
 package com.example.longyi_groundstation.Main.Setting.Activity;
 
 import android.annotation.SuppressLint;
+import android.app.ProgressDialog;
 import android.graphics.Color;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
-import android.widget.Toast;
+import android.view.View;
+import android.view.WindowManager;
 
 import androidx.activity.EdgeToEdge;
 import androidx.appcompat.app.AppCompatActivity;
@@ -29,7 +32,6 @@ import com.example.longyi_groundstation.R;
 public class SettingActivity extends AppCompatActivity {
     private FlyVoid flyVoid = new FlyVoid();
     private AllView allView;
-
     private FoundationFragment foundationFragment;
     private ControlFragment controlFragment;
     private FlyFragment flyFragment;
@@ -39,9 +41,30 @@ public class SettingActivity extends AppCompatActivity {
     private SensorFragment sensorFragment;
     private SettingsFragment settingsFragment;
 
+    // 添加参数加载对话框
+    private ProgressDialog paramLoadingDialog;
+
     // 添加Handler引用以便在销毁时移除回调
     private Handler uiHandler = new Handler(Looper.getMainLooper());
 
+    // 添加参数更新检查的Runnable
+    private Runnable paramUpdateChecker = new Runnable() {
+        @Override
+        public void run() {
+            if (FlyVoid.isParamUpdateComplete()) {
+                // 参数更新完成，关闭对话框并初始化界面
+                if (paramLoadingDialog != null && paramLoadingDialog.isShowing()) {
+                    paramLoadingDialog.dismiss();
+                }
+                initView();
+                initOnClick();
+            } else {
+                // 参数未更新完成，继续等待并定期检查
+                uiHandler.postDelayed(this, 500); // 500毫秒后再次检查
+            }
+        }
+    };
+
     //广播接收器
 
     @Override
@@ -49,20 +72,35 @@ public class SettingActivity extends AppCompatActivity {
         super.onCreate(savedInstanceState);
         EdgeToEdge.enable(this);
         setContentView(R.layout.activity_setting);
+        View decorView = getWindow().getDecorView();
+        decorView.setSystemUiVisibility(
+                View.SYSTEM_UI_FLAG_FULLSCREEN           // 隐藏状态栏
+                | View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY     // 启用沉浸式粘滞模式
+        );
+        // 设置导航栏背景为黑色
+        if (android.os.Build.VERSION.SDK_INT >= android.os.Build.VERSION_CODES.LOLLIPOP) {
+            getWindow().setNavigationBarColor(Color.BLACK);
+        }
+        getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN);
+
+
         ViewCompat.setOnApplyWindowInsetsListener(findViewById(R.id.main), (v, insets) -> {
             Insets systemBars = insets.getInsets(WindowInsetsCompat.Type.systemBars());
             v.setPadding(systemBars.left, systemBars.top, systemBars.right, systemBars.bottom);
             return insets;
         });
 
-        MyTool.hideBottomNavigationBar(this);
-        initData();
-
-
+        if (FlyVoid.isParamUpdateComplete()){
+            initView();
+            initOnClick();
+        } else {
+            // 显示参数加载对话框
+            showParamLoadingDialog();
+            // 开始检查参数更新状态
+            uiHandler.postDelayed(paramUpdateChecker, 500);
+        }
     }
 
-
-
     /**
      * 方法：初始化数据
      *
@@ -81,38 +119,12 @@ public class SettingActivity extends AppCompatActivity {
     private void initView() {
         allView = new AllView(this);
 
-        // 预加载所有 Fragment
+        // 只预加载默认的 MotorFragment
         androidx.fragment.app.FragmentManager fragmentManager = getSupportFragmentManager();
         androidx.fragment.app.FragmentTransaction transaction = fragmentManager.beginTransaction();
 
         foundationFragment = new FoundationFragment();
-        controlFragment = new ControlFragment();
-        flyFragment = new FlyFragment();
-        secureFragment = new SecureFragment();
-        motorFragment = new MotorFragment();
-        loadFragment = new LoadFragment();
-        sensorFragment = new SensorFragment();
-        settingsFragment = new SettingsFragment();
-
-        // 添加所有 Fragment，但只显示默认的 MotorFragment
-        transaction.add(R.id.fragment_container, motorFragment, "MotorFragment")
-                .add(R.id.fragment_container, foundationFragment, "FoundationFragment")
-                .add(R.id.fragment_container, controlFragment, "ControlFragment")
-                .add(R.id.fragment_container, flyFragment, "FlyFragment")
-                .add(R.id.fragment_container, secureFragment, "SecureFragment")
-                .add(R.id.fragment_container, loadFragment, "LoadFragment")
-                .add(R.id.fragment_container, sensorFragment, "SensorFragment")
-                .add(R.id.fragment_container, settingsFragment, "SettingsFragment");
-
-        // 隐藏除 MotorFragment 外的其他 Fragment
-        transaction.hide(motorFragment)
-                .hide(controlFragment)
-                .hide(flyFragment)
-                .hide(secureFragment)
-                .hide(loadFragment)
-                .hide(sensorFragment)
-                .hide(settingsFragment);
-
+        transaction.add(R.id.fragment_container, foundationFragment, "FoundationFragment");
         transaction.commit();
     }
 
@@ -122,19 +134,6 @@ public class SettingActivity extends AppCompatActivity {
      * @cuijingzhou
      */
     private void initOnClick() {
-
-//        msg_param_set paramSet = new msg_param_set();
-//        paramSet.target_system = 1;      // 目标系统ID (飞控)
-//        paramSet.target_component = 1;   // 目标组件ID
-//        String paramId = "RTL_OPTIONS";
-//        // 设置参数ID (最多16字符)
-//        byte[] paramIdBytes = paramId.getBytes();
-//        System.arraycopy(paramIdBytes, 0, paramSet.param_id, 0, Math.min(paramIdBytes.length, 16));
-//        paramSet.param_value = Float.parseFloat("0");// 参数值
-//        paramSet.param_type = 1; // 参数类型
-//        // 发送命令
-//        flyVoid.sendMavlinkMessage(MyBoundService.type,paramSet);
-
         allView.iv_back.setOnClickListener(v -> {
             finish();
         });
@@ -145,7 +144,6 @@ public class SettingActivity extends AppCompatActivity {
                 selectItem(finalI);
             });
         }
-
     }
 
     /**
@@ -175,59 +173,117 @@ public class SettingActivity extends AppCompatActivity {
         androidx.fragment.app.FragmentManager fragmentManager = getSupportFragmentManager();
         androidx.fragment.app.FragmentTransaction transaction = fragmentManager.beginTransaction();
 
-        // 隐藏所有 Fragment
-        transaction.hide(foundationFragment)
-                .hide(controlFragment)
-                .hide(flyFragment)
-                .hide(secureFragment)
-                .hide(motorFragment)
-                .hide(loadFragment)
-                .hide(sensorFragment)
-                .hide(settingsFragment);
+        // 隐藏当前显示的Fragment
+        if (foundationFragment != null && foundationFragment.isVisible()) {
+            transaction.hide(foundationFragment);
+        }
+        if (controlFragment != null && controlFragment.isVisible()) {
+            transaction.hide(controlFragment);
+        }
+        if (flyFragment != null && flyFragment.isVisible()) {
+            transaction.hide(flyFragment);
+        }
+        if (secureFragment != null && secureFragment.isVisible()) {
+            transaction.hide(secureFragment);
+        }
+        if (motorFragment != null && motorFragment.isVisible()) {
+            transaction.hide(motorFragment);
+        }
+        if (loadFragment != null && loadFragment.isVisible()) {
+            transaction.hide(loadFragment);
+        }
+        if (sensorFragment != null && sensorFragment.isVisible()) {
+            transaction.hide(sensorFragment);
+        }
+        if (settingsFragment != null && settingsFragment.isVisible()) {
+            transaction.hide(settingsFragment);
+        }
 
-        // 根据 index 显示对应的 Fragment
+        // 根据 index 动态加载并显示对应的 Fragment
         switch (index) {
             case 0:
-                transaction.show(foundationFragment);
+                if (foundationFragment == null) {
+                    foundationFragment = new FoundationFragment();
+                    transaction.add(R.id.fragment_container, foundationFragment, "FoundationFragment");
+                } else {
+                    transaction.show(foundationFragment);
+                }
                 break;
             case 1:
-                transaction.show(controlFragment);
+                if (controlFragment == null) {
+                    controlFragment = new ControlFragment();
+                    transaction.add(R.id.fragment_container, controlFragment, "ControlFragment");
+                } else {
+                    transaction.show(controlFragment);
+                }
                 break;
             case 2:
-                transaction.show(flyFragment);
+                if (flyFragment == null) {
+                    flyFragment = new FlyFragment();
+                    transaction.add(R.id.fragment_container, flyFragment, "FlyFragment");
+                } else {
+                    transaction.show(flyFragment);
+                }
                 break;
             case 3:
-                transaction.show(secureFragment);
+                if (secureFragment == null) {
+                    secureFragment = new SecureFragment();
+                    transaction.add(R.id.fragment_container, secureFragment, "SecureFragment");
+                } else {
+                    transaction.show(secureFragment);
+                }
                 break;
             case 4:
-                transaction.show(motorFragment);
+                if (motorFragment == null) {
+                    motorFragment = new MotorFragment();
+                    transaction.add(R.id.fragment_container, motorFragment, "MotorFragment");
+                } else {
+                    transaction.show(motorFragment);
+                }
                 break;
             case 5:
-                transaction.show(loadFragment);
+                if (loadFragment == null) {
+                    loadFragment = new LoadFragment();
+                    transaction.add(R.id.fragment_container, loadFragment, "LoadFragment");
+                } else {
+                    transaction.show(loadFragment);
+                }
                 break;
             case 6:
-                transaction.show(sensorFragment);
+                if (sensorFragment == null) {
+                    sensorFragment = new SensorFragment();
+                    transaction.add(R.id.fragment_container, sensorFragment, "SensorFragment");
+                } else {
+                    transaction.show(sensorFragment);
+                }
                 break;
-            default:
-                transaction.show(settingsFragment);
+            default: // settingsFragment现在是索引7
+                if (settingsFragment == null) {
+                    settingsFragment = new SettingsFragment();
+                    transaction.add(R.id.fragment_container, settingsFragment, "SettingsFragment");
+                } else {
+                    transaction.show(settingsFragment);
+                }
                 break;
         }
 
         transaction.commitAllowingStateLoss(); // 使用commitAllowingStateLoss防止状态异常
     }
 
-
-    private void initReceiver() {
-
+    /**
+     * 显示参数加载对话框
+     */
+    private void showParamLoadingDialog() {
+        paramLoadingDialog = new ProgressDialog(this);
+        paramLoadingDialog.setMessage("参数加载中，请稍候...");
+        paramLoadingDialog.setCancelable(false); // 设置为不可取消
+        paramLoadingDialog.setIndeterminate(true); // 设置为不确定进度
+        paramLoadingDialog.show();
     }
 
     @Override
     protected void onResume() {
         super.onResume();
-        initView();
-        initOnClick();
-        initReceiver();
-
     }
 
     @Override
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/FoundationPagerAdapter.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/FoundationPagerAdapter.java
new file mode 100644
index 0000000..cc9d304
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/FoundationPagerAdapter.java
@@ -0,0 +1,38 @@
+package com.example.longyi_groundstation.Main.Setting.Adapter;
+
+import androidx.fragment.app.Fragment;
+import androidx.fragment.app.FragmentActivity;
+import androidx.viewpager2.adapter.FragmentStateAdapter;
+
+import com.example.longyi_groundstation.Main.Setting.Fragment.Foundation.FlyModelFragment;
+import com.example.longyi_groundstation.Main.Setting.Fragment.Foundation.FlyInstallFragment;
+import com.example.longyi_groundstation.Main.Setting.Fragment.Foundation.FlyAccelerationFragment;
+import com.example.longyi_groundstation.Main.Setting.Fragment.Foundation.FlyMagnetometerFragment;
+
+public class FoundationPagerAdapter extends FragmentStateAdapter {
+
+    public FoundationPagerAdapter(FragmentActivity fragmentActivity) {
+        super(fragmentActivity);
+    }
+
+    @Override
+    public Fragment createFragment(int position) {
+        switch (position) {
+            case 0:
+                return new FlyModelFragment();
+            case 1:
+                return new FlyInstallFragment();
+            case 2:
+                return new FlyAccelerationFragment();
+            case 3:
+                return new FlyMagnetometerFragment();
+            default:
+                return new FlyModelFragment();
+        }
+    }
+
+    @Override
+    public int getItemCount() {
+        return 4; // 四个选项卡
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/ParamGridAdapter.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/ParamGridAdapter.java
index 816cb5c..762601c 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/ParamGridAdapter.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Adapter/ParamGridAdapter.java
@@ -1,9 +1,11 @@
 // 新文件：E:\AndroidProject\LongYiGroundStation\app\src\main\java\com\example\longyi_groundstation\Adapter\ParamGridAdapter.java
 package com.example.longyi_groundstation.Main.Setting.Adapter;
 
+import android.graphics.Color;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.LinearLayout;
 import android.widget.TextView;
 
 import androidx.annotation.NonNull;
@@ -33,29 +35,66 @@ public class ParamGridAdapter extends RecyclerView.Adapter<ParamGridAdapter.Para
     public void onBindViewHolder(@NonNull ParamViewHolder holder, int position) {
         ParamItem item = paramItems.get(position);
         holder.tvParamName.setText(item.getParamName());
-        holder.tvMaxValue.setText(String.format("最大值: %s", item.getMaxValue()));
-        holder.tvMinValue.setText(String.format("最小值: %s", item.getMinValue()));
         holder.tvCurrentValue.setText(String.format("%s", item.getCurrentValue()));
-        holder.tvMaxDesc.setText("("+item.getMaxDesc()+")");
-        holder.tvMinDesc.setText("("+item.getMinDesc()+")");
+        // 限制值在1000-2000范围内
+        int clampedValue = Integer.parseInt(item.getCurrentValue());
+
+        // 计算进度比例 (1000-2000映射到0-100%)
+        // 1500为中心点，左边是1000-1500，右边是1500-2000
+        if (clampedValue <= 1500) {
+            // 值在左侧范围(1000-1500)
+            float leftRatio = (float)(clampedValue - 1000) / 500; // 0.0 - 1.0
+            float rightRatio = 1.0f;
+
+            // 设置权重
+            LinearLayout.LayoutParams leftParams = (LinearLayout.LayoutParams) holder.leftProgress.getLayoutParams();
+            LinearLayout.LayoutParams rightParams = (LinearLayout.LayoutParams) holder.rightProgress.getLayoutParams();
+
+            leftParams.weight = leftRatio;
+            rightParams.weight = rightRatio;
+
+            holder.leftProgress.setLayoutParams(leftParams);
+            holder.rightProgress.setLayoutParams(rightParams);
+
+            // 设置颜色
+            holder.leftProgress.setBackgroundColor(Color.parseColor("#62a7f0")); // 蓝色
+            holder.rightProgress.setBackgroundColor(Color.parseColor("#cccccc")); // 灰色
+        } else {
+            // 值在右侧范围(1500-2000)
+            float leftRatio = 1.0f;
+            float rightRatio = (float)(2000 - clampedValue) / 500; // 1.0 - 0.0
+
+            // 设置权重
+            LinearLayout.LayoutParams leftParams = (LinearLayout.LayoutParams) holder.leftProgress.getLayoutParams();
+            LinearLayout.LayoutParams rightParams = (LinearLayout.LayoutParams) holder.rightProgress.getLayoutParams();
+
+            leftParams.weight = leftRatio;
+            rightParams.weight = rightRatio;
+
+            holder.leftProgress.setLayoutParams(leftParams);
+            holder.rightProgress.setLayoutParams(rightParams);
+
+            // 设置颜色
+            holder.leftProgress.setBackgroundColor(Color.parseColor("#62a7f0")); // 蓝色
+            holder.rightProgress.setBackgroundColor(Color.parseColor("#cccccc")); // 灰色
+        }
     }
 
     @Override
     public int getItemCount() {
-        return paramItems != null ? paramItems.size() : 0;
+        return paramItems.size();
     }
 
     public static class ParamViewHolder extends RecyclerView.ViewHolder {
-        TextView tvParamName, tvMaxValue, tvMinValue, tvCurrentValue, tvMaxDesc, tvMinDesc;
+        TextView tvParamName, tvCurrentValue;
 
+        View leftProgress, rightProgress;
         public ParamViewHolder(@NonNull View itemView) {
             super(itemView);
             tvParamName = itemView.findViewById(R.id.tv_param_name);
-            tvMaxValue = itemView.findViewById(R.id.tv_max_value);
-            tvMinValue = itemView.findViewById(R.id.tv_min_value);
             tvCurrentValue = itemView.findViewById(R.id.tv_current_value);
-            tvMaxDesc = itemView.findViewById(R.id.tv_max_desc);
-            tvMinDesc = itemView.findViewById(R.id.tv_min_desc);
+            leftProgress = itemView.findViewById(R.id.view_left_progress);
+            rightProgress = itemView.findViewById(R.id.view_right_progress);
         }
     }
 
@@ -101,5 +140,29 @@ public class ParamGridAdapter extends RecyclerView.Adapter<ParamGridAdapter.Para
         public String getMinDesc() {
             return minDesc;
         }
+
+        public void setParamName(String paramName) {
+            this.paramName = paramName;
+        }
+
+        public void setMaxValue(String maxValue) {
+            this.maxValue = maxValue;
+        }
+
+        public void setMinValue(String minValue) {
+            this.minValue = minValue;
+        }
+
+        public void setCurrentValue(String currentValue) {
+            this.currentValue = currentValue;
+        }
+
+        public void setMaxDesc(String maxDesc) {
+            this.maxDesc = maxDesc;
+        }
+
+        public void setMinDesc(String minDesc) {
+            this.minDesc = minDesc;
+        }
     }
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/AirplaneModel.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/AirplaneModel.java
new file mode 100644
index 0000000..eb82243
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/AirplaneModel.java
@@ -0,0 +1,27 @@
+package com.example.longyi_groundstation.Main.Setting.Base;
+
+public class AirplaneModel {
+    private int imageResId;
+    private String modelName;
+
+    public AirplaneModel(int imageResId, String modelName) {
+        this.imageResId = imageResId;
+        this.modelName = modelName;
+    }
+
+    public int getImageResId() {
+        return imageResId;
+    }
+
+    public void setImageResId(int imageResId) {
+        this.imageResId = imageResId;
+    }
+
+    public String getModelName() {
+        return modelName;
+    }
+
+    public void setModelName(String modelName) {
+        this.modelName = modelName;
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/ChannelItem.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/ChannelItem.java
new file mode 100644
index 0000000..ece13d5
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Base/ChannelItem.java
@@ -0,0 +1,25 @@
+package com.example.longyi_groundstation.Main.Setting.Base;
+
+// 在LoadFragment.java中添加这个内部类
+public  class ChannelItem {
+    private String text;
+    private int value;
+
+    public ChannelItem(String text, int value) {
+        this.text = text;
+        this.value = value;
+    }
+
+    public String getText() {
+        return text;
+    }
+
+    public int getValue() {
+        return value;
+    }
+
+    @Override
+    public String toString() {
+        return text; // Spinner显示的内容
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/ControlFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/ControlFragment.java
index 90f1090..0ef10d1 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/ControlFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/ControlFragment.java
@@ -1,5 +1,8 @@
 package com.example.longyi_groundstation.Main.Setting.Fragment;
 
+import android.content.Context;
+import android.content.IntentFilter;
+import android.os.Build;
 import android.os.Bundle;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -7,14 +10,18 @@ import android.view.View;
 import android.view.ViewGroup;
 import android.widget.TextView;
 
+import androidx.core.content.ContextCompat;
 import androidx.fragment.app.Fragment;
 import androidx.recyclerview.widget.GridLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 
 import com.example.longyi_groundstation.Main.Setting.Adapter.ParamGridAdapter;
 import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.MyReceiver;
 import com.example.longyi_groundstation.R;
 
+import org.json.JSONObject;
+
 import java.util.ArrayList;
 import java.util.List;
 
@@ -27,8 +34,7 @@ public class ControlFragment extends Fragment {
     private ParamGridAdapter adapter;
     private FlyVoid flyVoid = new FlyVoid();
     private List<ParamGridAdapter.ParamItem> paramItems = new ArrayList<>();
-    private boolean isClear = true;
-
+    private MyReceiver mBroadcast_RC_CHANNELS, mBroadcast_RC_CHANNELS_RAW;
 
 
     @Override
@@ -40,6 +46,8 @@ public class ControlFragment extends Fragment {
         initData();
         initView(view);
         initOnClick();
+        initReceiver();
+
 
         return view;
     }
@@ -50,8 +58,16 @@ public class ControlFragment extends Fragment {
      * @cuijingzhou
      */
     private void initData() {
-        adapter = new ParamGridAdapter(paramItems);
-        updata();
+        //开启广播监听-RC通道
+        mBroadcast_RC_CHANNELS = new MyReceiver();
+        IntentFilter filter8 = new IntentFilter("Broadcast_RC_CHANNELS");
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            getActivity().registerReceiver(mBroadcast_RC_CHANNELS, filter8, Context.RECEIVER_EXPORTED);
+        } else {
+            ContextCompat.registerReceiver(getActivity(), mBroadcast_RC_CHANNELS, filter8, ContextCompat.RECEIVER_NOT_EXPORTED);
+        }
+
+
     }
 
     /**
@@ -63,8 +79,10 @@ public class ControlFragment extends Fragment {
         rv_data = view.findViewById(R.id.rv_data);
         tv_calibration = view.findViewById(R.id.tv_calibration);
 
+        adapter = new ParamGridAdapter(paramItems);
+        updata();
         // 设置GridLayoutManager，每行显示2个item
-        rv_data.setLayoutManager(new GridLayoutManager(getContext(), 2));
+        rv_data.setLayoutManager(new GridLayoutManager(getContext(), 3));
         rv_data.setAdapter(adapter);
     }
 
@@ -77,29 +95,37 @@ public class ControlFragment extends Fragment {
 
     }
 
+    /**
+     * 方法：初始化广播
+     *
+     * @cuijingzhou
+     */
+    private void initReceiver() {
+
+        //广播接收-RcChannelsRawlistener
+        mBroadcast_RC_CHANNELS.setRcChannelsRawlistener(data -> {
+            Log.d("cuijingzhou_ctrl", data.toString());
+            try {
+                JSONObject jsonObject = new JSONObject(data.toString());
+                for (int i = 0; i < 12; i++){
+                    paramItems.get(i).setCurrentValue(jsonObject.optString("chan" + (i + 1) + "_raw"));
+                }
+            }catch (Exception e){
+                Log.d("cuijingzhou_ctrl_E", e.toString());
+            }
+            adapter.notifyDataSetChanged();
+        });
+    }
+
     private void updata() {
         new Thread(new Runnable() {
             @Override
             public void run() {
-                while (isClear){
-                    try {
-                        for (int i = 1; i <= 12; i++) {
-                            flyVoid.requestParamRead("RC"+i+"_MAX");
-                            Thread.sleep(100);
-                            flyVoid.requestParamRead("RC"+i+"_MIN");
-                            Thread.sleep(100);
-                            flyVoid.requestParamRead("RC"+i+"_TRIM");
-                            Thread.sleep(100);
-                        }
-                        if (!flyVoid.isParamUpdateComplete()){
-                            Thread.sleep(1000);
-                            getList();
-                            adapter.notifyDataSetChanged();
-                            Log.d("cuijingzhou", "一直更新");
-                        }
-                    }catch (Exception e){
-                        Log.d("cuijingzhou", "没事");
-                    }
+                try {
+                    getList();
+                    adapter.notifyDataSetChanged();
+                } catch (Exception e) {
+                    Log.d("cuijingzhou", "没事");
                 }
 
             }
@@ -113,7 +139,7 @@ public class ControlFragment extends Fragment {
      *
      * @cuijingzhou
      */
-    private void getList(){
+    private void getList() {
         paramItems.clear();
         // 添加数据
         paramItems.add(new ParamGridAdapter.ParamItem(
@@ -216,7 +242,6 @@ public class ControlFragment extends Fragment {
     @Override
     public void onDestroy() {
         super.onDestroy();
-        isClear = false;
     }
 
     @Override
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FlyFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FlyFragment.java
index 9708939..04ad716 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FlyFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FlyFragment.java
@@ -4,14 +4,41 @@ import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.SeekBar;
+import android.widget.TextView;
+import android.widget.Toast;
 
 import androidx.fragment.app.Fragment;
 
+import com.example.longyi_groundstation.Main.Void.FlyVoid;
 import com.example.longyi_groundstation.R;
 
 
 public class FlyFragment extends Fragment {
 
+    private TextView tv_flight_speed_minus;
+    private SeekBar seekBar_flight_speed;
+    private TextView tv_flight_speed_add;
+    private TextView tv_flight_speed;
+    private TextView tv_climb_speed_minus;
+    private SeekBar seekBar_climb_speed;
+    private TextView tv_climb_speed_add;
+    private TextView tv_climb_speed;
+    private TextView tv_decline_speed_minus;
+    private SeekBar seekBar_decline_speed;
+    private TextView tv_decline_speed_add;
+    private TextView tv_decline_speed;
+    private TextView tv_horizontal_angle_minus;
+    private SeekBar seekBar_horizontal_angle;
+    private TextView tv_horizontal_angle_add;
+    private TextView tv_horizontal_angle;
+    private TextView tv_rotation_rate_minus;
+    private SeekBar seekBar_rotation_rate;
+    private TextView tv_rotation_rate_add;
+    private TextView tv_rotation_rate;
+    private TextView tv_save;
+    private TextView tv_default;
+    private FlyVoid flyVoid = new FlyVoid();
 
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container,
@@ -19,10 +46,12 @@ public class FlyFragment extends Fragment {
         // Inflate the layout for this fragment
         View view = inflater.inflate(R.layout.fragment_fly, container, false);
 
-        initData();
-        initView();
-        initOnClick();
 
+        if (FlyVoid.isParamUpdateComplete()){
+            initData();
+            initView(view);
+            initOnClick();
+        }
         return view;
     }
 
@@ -40,7 +69,34 @@ public class FlyFragment extends Fragment {
      *
      * @cuijingzhou
      */
-    private void initView() {
+    private void initView(View view) {
+        tv_flight_speed_minus = view.findViewById(R.id.tv_flight_speed_minus);
+        seekBar_flight_speed = view.findViewById(R.id.seekBar_flight_speed);
+        tv_flight_speed_add = view.findViewById(R.id.tv_flight_speed_add);
+        tv_flight_speed = view.findViewById(R.id.tv_flight_speed);
+
+        tv_climb_speed_minus = view.findViewById(R.id.tv_climb_speed_minus);
+        seekBar_climb_speed = view.findViewById(R.id.seekBar_climb_speed);
+        tv_climb_speed_add = view.findViewById(R.id.tv_climb_speed_add);
+        tv_climb_speed = view.findViewById(R.id.tv_climb_speed);
+
+        tv_decline_speed_minus = view.findViewById(R.id.tv_decline_speed_minus);
+        seekBar_decline_speed = view.findViewById(R.id.seekBar_decline_speed);
+        tv_decline_speed_add = view.findViewById(R.id.tv_decline_speed_add);
+        tv_decline_speed = view.findViewById(R.id.tv_decline_speed);
+
+        tv_horizontal_angle_minus = view.findViewById(R.id.tv_horizontal_angle_minus);
+        seekBar_horizontal_angle = view.findViewById(R.id.seekBar_horizontal_angle);
+        tv_horizontal_angle_add = view.findViewById(R.id.tv_horizontal_angle_add);
+        tv_horizontal_angle = view.findViewById(R.id.tv_horizontal_angle);
+
+        tv_rotation_rate_minus = view.findViewById(R.id.tv_rotation_rate_minus);
+        seekBar_rotation_rate = view.findViewById(R.id.seekBar_rotation_rate);
+        tv_rotation_rate_add = view.findViewById(R.id.tv_rotation_rate_add);
+        tv_rotation_rate = view.findViewById(R.id.tv_rotation_rate);
+
+        tv_save = view.findViewById(R.id.tv_save);
+        tv_default = view.findViewById(R.id.tv_default);
 
     }
 
@@ -50,8 +106,216 @@ public class FlyFragment extends Fragment {
      * @cuijingzhou
      */
     private void initOnClick() {
+        // 最大平飞速度
+        tv_flight_speed_minus.setOnClickListener(v -> {
+            int progress = seekBar_flight_speed.getProgress();
+            if (progress > 20) {
+                seekBar_flight_speed.setProgress(progress - 10);
+                tv_flight_speed.setText(((double)seekBar_flight_speed.getProgress()/100) + "m/s");
+            }
+        });
+
+        tv_flight_speed_add.setOnClickListener(v -> {
+            int progress = seekBar_flight_speed.getProgress();
+            if (progress < seekBar_flight_speed.getMax()) {
+                seekBar_flight_speed.setProgress(progress + 10);
+                tv_flight_speed.setText(((double)seekBar_flight_speed.getProgress()/100) + "m/s");
+            }
+        });
+
+        seekBar_flight_speed.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                tv_flight_speed.setText(((double)seekBar_flight_speed.getProgress()/100) + "m/s");
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+        });
+
+        // 最大爬升速度
+        tv_climb_speed_minus.setOnClickListener(v -> {
+            int progress = seekBar_climb_speed.getProgress();
+            if (progress > 50) {
+                seekBar_climb_speed.setProgress(progress - 10);
+                tv_climb_speed.setText(((double)seekBar_climb_speed.getProgress()/100) + "m/s");
+            }
+        });
+
+        tv_climb_speed_add.setOnClickListener(v -> {
+            int progress = seekBar_climb_speed.getProgress();
+            if (progress < seekBar_climb_speed.getMax()) {
+                seekBar_climb_speed.setProgress(progress + 10);
+                tv_climb_speed.setText(((double)seekBar_climb_speed.getProgress()/100) + "m/s");
+            }
+        });
+
+        seekBar_climb_speed.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                tv_climb_speed.setText(((double)seekBar_climb_speed.getProgress()/100) + "m/s");
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+        });
+
+        // 最大下降速度
+        tv_decline_speed_minus.setOnClickListener(v -> {
+            int progress = seekBar_decline_speed.getProgress();
+            if (progress > 0) {
+                seekBar_decline_speed.setProgress(progress - 10);
+                tv_decline_speed.setText(((double)seekBar_decline_speed.getProgress()/100) + "m/s");
+            }
+        });
+
+        tv_decline_speed_add.setOnClickListener(v -> {
+            int progress = seekBar_decline_speed.getProgress();
+            if (progress < seekBar_decline_speed.getMax()) {
+                seekBar_decline_speed.setProgress(progress + 10);
+                tv_decline_speed.setText(((double)seekBar_decline_speed.getProgress()/100) + "m/s");
+            }
+        });
+
+        seekBar_decline_speed.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                tv_decline_speed.setText(((double)seekBar_decline_speed.getProgress()/100) + "m/s");
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+        });
+
+        // 最大水平角度
+        tv_horizontal_angle_minus.setOnClickListener(v -> {
+            int progress = seekBar_horizontal_angle.getProgress();
+            if (progress > 1000) {
+                seekBar_horizontal_angle.setProgress(progress - 100);
+                tv_horizontal_angle.setText(seekBar_horizontal_angle.getProgress() + "cdeg");
+            }
+        });
+
+        tv_horizontal_angle_add.setOnClickListener(v -> {
+            int progress = seekBar_horizontal_angle.getProgress();
+            if (progress < seekBar_horizontal_angle.getMax()) {
+                seekBar_horizontal_angle.setProgress(progress + 100);
+                tv_horizontal_angle.setText(seekBar_horizontal_angle.getProgress() + "cdeg");
+            }
+        });
+
+        seekBar_horizontal_angle.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                tv_horizontal_angle.setText(progress + "度");
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+        });
+
+        // 最大旋转速率
+        tv_rotation_rate_minus.setOnClickListener(v -> {
+            int progress = seekBar_rotation_rate.getProgress();
+            if (progress > 1) {
+                seekBar_rotation_rate.setProgress(progress - 1);
+                tv_rotation_rate.setText(((double)seekBar_rotation_rate.getProgress()/10) + "度/s");
+            }
+        });
+
+        tv_rotation_rate_add.setOnClickListener(v -> {
+            int progress = seekBar_rotation_rate.getProgress();
+            if (progress < seekBar_rotation_rate.getMax()) {
+                seekBar_rotation_rate.setProgress(progress + 1);
+                tv_rotation_rate.setText(((double)seekBar_rotation_rate.getProgress()/10) + "度/s");
+            }
+        });
+
+        seekBar_rotation_rate.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                tv_rotation_rate.setText(((double)progress/10) + "度/s");
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {}
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {}
+        });
+
+        //保存
+        tv_save.setOnClickListener( v -> {
+            save();
+            Toast.makeText(getActivity(), "保存成功！", Toast.LENGTH_SHORT).show();
+        });
+
+        tv_default.setOnClickListener(v -> {
+            save();
+            seekBar_flight_speed.setProgress(1250);
+            tv_flight_speed.setText(seekBar_flight_speed.getProgress() + "m/s");
+            seekBar_climb_speed.setProgress(250);
+            tv_climb_speed.setText(seekBar_climb_speed.getProgress() + "m/s");
+            seekBar_decline_speed.setProgress(0);
+            tv_decline_speed.setText(seekBar_decline_speed.getProgress() + "m/s");
+            seekBar_horizontal_angle.setProgress(3000);
+            tv_horizontal_angle.setText(seekBar_horizontal_angle.getProgress() + "cdeg");
+            seekBar_rotation_rate.setProgress(2025);
+            tv_rotation_rate.setText(((double)seekBar_rotation_rate.getProgress()/10) + "度/s");
+            Toast.makeText(getActivity(), "初始化完成", Toast.LENGTH_SHORT).show();
+        });
+
 
     }
 
+    /**
+     * 方法：获取当前所有的参数
+     *
+     * @cuijingzhou
+     */
+    private void getData(){
+        seekBar_flight_speed.setProgress(Integer.parseInt(FlyVoid.paramList.get("LOIT_SPEED").getParam_value()));
+        tv_flight_speed.setText(((double)seekBar_flight_speed.getProgress()/100) + "m/s");
+        seekBar_climb_speed.setProgress(Integer.parseInt(FlyVoid.paramList.get("PILOT_SPEED_UP").getParam_value()));
+        tv_climb_speed.setText(((double)seekBar_climb_speed.getProgress()/100) + "m/s");
+        seekBar_decline_speed.setProgress(Integer.parseInt(FlyVoid.paramList.get("PILOT_SPEED_DN").getParam_value()));
+        tv_decline_speed.setText(seekBar_decline_speed.getProgress() + "m/s");
+        seekBar_horizontal_angle.setProgress(Integer.parseInt(FlyVoid.paramList.get("ANGLE_MAX").getParam_value()));
+        tv_horizontal_angle.setText(seekBar_horizontal_angle.getProgress() + "cdeg");
+        //旋转速率单独运算一下
+        float rotation_rate = Float.parseFloat(FlyVoid.paramList.get("PILOT_Y_RATE").getParam_value())*10;
+        seekBar_rotation_rate.setProgress((int) rotation_rate);
+        tv_rotation_rate.setText(((double)seekBar_rotation_rate.getProgress()/10) + "度/s");
+    }
 
+    /**
+     * 方法：保存
+     *
+     * @cuijingzhou
+     */
+    private void save(){
+        flyVoid.requestParamSet("LOIT_SPEED", String.valueOf(seekBar_flight_speed.getProgress()));
+        flyVoid.requestParamSet("PILOT_SPEED_UP", String.valueOf(seekBar_climb_speed.getProgress()));
+        flyVoid.requestParamSet("PILOT_SPEED_DN", String.valueOf(seekBar_decline_speed.getProgress()));
+        flyVoid.requestParamSet("ANGLE_MAX", String.valueOf(seekBar_horizontal_angle.getProgress()));
+        flyVoid.requestParamSet("PILOT_Y_RATE", String.valueOf((double)seekBar_rotation_rate.getProgress()/10));
+    }
+
+    @Override
+    public void onStart() {
+        super.onStart();
+        getData();
+    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyAccelerationFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyAccelerationFragment.java
new file mode 100644
index 0000000..bef29b8
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyAccelerationFragment.java
@@ -0,0 +1,71 @@
+package com.example.longyi_groundstation.Main.Setting.Fragment.Foundation;
+
+import android.annotation.SuppressLint;
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.fragment.app.Fragment;
+
+import com.example.longyi_groundstation.R;
+
+// 简单的载荷Fragment，用于显示不同载荷的内容
+public class FlyAccelerationFragment extends Fragment {
+    View view;
+
+
+    public FlyAccelerationFragment() {
+        // Required empty public constructor
+    }
+
+
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+
+    }
+
+    @SuppressLint("MissingInflatedId")
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState) {
+        view = inflater.inflate(R.layout.fragment_fly_acceleration, container, false);
+
+        initData();
+        initView();
+        initOnClick();
+
+        return view;
+    }
+
+    private void initData() {
+
+
+    }
+
+
+    /**
+     * 方法：初始化视图
+     *
+     * @cuijingzhou
+     */
+    private void initView() {
+
+
+    }
+
+    /**
+     * 方法：初始化点击事件
+     *
+     * @cuijingzhou
+     */
+    private void initOnClick() {
+
+
+    }
+
+
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyInstallFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyInstallFragment.java
new file mode 100644
index 0000000..4847afb
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyInstallFragment.java
@@ -0,0 +1,71 @@
+package com.example.longyi_groundstation.Main.Setting.Fragment.Foundation;
+
+import android.annotation.SuppressLint;
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.fragment.app.Fragment;
+
+import com.example.longyi_groundstation.R;
+
+// 简单的载荷Fragment，用于显示不同载荷的内容
+public class FlyInstallFragment extends Fragment {
+    View view;
+
+
+    public FlyInstallFragment() {
+        // Required empty public constructor
+    }
+
+
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+
+    }
+
+    @SuppressLint("MissingInflatedId")
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState) {
+        view = inflater.inflate(R.layout.fragment_fly_install, container, false);
+
+        initData();
+        initView();
+        initOnClick();
+
+        return view;
+    }
+
+    private void initData() {
+
+
+    }
+
+
+    /**
+     * 方法：初始化视图
+     *
+     * @cuijingzhou
+     */
+    private void initView() {
+
+
+    }
+
+    /**
+     * 方法：初始化点击事件
+     *
+     * @cuijingzhou
+     */
+    private void initOnClick() {
+
+
+    }
+
+
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyMagnetometerFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyMagnetometerFragment.java
new file mode 100644
index 0000000..0d30066
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyMagnetometerFragment.java
@@ -0,0 +1,71 @@
+package com.example.longyi_groundstation.Main.Setting.Fragment.Foundation;
+
+import android.annotation.SuppressLint;
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.fragment.app.Fragment;
+
+import com.example.longyi_groundstation.R;
+
+// 简单的载荷Fragment，用于显示不同载荷的内容
+public class FlyMagnetometerFragment extends Fragment {
+    View view;
+
+
+    public FlyMagnetometerFragment() {
+        // Required empty public constructor
+    }
+
+
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+
+    }
+
+    @SuppressLint("MissingInflatedId")
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState) {
+        view = inflater.inflate(R.layout.fragment_fly_magnetometer, container, false);
+
+        initData();
+        initView();
+        initOnClick();
+
+        return view;
+    }
+
+    private void initData() {
+
+
+    }
+
+
+    /**
+     * 方法：初始化视图
+     *
+     * @cuijingzhou
+     */
+    private void initView() {
+
+
+    }
+
+    /**
+     * 方法：初始化点击事件
+     *
+     * @cuijingzhou
+     */
+    private void initOnClick() {
+
+
+    }
+
+
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyModelFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyModelFragment.java
new file mode 100644
index 0000000..9b2fcde
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/Foundation/FlyModelFragment.java
@@ -0,0 +1,81 @@
+package com.example.longyi_groundstation.Main.Setting.Fragment.Foundation;
+
+import android.annotation.SuppressLint;
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.LinearLayout;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import androidx.fragment.app.Fragment;
+import androidx.recyclerview.widget.LinearLayoutManager;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.example.longyi_groundstation.Main.Setting.Adapter.SecureItemListAdapter;
+import com.example.longyi_groundstation.Main.Setting.Base.Payload;
+import com.example.longyi_groundstation.R;
+
+import java.util.ArrayList;
+import java.util.List;
+
+// 简单的载荷Fragment，用于显示不同载荷的内容
+public class FlyModelFragment extends Fragment {
+    View view;
+
+
+    public FlyModelFragment() {
+        // Required empty public constructor
+    }
+
+
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+
+    }
+
+    @SuppressLint("MissingInflatedId")
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+                             Bundle savedInstanceState) {
+        view = inflater.inflate(R.layout.fragment_fly_model, container, false);
+
+        initData();
+        initView();
+        initOnClick();
+
+        return view;
+    }
+
+    private void initData() {
+
+
+    }
+
+
+    /**
+     * 方法：初始化视图
+     *
+     * @cuijingzhou
+     */
+    private void initView() {
+
+
+    }
+
+    /**
+     * 方法：初始化点击事件
+     *
+     * @cuijingzhou
+     */
+    private void initOnClick() {
+
+
+    }
+
+
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FoundationFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FoundationFragment.java
index 4345f1a..bd4c1bd 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FoundationFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FoundationFragment.java
@@ -6,18 +6,26 @@ import android.view.View;
 import android.view.ViewGroup;
 
 import androidx.fragment.app.Fragment;
+import androidx.viewpager2.widget.ViewPager2;
 
+import com.example.longyi_groundstation.Main.Setting.Adapter.SecurePagerAdapter;
 import com.example.longyi_groundstation.R;
-
+import com.google.android.material.tabs.TabLayout;
+import com.google.android.material.tabs.TabLayoutMediator;
+import com.example.longyi_groundstation.Main.Setting.Adapter.FoundationPagerAdapter;
 
 public class FoundationFragment extends Fragment {
 
+    private View view;
+    private TabLayout tabLayout;
+    private ViewPager2 viewPager;
+    private TabLayoutMediator tabLayoutMediator;
 
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container,
                              Bundle savedInstanceState) {
         // Inflate the layout for this fragment
-        View view = inflater.inflate(R.layout.fragment_foundation, container, false);
+        view = inflater.inflate(R.layout.fragment_foundation, container, false);
 
         initData();
         initView();
@@ -41,7 +49,48 @@ public class FoundationFragment extends Fragment {
      * @cuijingzhou
      */
     private void initView() {
+        viewPager = view.findViewById(R.id.view_pager);
+        tabLayout = view.findViewById(R.id.tab_layout);
 
+
+//        if (getActivity() != null) {
+//            viewPager.setAdapter(new FoundationPagerAdapter(getActivity()));
+//
+//            // 先释放之前的TabLayoutMediator（如果存在）
+//            if (tabLayoutMediator != null) {
+//                tabLayoutMediator.detach();
+//            }
+//
+//            tabLayoutMediator = new TabLayoutMediator(tabLayout, viewPager,
+//                    (tab, position) -> {
+//                        switch (position) {
+//                            case 0:
+//                                tab.setText("机型设置");
+//                                break;
+//                            case 1:
+//                                tab.setText("安装设置");
+//                                break;
+//                            case 2:
+//                                tab.setText("加速度计");
+//                                break;
+//                            case 3:
+//                                tab.setText("磁力计");
+//                                break;
+//                        }
+//                    }
+//            );
+//            tabLayoutMediator.attach();
+//
+//            // 为Tab之间添加间距
+//            for (int i = 0; i < tabLayout.getTabCount(); i++) {
+//                View tab = (((ViewGroup) tabLayout.getChildAt(0)).getChildAt(i));
+//                ViewGroup.MarginLayoutParams layoutParams = (ViewGroup.MarginLayoutParams) tab.getLayoutParams();
+//                layoutParams.setMargins(6, 0, 6, 0); // 左右各16dp的间距
+//                tab.setLayoutParams(layoutParams);
+//            }
+//
+//
+//        }
     }
 
     /**
@@ -53,5 +102,27 @@ public class FoundationFragment extends Fragment {
 
     }
 
+    @Override
+    public void onResume() {
+        super.onResume();
+//        // 使用post方法将initData()推迟到下一个UI循环执行，避免FragmentManager冲突
+//        getView().post(new Runnable() {
+//            @Override
+//            public void run() {
+//                initData();
+//                initView();
+//                initOnClick();
+//            }
+//        });
+    }
 
+    @Override
+    public void onDestroyView() {
+        super.onDestroyView();
+        // 清理TabLayoutMediator资源
+        if (tabLayoutMediator != null) {
+            tabLayoutMediator.detach();
+            tabLayoutMediator = null;
+        }
+    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/LoadFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/LoadFragment.java
index e5cb735..7f248b4 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/LoadFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/LoadFragment.java
@@ -1,29 +1,106 @@
-
 package com.example.longyi_groundstation.Main.Setting.Fragment;
 
 import android.annotation.SuppressLint;
 import android.os.Bundle;
+import android.text.Editable;
+import android.text.InputType;
+import android.text.TextWatcher;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
-import android.widget.LinearLayout;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
+import android.widget.EditText;
+import android.widget.Spinner;
+import android.widget.TextView;
+import android.widget.Toast;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 import androidx.fragment.app.Fragment;
-import androidx.viewpager2.widget.ViewPager2;
 
-import com.example.longyi_groundstation.Main.Setting.Adapter.SecurePagerAdapter;
-import com.example.longyi_groundstation.Main.Setting.Void.ViewTool;
+import com.example.longyi_groundstation.Main.Setting.Base.ChannelItem;
+import com.example.longyi_groundstation.Main.Void.FlyVoid;
 import com.example.longyi_groundstation.R;
-import com.google.android.material.tabs.TabLayout;
-import com.google.android.material.tabs.TabLayoutMediator;
+
+import java.util.ArrayList;
+import java.util.List;
 
 
 public class LoadFragment extends Fragment {
 
     private View view;
-    private TabLayout tabLayout;
-    private ViewPager2 viewPager;
-    private TabLayoutMediator tabLayoutMediator;
+    private TextView tv_save;
+    private TextView tv_ctrl_m7;
+    private TextView tv_fly_m7;
+    private Spinner sp_m7;
+    private TextView tv_value_minus_m7;
+    private EditText et_value_m7;
+    private TextView tv_value_add_m7;
+    private TextView tv_off_minus_m7;
+    private EditText et_off_m7;
+    private TextView tv_off_add_m7;
+    private TextView tv_ctrl_m8;
+    private TextView tv_fly_m8;
+    private Spinner sp_m8;
+    private TextView tv_value_minus_m8;
+    private EditText et_value_m8;
+    private TextView tv_value_add_m8;
+    private TextView tv_off_minus_m8;
+    private EditText et_off_m8;
+    private TextView tv_off_add_m8;
+    private TextView tv_ctrl_m9;
+    private TextView tv_fly_m9;
+    private Spinner sp_m9;
+    private TextView tv_value_minus_m9;
+    private EditText et_value_m9;
+    private TextView tv_value_add_m9;
+    private TextView tv_off_minus_m9;
+    private EditText et_off_m9;
+    private TextView tv_off_add_m9;
+    private TextView tv_ctrl_m10;
+    private TextView tv_fly_m10;
+    private Spinner sp_m10;
+    private TextView tv_value_minus_m10;
+    private EditText et_value_m10;
+    private TextView tv_value_add_m10;
+    private TextView tv_off_minus_m10;
+    private EditText et_off_m10;
+    private TextView tv_off_add_m10;
+    private TextView tv_ctrl_m11;
+    private TextView tv_fly_m11;
+    private Spinner sp_m11;
+    private TextView tv_value_minus_m11;
+    private EditText et_value_m11;
+    private TextView tv_value_add_m11;
+    private TextView tv_off_minus_m11;
+    private EditText et_off_m11;
+    private TextView tv_off_add_m11;
+    private TextView tv_ctrl_m12;
+    private TextView tv_fly_m12;
+    private Spinner sp_m12;
+    private TextView tv_value_minus_m12;
+    private EditText et_value_m12;
+    private TextView tv_value_add_m12;
+    private TextView tv_off_minus_m12;
+    private EditText et_off_m12;
+    private TextView tv_off_add_m12;
+    private TextView tv_ctrl_m13;
+    private TextView tv_fly_m13;
+    private Spinner sp_m13;
+    private TextView tv_value_minus_m13;
+    private EditText et_value_m13;
+    private TextView tv_value_add_m13;
+    private TextView tv_off_minus_m13;
+    private EditText et_off_m13;
+    private TextView tv_off_add_m13;
+
+    // 在Fragment或Activity中声明EditText变量
+    private EditText[] valueEditTexts;
+    private EditText[] offEditTexts;
+    private TextView[] flyTextViews;
+    private FlyVoid flyVoid = new FlyVoid();
 
 
     @SuppressLint("MissingInflatedId")
@@ -33,57 +110,27 @@ public class LoadFragment extends Fragment {
         // Inflate the layout for this fragment
         view = inflater.inflate(R.layout.fragment_load, container, false);
 
-        tabLayout = view.findViewById(R.id.tab_layout);
-        viewPager = view.findViewById(R.id.view_pager);
-
-
+        initData();
+        initView();
+        initOnClick();
+        // 初始化数据
+        initDataView();
         return view;
     }
 
+    @Override
+    public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+
+    }
+
     /**
      * 方法：初始化数据
      *
      * @cuijingzhou
      */
     private void initData() {
-        if (getActivity() != null) {
-            viewPager.setAdapter(new SecurePagerAdapter(getActivity()));
 
-            // 先释放之前的TabLayoutMediator（如果存在）
-            if (tabLayoutMediator != null) {
-                tabLayoutMediator.detach();
-            }
-
-            tabLayoutMediator = new TabLayoutMediator(tabLayout, viewPager,
-                    (tab, position) -> {
-                        switch (position) {
-                            case 0:
-                                tab.setText("灭火弹");
-                                break;
-                            case 1:
-                                tab.setText("缓降器");
-                                break;
-                            case 2:
-                                tab.setText("抛投勾");
-                                break;
-                            case 3:
-                                tab.setText("其他载荷");
-                                break;
-                        }
-                    }
-            );
-            tabLayoutMediator.attach();
-
-            // 为Tab之间添加间距
-            for (int i = 0; i < tabLayout.getTabCount(); i++) {
-                View tab = (((ViewGroup) tabLayout.getChildAt(0)).getChildAt(i));
-                ViewGroup.MarginLayoutParams layoutParams = (ViewGroup.MarginLayoutParams) tab.getLayoutParams();
-                layoutParams.setMargins(6, 0, 6, 0); // 左右各16dp的间距
-                tab.setLayoutParams(layoutParams);
-            }
-
-
-        }
     }
 
     /**
@@ -92,6 +139,84 @@ public class LoadFragment extends Fragment {
      * @cuijingzhou
      */
     private void initView() {
+        tv_save = view.findViewById(R.id.tv_save);
+        tv_ctrl_m7 = view.findViewById(R.id.tv_ctrl_m7);
+        tv_fly_m7 = view.findViewById(R.id.tv_fly_m7);
+        sp_m7 = view.findViewById(R.id.sp_m7);
+        tv_value_minus_m7 = view.findViewById(R.id.tv_value_minus_m7);
+        et_value_m7 = view.findViewById(R.id.et_value_m7);
+        tv_value_add_m7 = view.findViewById(R.id.tv_value_add_m7);
+        tv_off_minus_m7 = view.findViewById(R.id.tv_off_minus_m7);
+        et_off_m7 = view.findViewById(R.id.et_off_m7);
+        tv_off_add_m7 = view.findViewById(R.id.tv_off_add_m7);
+        tv_ctrl_m8 = view.findViewById(R.id.tv_ctrl_m8);
+        tv_fly_m8 = view.findViewById(R.id.tv_fly_m8);
+        sp_m8 = view.findViewById(R.id.sp_m8);
+        tv_value_minus_m8 = view.findViewById(R.id.tv_value_minus_m8);
+        et_value_m8 = view.findViewById(R.id.et_value_m8);
+        tv_value_add_m8 = view.findViewById(R.id.tv_value_add_m8);
+        tv_off_minus_m8 = view.findViewById(R.id.tv_off_minus_m8);
+        et_off_m8 = view.findViewById(R.id.et_off_m8);
+        tv_off_add_m8 = view.findViewById(R.id.tv_off_add_m8);
+        tv_ctrl_m9 = view.findViewById(R.id.tv_ctrl_m9);
+        tv_fly_m9 = view.findViewById(R.id.tv_fly_m9);
+        sp_m9 = view.findViewById(R.id.sp_m9);
+        tv_value_minus_m9 = view.findViewById(R.id.tv_value_minus_m9);
+        et_value_m9 = view.findViewById(R.id.et_value_m9);
+        tv_value_add_m9 = view.findViewById(R.id.tv_value_add_m9);
+        tv_off_minus_m9 = view.findViewById(R.id.tv_off_minus_m9);
+        et_off_m9 = view.findViewById(R.id.et_off_m9);
+        tv_off_add_m9 = view.findViewById(R.id.tv_off_add_m9);
+        tv_ctrl_m10 = view.findViewById(R.id.tv_ctrl_m10);
+        tv_fly_m10 = view.findViewById(R.id.tv_fly_m10);
+        sp_m10 = view.findViewById(R.id.sp_m10);
+        tv_value_minus_m10 = view.findViewById(R.id.tv_value_minus_m10);
+        et_value_m10 = view.findViewById(R.id.et_value_m10);
+        tv_value_add_m10 = view.findViewById(R.id.tv_value_add_m10);
+        tv_off_minus_m10 = view.findViewById(R.id.tv_off_minus_m10);
+        et_off_m10 = view.findViewById(R.id.et_off_m10);
+        tv_off_add_m10 = view.findViewById(R.id.tv_off_add_m10);
+        tv_ctrl_m11 = view.findViewById(R.id.tv_ctrl_m11);
+        tv_fly_m11 = view.findViewById(R.id.tv_fly_m11);
+        sp_m11 = view.findViewById(R.id.sp_m11);
+        tv_value_minus_m11 = view.findViewById(R.id.tv_value_minus_m11);
+        et_value_m11 = view.findViewById(R.id.et_value_m11);
+        tv_value_add_m11 = view.findViewById(R.id.tv_value_add_m11);
+        tv_off_minus_m11 = view.findViewById(R.id.tv_off_minus_m11);
+        et_off_m11 = view.findViewById(R.id.et_off_m11);
+        tv_off_add_m11 = view.findViewById(R.id.tv_off_add_m11);
+        tv_ctrl_m12 = view.findViewById(R.id.tv_ctrl_m12);
+        tv_fly_m12 = view.findViewById(R.id.tv_fly_m12);
+        sp_m12 = view.findViewById(R.id.sp_m12);
+        tv_value_minus_m12 = view.findViewById(R.id.tv_value_minus_m12);
+        et_value_m12 = view.findViewById(R.id.et_value_m12);
+        tv_value_add_m12 = view.findViewById(R.id.tv_value_add_m12);
+        tv_off_minus_m12 = view.findViewById(R.id.tv_off_minus_m12);
+        et_off_m12 = view.findViewById(R.id.et_off_m12);
+        tv_off_add_m12 = view.findViewById(R.id.tv_off_add_m12);
+        tv_ctrl_m13 = view.findViewById(R.id.tv_ctrl_m13);
+        tv_fly_m13 = view.findViewById(R.id.tv_fly_m13);
+        sp_m13 = view.findViewById(R.id.sp_m13);
+        tv_value_minus_m13 = view.findViewById(R.id.tv_value_minus_m13);
+        et_value_m13 = view.findViewById(R.id.et_value_m13);
+        tv_value_add_m13 = view.findViewById(R.id.tv_value_add_m13);
+        tv_off_minus_m13 = view.findViewById(R.id.tv_off_minus_m13);
+        et_off_m13 = view.findViewById(R.id.et_off_m13);
+        tv_off_add_m13 = view.findViewById(R.id.tv_off_add_m13);
+
+        // 初始化所有Spinner数据
+        initSpinnerData();
+
+        // 初始化所有EditText,TextView
+        initTexts(view);
+
+        // 为所有EditText设置输入限制
+        setupInputFilters();
+
+        // 给flyTextViews里面所有的view添加点击事件：点击后会打开对应的Spinner
+        initFlyTextViewClickListeners();
+
+
 
     }
 
@@ -102,29 +227,621 @@ public class LoadFragment extends Fragment {
      */
     private void initOnClick() {
 
+        tv_value_minus_m7.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m7.getText().toString()) >= 1200) {
+                et_value_m7.setText(String.valueOf(Integer.parseInt(et_value_m7.getText().toString()) - 100));
+            } else {
+                et_value_m7.setText("1100");
+            }
+        });
+        tv_value_add_m7.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m7.getText().toString()) <= 1800) {
+                et_value_m7.setText(String.valueOf(Integer.parseInt(et_value_m7.getText().toString()) + 100));
+            } else {
+                et_value_m7.setText("1900");
+            }
+        });
+        tv_off_minus_m7.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m7.getText().toString()) >= 1200) {
+                et_off_m7.setText(String.valueOf(Integer.parseInt(et_off_m7.getText().toString()) - 100));
+            } else {
+                et_off_m7.setText("1100");
+            }
+        });
+        tv_off_add_m7.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m7.getText().toString()) <= 1800) {
+                et_off_m7.setText(String.valueOf(Integer.parseInt(et_off_m7.getText().toString()) + 100));
+            } else {
+                et_off_m7.setText("1900");
+            }
+        });
+        tv_value_minus_m8.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m8.getText().toString()) >= 1200) {
+                et_value_m8.setText(String.valueOf(Integer.parseInt(et_value_m8.getText().toString()) - 100));
+            } else {
+                et_value_m8.setText("1100");
+            }
+        });
+        tv_value_add_m8.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m8.getText().toString()) <= 1800) {
+                et_value_m8.setText(String.valueOf(Integer.parseInt(et_value_m8.getText().toString()) + 100));
+            } else {
+                et_value_m8.setText("1900");
+            }
+        });
+        tv_off_minus_m8.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m8.getText().toString()) >= 1200) {
+                et_off_m8.setText(String.valueOf(Integer.parseInt(et_off_m8.getText().toString()) - 100));
+            } else {
+                et_off_m8.setText("1100");
+            }
+        });
+        tv_off_add_m8.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m8.getText().toString()) <= 1800) {
+                et_off_m8.setText(String.valueOf(Integer.parseInt(et_off_m8.getText().toString()) + 100));
+            } else {
+                et_off_m8.setText("1900");
+            }
+        });
+        tv_value_minus_m9.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m9.getText().toString()) >= 1200) {
+                et_value_m9.setText(String.valueOf(Integer.parseInt(et_value_m9.getText().toString()) - 100));
+            } else {
+                et_value_m9.setText("1100");
+            }
+        });
+        tv_value_add_m9.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m9.getText().toString()) <= 1800) {
+                et_value_m9.setText(String.valueOf(Integer.parseInt(et_value_m9.getText().toString()) + 100));
+            } else {
+                et_value_m9.setText("1900");
+            }
+        });
+        tv_off_minus_m9.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m9.getText().toString()) >= 1200) {
+                et_off_m9.setText(String.valueOf(Integer.parseInt(et_off_m9.getText().toString()) - 100));
+            } else {
+                et_off_m9.setText("1100");
+            }
+        });
+        tv_off_add_m9.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m9.getText().toString()) <= 1800) {
+                et_off_m9.setText(String.valueOf(Integer.parseInt(et_off_m9.getText().toString()) + 100));
+            } else {
+                et_off_m9.setText("1900");
+            }
+        });
+        tv_value_minus_m10.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m10.getText().toString()) >= 1200) {
+                et_value_m10.setText(String.valueOf(Integer.parseInt(et_value_m10.getText().toString()) - 100));
+            } else {
+                et_value_m10.setText("1100");
+            }
+        });
+        tv_value_add_m10.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m10.getText().toString()) <= 1800) {
+                et_value_m10.setText(String.valueOf(Integer.parseInt(et_value_m10.getText().toString()) + 100));
+            } else {
+                et_value_m10.setText("1900");
+            }
+        });
+        tv_off_minus_m10.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m10.getText().toString()) >= 1200) {
+                et_off_m10.setText(String.valueOf(Integer.parseInt(et_off_m10.getText().toString()) - 100));
+            } else {
+                et_off_m10.setText("1100");
+            }
+        });
+        tv_off_add_m10.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m10.getText().toString()) <= 1800) {
+                et_off_m10.setText(String.valueOf(Integer.parseInt(et_off_m10.getText().toString()) + 100));
+            } else {
+                et_off_m10.setText("1900");
+            }
+        });
+        tv_value_minus_m11.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m11.getText().toString()) >= 1200) {
+                et_value_m11.setText(String.valueOf(Integer.parseInt(et_value_m11.getText().toString()) - 100));
+            } else {
+                et_value_m11.setText("1100");
+            }
+        });
+        tv_value_add_m11.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m11.getText().toString()) <= 1800) {
+                et_value_m11.setText(String.valueOf(Integer.parseInt(et_value_m11.getText().toString()) + 100));
+            } else {
+                et_value_m11.setText("1900");
+            }
+        });
+        tv_off_minus_m11.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m11.getText().toString()) >= 1200) {
+                et_off_m11.setText(String.valueOf(Integer.parseInt(et_off_m11.getText().toString()) - 100));
+            } else {
+                et_off_m11.setText("1100");
+            }
+        });
+        tv_off_add_m11.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m11.getText().toString()) <= 1800) {
+                et_off_m11.setText(String.valueOf(Integer.parseInt(et_off_m11.getText().toString()) + 100));
+            } else {
+                et_off_m11.setText("1900");
+            }
+        });
+        tv_value_minus_m12.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m12.getText().toString()) >= 1200) {
+                et_value_m12.setText(String.valueOf(Integer.parseInt(et_value_m12.getText().toString()) - 100));
+            } else {
+                et_value_m12.setText("1100");
+            }
+        });
+        tv_value_add_m12.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m12.getText().toString()) <= 1800) {
+                et_value_m12.setText(String.valueOf(Integer.parseInt(et_value_m12.getText().toString()) + 100));
+            } else {
+                et_value_m12.setText("1900");
+            }
+        });
+        tv_off_minus_m12.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m12.getText().toString()) >= 1200) {
+                et_off_m12.setText(String.valueOf(Integer.parseInt(et_off_m12.getText().toString()) - 100));
+            } else {
+                et_off_m12.setText("1100");
+            }
+        });
+        tv_off_add_m12.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m12.getText().toString()) <= 1800) {
+                et_off_m12.setText(String.valueOf(Integer.parseInt(et_off_m12.getText().toString()) + 100));
+            } else {
+                et_off_m12.setText("1900");
+            }
+        });
+        tv_value_minus_m13.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m13.getText().toString()) >= 1200) {
+                et_value_m13.setText(String.valueOf(Integer.parseInt(et_value_m13.getText().toString()) - 100));
+            } else {
+                et_value_m13.setText("1100");
+            }
+        });
+        tv_value_add_m13.setOnClickListener(v -> {
+            if (Integer.parseInt(et_value_m13.getText().toString()) <= 1800) {
+                et_value_m13.setText(String.valueOf(Integer.parseInt(et_value_m13.getText().toString()) + 100));
+            } else {
+                et_value_m13.setText("1900");
+            }
+        });
+        tv_off_minus_m13.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m13.getText().toString()) >= 1200) {
+                et_off_m13.setText(String.valueOf(Integer.parseInt(et_off_m13.getText().toString()) - 100));
+            } else {
+                et_off_m13.setText("1100");
+            }
+        });
+        tv_off_add_m13.setOnClickListener(v -> {
+            if (Integer.parseInt(et_off_m13.getText().toString()) <= 1800) {
+                et_off_m13.setText(String.valueOf(Integer.parseInt(et_off_m13.getText().toString()) + 100));
+            } else {
+                et_off_m13.setText("1900");
+            }
+        });
+// 修改所有的Spinner监听器，以sp_m7为例：
+        sp_m7.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                Log.d("无事发生", "onItemSelected: sp_m7");
+                tv_fly_m7.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+                Log.d("无事发生", "onNothingSelected: sp_m7");
+            }
+        });
+
+        // 对其他Spinner也做同样处理，例如sp_m8:
+        sp_m8.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                Log.d("无事发生", "onItemSelected: sp_m8");
+                tv_fly_m8.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+                Log.d("无事发生", "onNothingSelected: sp_m8");
+            }
+        });
+
+        // 对sp_m9到sp_m13都做相同处理
+        sp_m9.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                 tv_fly_m9.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+            }
+        });
+
+        sp_m10.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                tv_fly_m10.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+            }
+        });
+
+        sp_m11.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                tv_fly_m11.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+            }
+        });
+
+        sp_m12.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+
+                tv_fly_m12.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+            }
+        });
+
+        sp_m13.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @SuppressLint("SetTextI18n")
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+
+                tv_fly_m13.setText( parent.getSelectedItem().toString());
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+            }
+        });
+
+
+        //保存
+        tv_save.setOnClickListener(v -> {
+            save();
+        });
+
+
+
+
+
     }
 
+    /**
+     * 方法：初始化flyTextView点击事件
+     * 点击TextView后会打开对应的Spinner
+     *
+     * @cuijingzhou
+     */
+    private void initFlyTextViewClickListeners() {
+        TextView[] flyTextViews = {
+                tv_fly_m7, tv_fly_m8, tv_fly_m9, tv_fly_m10,
+                tv_fly_m11, tv_fly_m12, tv_fly_m13
+        };
+
+        Spinner[] correspondingSpinners = {
+                sp_m7, sp_m8, sp_m9, sp_m10,
+                sp_m11, sp_m12, sp_m13
+        };
+
+        for (int i = 0; i < flyTextViews.length; i++) {
+            final Spinner correspondingSpinner = correspondingSpinners[i];
+            if (flyTextViews[i] != null && correspondingSpinner != null) {
+                flyTextViews[i].setOnClickListener(v -> {
+                    // 点击TextView后打开对应的Spinner
+                    correspondingSpinner.performClick();
+                });
+            }
+        }
+    }
+
+
+    /**
+     * 方法：初始化Spinner数据
+     *
+     * @cuijingzhou
+     */
+    private void initSpinnerData() {
+        // 创建通道数据列表
+        List<ChannelItem> channelList = new ArrayList<>();
+        for (int i = 7; i <= 14; i++) {
+            channelList.add(new ChannelItem("通道" + i, 51 + (i - 7)));
+        }
+
+        // 创建适配器
+        ArrayAdapter<ChannelItem> adapter = new ArrayAdapter<>(requireContext(),
+                android.R.layout.simple_spinner_item, channelList);
+        adapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+
+        // 为所有Spinner设置适配器
+        Spinner[] spinners = {sp_m7, sp_m8, sp_m9, sp_m10, sp_m11, sp_m12, sp_m13};
+        for (Spinner spinner : spinners) {
+            if (spinner != null) {
+                spinner.setAdapter(adapter);
+            }
+        }
+
+    }
+
+    /**
+     * 方法：初始化Spinner选择监听器
+     *
+     * @cuijingzhou
+     */
+    private void initSpinnerListeners() {
+        // 为所有Spinner设置选择监听器
+//        Spinner[] spinners = {sp_m7, sp_m8, sp_m9, sp_m10, sp_m11, sp_m12, sp_m13};
+//
+//        AdapterView.OnItemSelectedListener spinnerListener = new AdapterView.OnItemSelectedListener() {
+//            @Override
+//            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+//                Spinner spinner = (Spinner) parent;
+//                ChannelItem selectedItem = (ChannelItem) parent.getItemAtPosition(position);
+//                // 更新对应的TextView显示选中的通道
+//                updateChannelTextView(spinner, selectedItem);
+//            }
+//
+//            @Override
+//            public void onNothingSelected(AdapterView<?> parent) {
+//                // 什么都不做
+//            }
+//        };
+//
+//        // 为每个Spinner设置监听器
+//        for (Spinner spinner : spinners) {
+//            if (spinner != null) {
+//                spinner.setOnItemSelectedListener(spinnerListener);
+//            }
+//        }
+    }
+
+
+    // 示例：获取sp_m7选中的值
+    private int getSelectedChannelValue(Spinner spinner) {
+        if (spinner.getSelectedItem() instanceof ChannelItem) {
+            ChannelItem item = (ChannelItem) spinner.getSelectedItem();
+            return item.getValue();
+        }
+        return 0; // 默认值
+    }
+
+    // 示例：设置Spinner选中项
+    private void setSelectedChannel(Spinner spinner, int value) {
+        ArrayAdapter<ChannelItem> adapter = (ArrayAdapter<ChannelItem>) spinner.getAdapter();
+        for (int i = 0; i < adapter.getCount(); i++) {
+            ChannelItem item = adapter.getItem(i);
+            if (item != null && item.getValue() == value) {
+                spinner.setSelection(i);
+                break;
+            }
+        }
+    }
+
+
+    private void initTexts(View view) {
+        // 打开值EditText数组
+        flyTextViews = new TextView[]{
+                tv_fly_m7,
+                tv_fly_m8,
+                tv_fly_m9,
+                tv_fly_m10,
+                tv_fly_m11,
+                tv_fly_m12,
+                tv_fly_m13
+        };
+
+        // 打开值EditText数组
+        valueEditTexts = new EditText[]{
+                view.findViewById(R.id.et_value_m7),
+                view.findViewById(R.id.et_value_m8),
+                view.findViewById(R.id.et_value_m9),
+                view.findViewById(R.id.et_value_m10),
+                view.findViewById(R.id.et_value_m11),
+                view.findViewById(R.id.et_value_m12),
+                view.findViewById(R.id.et_value_m13)
+        };
+
+        // 关闭值EditText数组
+        offEditTexts = new EditText[]{
+                view.findViewById(R.id.et_off_m7),
+                view.findViewById(R.id.et_off_m8),
+                view.findViewById(R.id.et_off_m9),
+                view.findViewById(R.id.et_off_m10),
+                view.findViewById(R.id.et_off_m11),
+                view.findViewById(R.id.et_off_m12),
+                view.findViewById(R.id.et_off_m13)
+        };
+    }
+
+    private void setupInputFilters() {
+        // 为所有EditText设置输入过滤器
+        for (EditText et : valueEditTexts) {
+            if (et != null) {
+                setInputFilter(et);
+            }
+        }
+
+        for (EditText et : offEditTexts) {
+            if (et != null) {
+                setInputFilter(et);
+            }
+        }
+    }
+
+    private void setInputFilter(EditText editText) {
+        // 设置输入类型为数字
+        editText.setInputType(InputType.TYPE_CLASS_NUMBER);
+
+        // 添加文本监听器验证范围
+        editText.setOnFocusChangeListener(new View.OnFocusChangeListener() {
+            @Override
+            public void onFocusChange(View v, boolean hasFocus) {
+                if (!hasFocus) { // 失去焦点时验证
+                    validateAndCorrectInput(editText);
+                }
+            }
+        });
+
+        // 添加文本变化监听器
+        editText.addTextChangedListener(new TextWatcher() {
+            @Override
+            public void beforeTextChanged(CharSequence s, int start, int count, int after) {
+            }
+
+            @Override
+            public void onTextChanged(CharSequence s, int start, int before, int count) {
+            }
+
+            @Override
+            public void afterTextChanged(Editable s) {
+                // 可以在这里添加实时验证逻辑
+            }
+        });
+    }
+
+    private void validateAndCorrectInput(EditText editText) {
+        String input = editText.getText().toString().trim();
+
+        // 如果输入为空，设置默认值
+        if (input.isEmpty()) {
+            editText.setText("1100");
+            return;
+        }
+
+        try {
+            int value = Integer.parseInt(input);
+
+            // 检查范围
+            if (value < 1100) {
+                editText.setText("1100");
+            } else if (value > 1900) {
+                editText.setText("1900");
+            }
+        } catch (NumberFormatException e) {
+            // 如果解析失败，设置默认值
+            editText.setText("1100");
+        }
+    }
+
+
+    private void initDataView() {
+
+        for (int i = 0; i < valueEditTexts.length; i++) {
+            valueEditTexts[i].setText(flyVoid.paramList.get("SERVO" + (i + 7) + "_MAX").getParam_value());
+        }
+
+        for (int i = 0; i < offEditTexts.length; i++) {
+            offEditTexts[i].setText(flyVoid.paramList.get("SERVO" + (i + 7) + "_MIN").getParam_value());
+        }
+
+        for (int i = 0; i < flyTextViews.length; i++) {
+            String flyText = flyVoid.paramList.get("SERVO" + (i + 7) + "_FUNCTION").getParam_value();
+            Log.d("flyTextViews", i + "++" + flyText);
+            switch (flyText) {
+                case "51":
+                    setSelectedChannel(sp_m7, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道7");
+                    break;
+                case "52":
+                    setSelectedChannel(sp_m8, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道8");
+                    break;
+                case "53":
+                    setSelectedChannel(sp_m9, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道9");
+                    break;
+                case "54":
+                    setSelectedChannel(sp_m10, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道10");
+                    break;
+                case "55":
+                    setSelectedChannel(sp_m11, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道11");
+                    break;
+                case "56":
+                    setSelectedChannel(sp_m12, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道12");
+                    break;
+                default:
+                    setSelectedChannel(sp_m13, Integer.parseInt(flyText));
+                    flyTextViews[i].setText("通道13");
+                    break;
+            }
+        }
+
+        Log.d("无事发生", "加载完成: ");
+
+    }
+
+    /**
+     * 方法：保存数据
+     *
+     * @cuijingzhou
+     */
+    private void save() {
+        flyVoid.requestParamSet("SERVO7_FUNCTION", getSelectedChannelValue(sp_m7) + "");
+        flyVoid.requestParamSet("SERVO7_MAX", et_value_m7.getText().toString());
+        flyVoid.requestParamSet("SERVO7_MIN", et_value_m7.getText().toString());
+        flyVoid.requestParamSet("SERVO8_FUNCTION", getSelectedChannelValue(sp_m8) + "");
+        flyVoid.requestParamSet("SERVO8_MAX", et_value_m8.getText().toString());
+        flyVoid.requestParamSet("SERVO8_MIN", et_value_m8.getText().toString());
+        flyVoid.requestParamSet("SERVO9_FUNCTION", getSelectedChannelValue(sp_m9) + "");
+        flyVoid.requestParamSet("SERVO9_MAX", et_value_m9.getText().toString());
+        flyVoid.requestParamSet("SERVO9_MIN", et_value_m9.getText().toString());
+        flyVoid.requestParamSet("SERVO10_FUNCTION", getSelectedChannelValue(sp_m10) + "");
+        flyVoid.requestParamSet("SERVO10_MAX", et_value_m10.getText().toString());
+        flyVoid.requestParamSet("SERVO10_MIN", et_value_m10.getText().toString());
+        flyVoid.requestParamSet("SERVO11_FUNCTION", getSelectedChannelValue(sp_m11) + "");
+        flyVoid.requestParamSet("SERVO11_MAX", et_value_m11.getText().toString());
+        flyVoid.requestParamSet("SERVO11_MIN", et_value_m11.getText().toString());
+        flyVoid.requestParamSet("SERVO12_FUNCTION", getSelectedChannelValue(sp_m12) + "");
+        flyVoid.requestParamSet("SERVO12_MAX", et_value_m12.getText().toString());
+        flyVoid.requestParamSet("SERVO12_MIN", et_value_m12.getText().toString());
+        flyVoid.requestParamSet("SERVO13_FUNCTION", getSelectedChannelValue(sp_m13) + "");
+        flyVoid.requestParamSet("SERVO13_MAX", et_value_m13.getText().toString());
+        flyVoid.requestParamSet("SERVO13_MIN", et_value_m13.getText().toString());
+        Toast.makeText(getActivity(), "保存成功！", Toast.LENGTH_SHORT).show();
+    }
+
+
     @Override
     public void onResume() {
         super.onResume();
-        // 使用post方法将initData()推迟到下一个UI循环执行，避免FragmentManager冲突
-        getView().post(new Runnable() {
-            @Override
-            public void run() {
-                initData();
-                initView();
-                initOnClick();
-            }
-        });
+
     }
 
     @Override
     public void onDestroyView() {
         super.onDestroyView();
-        // 清理TabLayoutMediator资源
-        if (tabLayoutMediator != null) {
-            tabLayoutMediator.detach();
-            tabLayoutMediator = null;
-        }
+
     }
+
+
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/MotorFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/MotorFragment.java
index 3a8aeba..f250809 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/MotorFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/MotorFragment.java
@@ -49,7 +49,9 @@ public class MotorFragment extends Fragment {
                              Bundle savedInstanceState) {
         // Inflate the layout for this fragment
         view = inflater.inflate(R.layout.fragment_motor, container, false);
-
+        initData();
+        initView(view);
+        initOnClick();
 
 
         return view;
@@ -221,8 +223,6 @@ public class MotorFragment extends Fragment {
     @Override
     public void onResume() {
         super.onResume();
-        initData();
-        initView(view);
-        initOnClick();
+
     }
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SecureFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SecureFragment.java
index 1eb5abd..8770af9 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SecureFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SecureFragment.java
@@ -5,24 +5,39 @@ import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
-import android.widget.Button;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
+import android.widget.EditText;
+import android.widget.SeekBar;
+import android.widget.Spinner;
 import android.widget.TextView;
 
 import androidx.fragment.app.Fragment;
-import androidx.fragment.app.FragmentActivity;
-import androidx.viewpager2.adapter.FragmentStateAdapter;
-import androidx.viewpager2.widget.ViewPager2;
 
-import com.example.longyi_groundstation.Main.Setting.Adapter.SecurePagerAdapter;
-import com.example.longyi_groundstation.Main.Setting.Fragment.Secure.PayloadFragment;
+import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
-import com.google.android.material.tabs.TabLayout;
-import com.google.android.material.tabs.TabLayoutMediator;
 
 
 public class SecureFragment extends Fragment {
     private View view;
-
+    private TextView tv_one_power_minus;
+    private SeekBar seekBar_one_power;
+    private TextView tv_one_power_add;
+    private TextView tv_one_power;
+    private TextView tv_two_power_minus;
+    private SeekBar seekBar_two_power;
+    private TextView tv_two_power_add;
+    private TextView tv_two_power;
+    private TextView tv_link_minus;
+    private EditText et_link;
+    private TextView tv_link_add;
+    private TextView tv_link;
+    private Spinner sp_one_power_protect;
+    private Spinner sp_two_power_protect;
+    private Spinner sp_link_protect;
+    private TextView tv_one_power_protect;
+    private TextView tv_two_power_protect;
+    private TextView tv_link_protect;
 
 
     @SuppressLint("MissingInflatedId")
@@ -31,7 +46,9 @@ public class SecureFragment extends Fragment {
                              Bundle savedInstanceState) {
         // Inflate the layout for this fragment
         view = inflater.inflate(R.layout.fragment_secure, container, false);
-
+        initData();
+        initView(view);
+        initOnClick();
         return view;
     }
 
@@ -49,7 +66,28 @@ public class SecureFragment extends Fragment {
      *
      * @cuijingzhou
      */
-    private void initView() {
+    private void initView(View view) {
+
+        tv_one_power_minus = view.findViewById(R.id.tv_one_power_minus);
+        seekBar_one_power = view.findViewById(R.id.seekBar_one_power);
+        tv_one_power_add = view.findViewById(R.id.tv_one_power_add);
+        tv_one_power = view.findViewById(R.id.tv_one_power);
+        tv_two_power_minus = view.findViewById(R.id.tv_two_power_minus);
+        seekBar_two_power = view.findViewById(R.id.seekBar_two_power);
+        tv_two_power_add = view.findViewById(R.id.tv_two_power_add);
+        tv_two_power = view.findViewById(R.id.tv_two_power);
+        tv_link_minus = view.findViewById(R.id.tv_link_minus);
+        et_link = view.findViewById(R.id.et_link);
+        tv_link_add = view.findViewById(R.id.tv_link_add);
+        tv_link = view.findViewById(R.id.tv_link);
+        sp_one_power_protect = view.findViewById(R.id.sp_one_power_protect);
+        sp_two_power_protect = view.findViewById(R.id.sp_two_power_protect);
+        sp_link_protect = view.findViewById(R.id.sp_link_protect);
+        tv_one_power_protect = view.findViewById(R.id.tv_one_power_protect);
+        tv_two_power_protect = view.findViewById(R.id.tv_two_power_protect);
+        tv_link_protect = view.findViewById(R.id.tv_link_protect);
+        //初始化
+        initSpinners();
 
     }
 
@@ -60,13 +98,204 @@ public class SecureFragment extends Fragment {
      */
     private void initOnClick() {
 
+        // 修改一级电压的加减按钮和SeekBar监听事件
+        tv_one_power_minus.setOnClickListener(v -> {
+            int progress = seekBar_one_power.getProgress();
+            if (progress > 0) {
+                seekBar_one_power.setProgress(progress - 1);
+                // 直接更新文本显示
+                double voltage = (progress - 1) * 0.5;
+                tv_one_power.setText(String.format("%.1fV", voltage));
+            }
+        });
+
+        tv_one_power_add.setOnClickListener(v -> {
+            int progress = seekBar_one_power.getProgress();
+            if (progress < 100) {
+                seekBar_one_power.setProgress(progress + 1);
+                // 直接更新文本显示
+                double voltage = (progress + 1) * 0.5;
+                tv_one_power.setText(String.format("%.1fV", voltage));
+            }
+        });
+
+        seekBar_one_power.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                // 将进度(0-100)转换为电压值(0-50.0V)
+                double voltage = progress * 0.5;
+                tv_one_power.setText(String.format("%.1fV", voltage));
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {
+            }
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {
+            }
+        });
+
+        // 修改二级电压的加减按钮和SeekBar监听事件
+        tv_two_power_minus.setOnClickListener(v -> {
+            int progress = seekBar_two_power.getProgress();
+            if (progress > 0) {
+                seekBar_two_power.setProgress(progress - 1);
+                // 直接更新文本显示
+                double voltage = (progress - 1) * 0.5;
+                tv_two_power.setText(String.format("%.1fV", voltage));
+            }
+        });
+
+        tv_two_power_add.setOnClickListener(v -> {
+            int progress = seekBar_two_power.getProgress();
+            if (progress < 100) {
+                seekBar_two_power.setProgress(progress + 1);
+                // 直接更新文本显示
+                double voltage = (progress + 1) * 0.5;
+                tv_two_power.setText(String.format("%.1fV", voltage));
+            }
+        });
+
+        seekBar_two_power.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+            @Override
+            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+                // 将进度(0-100)转换为电压值(0-50.0V)
+                double voltage = progress * 0.5;
+                tv_two_power.setText(String.format("%.1fV", voltage));
+            }
+
+            @Override
+            public void onStartTrackingTouch(SeekBar seekBar) {
+            }
+
+            @Override
+            public void onStopTrackingTouch(SeekBar seekBar) {
+            }
+        });
+
+
+
+        tv_link_minus.setOnClickListener(v -> {
+            try {
+                String currentText = et_link.getText().toString().trim();
+                if (!currentText.isEmpty()) {
+                    int currentValue = Integer.parseInt(currentText);
+                    if (currentValue > 0) { // 防止出现负数，可根据需要调整
+                        et_link.setText(String.valueOf(currentValue - 1));
+                    }
+                } else {
+                    et_link.setText("0");
+                }
+            } catch (NumberFormatException e) {
+                et_link.setText("0");
+            }
+        });
+
+        tv_link_add.setOnClickListener(v -> {
+            try {
+                String currentText = et_link.getText().toString().trim();
+                if (!currentText.isEmpty()) {
+                    int currentValue = Integer.parseInt(currentText);
+                    et_link.setText(String.valueOf(currentValue + 1));
+                } else {
+                    et_link.setText("1");
+                }
+            } catch (NumberFormatException e) {
+                et_link.setText("1");
+            }
+        });
+
+        // 为Spinner设置选择监听器
+        sp_one_power_protect.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                tv_one_power_protect.setText(parent.getItemAtPosition(position).toString());
+
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+                // 什么都不做
+            }
+        });
+
+        sp_two_power_protect.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+
+                tv_two_power_protect.setText(parent.getItemAtPosition(position).toString());
+
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+                // 什么都不做
+            }
+        });
+
+        sp_link_protect.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                tv_link_protect.setText(parent.getItemAtPosition(position).toString());
+
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+                // 什么都不做
+            }
+        });
+
+        tv_one_power_protect.setOnClickListener(v -> {
+
+            sp_one_power_protect.performClick();
+
+        });
+
+        tv_two_power_protect.setOnClickListener(v -> {
+
+            sp_two_power_protect.performClick();
+
+        });
+
+        tv_link_protect.setOnClickListener(v -> {
+
+            sp_link_protect.performClick();
+
+        });
+
     }
 
+
+
+    private void initSpinners() {
+        // 一级电压保护动作Spinner
+        String[] onePowerOptions = {"返航", "降落", "继续飞行"};
+        ArrayAdapter<String> onePowerAdapter = new ArrayAdapter<>(getContext(),
+                android.R.layout.simple_spinner_item, onePowerOptions);
+        onePowerAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+        sp_one_power_protect.setAdapter(onePowerAdapter);
+
+        // 二级电压保护动作Spinner
+        String[] twoPowerOptions = {"降落"};
+        ArrayAdapter<String> twoPowerAdapter = new ArrayAdapter<>(getContext(),
+                android.R.layout.simple_spinner_item, twoPowerOptions);
+        twoPowerAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+        sp_two_power_protect.setAdapter(twoPowerAdapter);
+
+        // 链路保护动作Spinner
+        String[] linkOptions = {"返航", "继续飞行"};
+        ArrayAdapter<String> linkAdapter = new ArrayAdapter<>(getContext(),
+                android.R.layout.simple_spinner_item, linkOptions);
+        linkAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+        sp_link_protect.setAdapter(linkAdapter);
+    }
+
+
     @Override
     public void onResume() {
         super.onResume();
-        initData();
-        initView();
-        initOnClick();
+
     }
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SensorFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SensorFragment.java
index eb40052..7e00b4d 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SensorFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SensorFragment.java
@@ -34,7 +34,9 @@ public class SensorFragment extends Fragment {
         // Inflate the layout for this fragment
         view = inflater.inflate(R.layout.fragment_sensor, container, false);
 
-
+        initData();
+        initView(view);
+        initOnClick();
         return view;
     }
 
@@ -785,9 +787,7 @@ public class SensorFragment extends Fragment {
     @Override
     public void onResume() {
         super.onResume();
-        initData();
-        initView(view);
-        initOnClick();
+
 
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SettingsFragment.java b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SettingsFragment.java
index 3548558..a669cc8 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SettingsFragment.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SettingsFragment.java
@@ -86,9 +86,9 @@ public class SettingsFragment extends Fragment {
 
 
         view = inflater.inflate(R.layout.fragment_settings, container, false);
-
-
-
+        initData();
+        initView(view);
+        initOnClick();
         return view;
     }
 
@@ -140,7 +140,6 @@ public class SettingsFragment extends Fragment {
                 selectIndex_item = 0;
                 paramsList.get(0).setSelect(true);
                 if (paramAdapter != null) {
-                    MyTool.hideBottomNavigationBar(getActivity());
                     paramAdapter.notifyDataSetChanged();
                 }
 
@@ -338,7 +337,7 @@ public class SettingsFragment extends Fragment {
                         rl_password.setVisibility(View.GONE);
                         ViewTool.closeKeyboard(getActivity());
                     }
-                    MyTool.hideBottomNavigationBar(getActivity());
+
                 }
 
             }
@@ -377,7 +376,7 @@ public class SettingsFragment extends Fragment {
             @Override
             public boolean onEditorAction(TextView v, int actionId, KeyEvent event) {
                 if (actionId == EditorInfo.IME_ACTION_DONE) {
-                    MyTool.hideBottomNavigationBar(getActivity());
+
                 }
                 return false;
             }
@@ -448,7 +447,7 @@ public class SettingsFragment extends Fragment {
                     }
                 }
                 if (getActivity() != null) {
-                    MyTool.hideBottomNavigationBar(getActivity());
+
                 }
                 ProgressDialogUtil.dismissProgressDialog();
             } catch (InterruptedException e) {
@@ -471,9 +470,7 @@ public class SettingsFragment extends Fragment {
 //            myReceiver_PARAM_VALUE.isReceiverRegistered = false;
 //        }
 
-        initData();
-        initView(view);
-        initOnClick();
+
 
     }
 
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/BombingDialog.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/BombingDialog.java
new file mode 100644
index 0000000..cda9ef1
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/BombingDialog.java
@@ -0,0 +1,111 @@
+package com.example.longyi_groundstation.Main.View;
+
+import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_TAKEOFF;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.app.AlertDialog;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.Window;
+import android.view.WindowManager;
+import android.widget.EditText;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.longyi_groundstation.MAVLink.common.msg_command_long;
+import com.example.longyi_groundstation.Main.Service.MyBoundService;
+import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.R;
+
+public class BombingDialog {
+
+    private final Activity context;
+    private String title;
+    private String message;
+    private String positiveButtonText;
+
+    private FlyVoid flyVoid = new FlyVoid();
+
+
+    public BombingDialog(Activity context) {
+        this.context = context;
+        this.title = "投弹";
+        this.message = "";
+        this.positiveButtonText = "确定";
+    }
+
+    // 设置弹窗标题
+    public BombingDialog setTitle(String title) {
+        this.title = title;
+        return this;
+    }
+
+    // 设置弹窗内容
+    public BombingDialog setMessage(String message) {
+        this.message = message;
+        return this;
+    }
+
+    // 设置确认按钮文字
+    public BombingDialog setPositiveButtonText(String text) {
+        this.positiveButtonText = text;
+        return this;
+    }
+
+    // 显示弹窗
+    public void show() {
+        MyTool.hideBottomNavigationBar( context);
+        AlertDialog.Builder builder = new AlertDialog.Builder(context);
+
+        // 使用自定义布局
+        View view = LayoutInflater.from(context).inflate(R.layout.dialog_bombing, null);
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) TextView tvMessage = view.findViewById(R.id.tv_message);
+        // 滑动模块
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) SlideToUnlockView unlockView = view.findViewById(R.id.unlockView);
+        // 高度输入
+        @SuppressLint({"MissingInflatedId", "LocalSuppress"}) EditText et_height = view.findViewById(R.id.et_height);
+
+
+        // 添加日志
+        builder.setView(view);
+
+        AlertDialog dialog = builder.create();
+        dialog.show();
+
+        // 设置宽高
+        Window window = dialog.getWindow();
+        if (window != null) {
+            WindowManager.LayoutParams layoutParams = window.getAttributes();
+            layoutParams.width = MyTool.dpToPx(context, 300); // 或具体像素值
+            layoutParams.height = ViewGroup.LayoutParams.WRAP_CONTENT; // 或具体像素值
+            window.setAttributes(layoutParams);
+            window.setBackgroundDrawableResource(R.drawable.ffffffff_4round_bg);
+        }
+
+        unlockView.setText("滑动执行");
+        unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
+            @Override
+            public void onUnlock() {
+                // 发送命令
+//                flyVoid.sendMavlinkMessage(MyBoundService.type,command);
+                flyVoid.requestBombing(et_height.getText().toString());
+
+                dialog.dismiss();
+                // 滑动到阈值后触发（如关闭对话框或执行操作）
+                Toast.makeText(context, "操作已确认", Toast.LENGTH_SHORT).show();
+                MyTool.hideBottomNavigationBar(context);
+            }
+        });
+
+        ;
+        //取消按钮
+        tvMessage.setOnClickListener(v -> {
+            dialog.dismiss();
+            MyTool.hideBottomNavigationBar(context);
+        });
+    }
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/CustomSeekBar.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/CustomSeekBar.java
new file mode 100644
index 0000000..5502467
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/CustomSeekBar.java
@@ -0,0 +1,136 @@
+// 修改 CustomSeekBar.java 文件
+
+package com.example.longyi_groundstation.Main.View;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.graphics.RectF;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.view.View;
+
+import androidx.annotation.Nullable;
+
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+
+public class CustomSeekBar extends View {
+    private Paint backgroundPaint;
+    private Paint progressPaint;
+    private Paint thumbPaint;
+    private Paint progressBgPaint;
+
+    private float progress = 0f; // 0.0f to 1.0f
+    private float thumbRadius = 15f; // 减小拖拽按钮半径（从30f改为15f）
+    private float barHeight = 8f; // 减小进度条高度（从12f改为8f）
+    private float cornerRadius = 4f; // 调整圆角半径
+
+    private OnProgressChangeListener listener;
+
+    public interface OnProgressChangeListener {
+        void onProgressChanged(float progress);
+    }
+
+    public CustomSeekBar(Context context) {
+        super(context);
+        init();
+    }
+
+    public CustomSeekBar(Context context, @Nullable AttributeSet attrs) {
+        super(context, attrs);
+        init();
+    }
+
+    public CustomSeekBar(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+        init();
+    }
+
+    private void init() {
+        // 背景画笔（进度条背景）
+        backgroundPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+        backgroundPaint.setColor(Color.parseColor("#404040"));
+
+        // 进度背景画笔
+        progressBgPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+        progressBgPaint.setColor(Color.parseColor("#606060"));
+
+        // 进度画笔
+        progressPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+        progressPaint.setColor(Color.parseColor("#4CAF50")); // 绿色进度条
+
+        // 拖拽按钮画笔
+        thumbPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
+        thumbPaint.setColor(Color.WHITE);
+        thumbPaint.setShadowLayer(4.0f, 0.0f, 2.0f, Color.argb(100, 0, 0, 0)); // 添加阴影效果
+    }
+
+    @Override
+    protected void onDraw(Canvas canvas) {
+        super.onDraw(canvas);
+
+        float width = getWidth();
+        float height = getHeight();
+        float centerY = height / 2f;
+
+        // 绘制进度条背景
+        RectF bgRect = new RectF(thumbRadius, centerY - barHeight/2, width - thumbRadius, centerY + barHeight/2);
+        canvas.drawRoundRect(bgRect, cornerRadius, cornerRadius, backgroundPaint);
+
+        // 绘制进度背景
+        float progressWidth = (width - 2 * thumbRadius) * progress;
+        if (progressWidth > 0) {
+            RectF progressRect = new RectF(thumbRadius, centerY - barHeight/2, thumbRadius + progressWidth, centerY + barHeight/2);
+            canvas.drawRoundRect(progressRect, cornerRadius, cornerRadius, progressPaint);
+        }
+
+        // 绘制拖拽按钮
+        float thumbX = thumbRadius + progressWidth;
+        canvas.drawCircle(thumbX, centerY, thumbRadius, thumbPaint);
+
+        // 注意：这里移除了百分比文字的绘制
+    }
+
+    @Override
+    public boolean onTouchEvent(MotionEvent event) {
+        float x = event.getX();
+        float width = getWidth();
+
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+            case MotionEvent.ACTION_MOVE:
+            case MotionEvent.ACTION_UP:
+                // 限制x在有效范围内
+                x = Math.max(thumbRadius, Math.min(width - thumbRadius, x));
+                progress = (x - thumbRadius) / (width - 2 * thumbRadius);
+
+                // 确保进度在0-1范围内
+                progress = Math.max(0f, Math.min(1f, progress));
+
+                invalidate();
+
+                if (listener != null) {
+                    listener.onProgressChanged(progress);
+                }
+
+                return true;
+        }
+
+        return super.onTouchEvent(event);
+    }
+
+    public void setProgress(float progress) {
+        this.progress = Math.max(0f, Math.min(1f, progress));
+        invalidate();
+    }
+
+    public float getProgress() {
+        return progress;
+    }
+
+    public void setOnProgressChangeListener(OnProgressChangeListener listener) {
+        this.listener = listener;
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/DpadView.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/DpadView.java
new file mode 100644
index 0000000..2f9a33d
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/DpadView.java
@@ -0,0 +1,319 @@
+package com.example.longyi_groundstation.Main.View;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.graphics.Path;
+import android.graphics.Region;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.view.View;
+
+import androidx.annotation.Nullable;
+
+public class DpadView extends View {
+
+    private Paint paint;
+    private Path upButtonPath;
+    private Path downButtonPath;
+    private Path leftButtonPath;
+    private Path rightButtonPath;
+
+    // Regions for touch detection
+    private Region upButtonRegion;
+    private Region downButtonRegion;
+    private Region leftButtonRegion;
+    private Region rightButtonRegion;
+
+    private int upButtonColor = Color.GRAY;
+    private int downButtonColor = Color.GRAY;
+    private int leftButtonColor = Color.GRAY;
+    private int rightButtonColor = Color.GRAY;
+
+    private OnDpadButtonClickListener listener;
+
+    // Button states (pressed or not)
+    private boolean upPressed = false;
+    private boolean downPressed = false;
+    private boolean leftPressed = false;
+    private boolean rightPressed = false;
+
+    public DpadView(Context context) {
+        super(context);
+        init();
+    }
+
+    public DpadView(Context context, @Nullable AttributeSet attrs) {
+        super(context, attrs);
+        init();
+    }
+
+    public DpadView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+        init();
+    }
+
+    private void init() {
+        paint = new Paint();
+        paint.setAntiAlias(true);
+        paint.setStyle(Paint.Style.FILL);
+
+        upButtonPath = new Path();
+        downButtonPath = new Path();
+        leftButtonPath = new Path();
+        rightButtonPath = new Path();
+
+        upButtonRegion = new Region();
+        downButtonRegion = new Region();
+        leftButtonRegion = new Region();
+        rightButtonRegion = new Region();
+    }
+
+    @Override
+    protected void onDraw(Canvas canvas) {
+        super.onDraw(canvas);
+
+        int width = getWidth();
+        int height = getHeight();
+        int centerX = width / 2;
+        int centerY = height / 2;
+        int buttonWidth = Math.min(width, height) / 5;
+        int buttonHeight = Math.min(width, height) / 3;
+
+        // Clear paths
+        upButtonPath.reset();
+        downButtonPath.reset();
+        leftButtonPath.reset();
+        rightButtonPath.reset();
+
+        // Draw up button (rectangle)
+        upButtonPath.addRect(
+                centerX - buttonWidth/2,
+                centerY - buttonHeight/2 - buttonHeight/3,
+                centerX + buttonWidth/2,
+                centerY - buttonHeight/2 + buttonHeight/3,
+                Path.Direction.CW
+        );
+
+        paint.setColor(upPressed ? darkenColor(upButtonColor) : upButtonColor);
+        canvas.drawPath(upButtonPath, paint);
+
+        // Draw down button (rectangle)
+        downButtonPath.addRect(
+                centerX - buttonWidth/2,
+                centerY + buttonHeight/2 - buttonHeight/3,
+                centerX + buttonWidth/2,
+                centerY + buttonHeight/2 + buttonHeight/3,
+                Path.Direction.CW
+        );
+
+        paint.setColor(downPressed ? darkenColor(downButtonColor) : downButtonColor);
+        canvas.drawPath(downButtonPath, paint);
+
+        // Draw left button (rectangle)
+        leftButtonPath.addRect(
+                centerX - buttonHeight/2 - buttonHeight/3,
+                centerY - buttonWidth/2,
+                centerX - buttonHeight/2 + buttonHeight/3,
+                centerY + buttonWidth/2,
+                Path.Direction.CW
+        );
+
+        paint.setColor(leftPressed ? darkenColor(leftButtonColor) : leftButtonColor);
+        canvas.drawPath(leftButtonPath, paint);
+
+        // Draw right button (rectangle)
+        rightButtonPath.addRect(
+                centerX + buttonHeight/2 - buttonHeight/3,
+                centerY - buttonWidth/2,
+                centerX + buttonHeight/2 + buttonHeight/3,
+                centerY + buttonWidth/2,
+                Path.Direction.CW
+        );
+
+        paint.setColor(rightPressed ? darkenColor(rightButtonColor) : rightButtonColor);
+        canvas.drawPath(rightButtonPath, paint);
+    }
+
+    @Override
+    protected void onSizeChanged(int w, int h, int oldw, int oldh) {
+        super.onSizeChanged(w, h, oldw, oldh);
+
+        // Update regions when size changes
+        updateButtonRegions();
+    }
+
+    private void updateButtonRegions() {
+        int width = getWidth();
+        int height = getHeight();
+        int centerX = width / 2;
+        int centerY = height / 2;
+        int buttonWidth = Math.min(width, height) / 5;
+        int buttonHeight = Math.min(width, height) / 3;
+
+        // Define regions for touch detection
+        Path tempPath = new Path();
+
+        // Up button region
+        tempPath.reset();
+        tempPath.addRect(
+                centerX - buttonWidth/2,
+                centerY - buttonHeight/2 - buttonHeight/3,
+                centerX + buttonWidth/2,
+                centerY - buttonHeight/2 + buttonHeight/3,
+                Path.Direction.CW
+        );
+        upButtonRegion.setPath(tempPath, new Region(0, 0, getWidth(), getHeight()));
+
+        // Down button region
+        tempPath.reset();
+        tempPath.addRect(
+                centerX - buttonWidth/2,
+                centerY + buttonHeight/2 - buttonHeight/3,
+                centerX + buttonWidth/2,
+                centerY + buttonHeight/2 + buttonHeight/3,
+                Path.Direction.CW
+        );
+        downButtonRegion.setPath(tempPath, new Region(0, 0, getWidth(), getHeight()));
+
+        // Left button region
+        tempPath.reset();
+        tempPath.addRect(
+                centerX - buttonHeight/2 - buttonHeight/3,
+                centerY - buttonWidth/2,
+                centerX - buttonHeight/2 + buttonHeight/3,
+                centerY + buttonWidth/2,
+                Path.Direction.CW
+        );
+        leftButtonRegion.setPath(tempPath, new Region(0, 0, getWidth(), getHeight()));
+
+        // Right button region
+        tempPath.reset();
+        tempPath.addRect(
+                centerX + buttonHeight/2 - buttonHeight/3,
+                centerY - buttonWidth/2,
+                centerX + buttonHeight/2 + buttonHeight/3,
+                centerY + buttonWidth/2,
+                Path.Direction.CW
+        );
+        rightButtonRegion.setPath(tempPath, new Region(0, 0, getWidth(), getHeight()));
+    }
+
+    @Override
+    public boolean onTouchEvent(MotionEvent event) {
+        float x = event.getX();
+        float y = event.getY();
+
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+            case MotionEvent.ACTION_MOVE:
+                handleTouch(x, y, true);
+                break;
+            case MotionEvent.ACTION_UP:
+            case MotionEvent.ACTION_CANCEL:
+                handleTouch(x, y, false);
+                // Reset all buttons
+                upPressed = false;
+                downPressed = false;
+                leftPressed = false;
+                rightPressed = false;
+                invalidate();
+                break;
+        }
+
+        return true;
+    }
+
+    private void handleTouch(float x, float y, boolean pressed) {
+        boolean upWasPressed = upPressed;
+        boolean downWasPressed = downPressed;
+        boolean leftWasPressed = leftPressed;
+        boolean rightWasPressed = rightPressed;
+
+        // Check which button is pressed using regions
+        upPressed = upButtonRegion.contains((int)x, (int)y) && pressed;
+        downPressed = downButtonRegion.contains((int)x, (int)y) && pressed;
+        leftPressed = leftButtonRegion.contains((int)x, (int)y) && pressed;
+        rightPressed = rightButtonRegion.contains((int)x, (int)y) && pressed;
+
+        // Notify listeners of changes
+        if (listener != null) {
+            if (upPressed && !upWasPressed) {
+                listener.onUpButtonClicked();
+            } else if (!upPressed && upWasPressed) {
+                listener.onUpButtonReleased();
+            }
+
+            if (downPressed && !downWasPressed) {
+                listener.onDownButtonClicked();
+            } else if (!downPressed && downWasPressed) {
+                listener.onDownButtonReleased();
+            }
+
+            if (leftPressed && !leftWasPressed) {
+                listener.onLeftButtonClicked();
+            } else if (!leftPressed && leftWasPressed) {
+                listener.onLeftButtonReleased();
+            }
+
+            if (rightPressed && !rightWasPressed) {
+                listener.onRightButtonClicked();
+            } else if (!rightPressed && rightWasPressed) {
+                listener.onRightButtonReleased();
+            }
+        }
+
+        // Redraw if any state changed
+        if (upWasPressed != upPressed || downWasPressed != downPressed ||
+                leftWasPressed != leftPressed || rightWasPressed != rightPressed) {
+            invalidate();
+        }
+    }
+
+    // Helper method to darken color when pressed
+    private int darkenColor(int color) {
+        float[] hsv = new float[3];
+        Color.colorToHSV(color, hsv);
+        hsv[2] *= 0.8f; // Reduce brightness
+        return Color.HSVToColor(hsv);
+    }
+
+    // Set button colors
+    public void setUpButtonColor(int color) {
+        this.upButtonColor = color;
+        invalidate();
+    }
+
+    public void setDownButtonColor(int color) {
+        this.downButtonColor = color;
+        invalidate();
+    }
+
+    public void setLeftButtonColor(int color) {
+        this.leftButtonColor = color;
+        invalidate();
+    }
+
+    public void setRightButtonColor(int color) {
+        this.rightButtonColor = color;
+        invalidate();
+    }
+
+    // Set click listener
+    public void setOnDpadButtonClickListener(OnDpadButtonClickListener listener) {
+        this.listener = listener;
+    }
+
+    // Interface for button click events
+    public interface OnDpadButtonClickListener {
+        void onUpButtonClicked();
+        void onUpButtonReleased();
+        void onDownButtonClicked();
+        void onDownButtonReleased();
+        void onLeftButtonClicked();
+        void onLeftButtonReleased();
+        void onRightButtonClicked();
+        void onRightButtonReleased();
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/LandDialog.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/LandDialog.java
index 62437fc..1bb2289 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/View/LandDialog.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/LandDialog.java
@@ -81,27 +81,12 @@ public class LandDialog {
         }
 
 
-        unlockView.setText("滑动返航");
+        unlockView.setText("滑动降落");
         unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
             @Override
             public void onUnlock() {
-                // 构造命令
-//                msg_command_long command = new msg_command_long();
-//                command.target_system = 1;      // 目标系统ID（飞控）
-//                command.target_component = 1;   // 目标组件ID
-//                command.command = MAV_CMD_NAV_RETURN_TO_LAUNCH; // 返航命令
-//                command.confirmation = 0;       // 确认位
-//                command.param1 = 0;             // 通常不需要参数
-//                command.param2 = 0;
-//                command.param3 = 0;
-//                command.param4 = 0;
-//                command.param5 = 0;
-//                command.param6 = 0;
-//                command.param7 = 0;
-//
 //                // 发送命令
-//                flyVoid.sendMavlinkMessage(MyBoundService.type, command);
-
+                flyVoid.requestLand();
                 MyTool.hideBottomNavigationBar( context);
                 dialog.dismiss();
                 // 滑动到阈值后触发（如关闭对话框或执行操作）
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/SlideToUnlockView.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/SlideToUnlockView.java
index d4eb7b8..72ed418 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/View/SlideToUnlockView.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/SlideToUnlockView.java
@@ -16,7 +16,7 @@ public class SlideToUnlockView extends View {
     private RectF thumbRect = new RectF();
     private OnUnlockListener listener;
     private int bgColor = Color.parseColor("#cfcfcf");
-    private int activeColor = Color.parseColor("#49B6E7");
+    private int activeColor = Color.parseColor("#029A45");
     private float thumbSize; // 滑块尺寸
     private float minX, maxX; // 滑块X轴边界
 
@@ -44,7 +44,7 @@ public class SlideToUnlockView extends View {
 
         textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
         textPaint.setColor(Color.WHITE);
-        textPaint.setTextSize(dpToPx(14));
+        textPaint.setTextSize(dpToPx(12));
         textPaint.setTextAlign(Paint.Align.CENTER);
 
         reboundAnimator = ValueAnimator.ofFloat(0, 1);
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/TakeOffDialog.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/TakeOffDialog.java
index 55121d9..bcd7fc3 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/View/TakeOffDialog.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/TakeOffDialog.java
@@ -94,22 +94,21 @@ public class TakeOffDialog {
         unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
             @Override
             public void onUnlock() {
-                msg_command_long command = new msg_command_long();
-                command.target_system = 1;
-                command.target_component = 1;
-                command.command = MAV_CMD_NAV_TAKEOFF;
-                command.confirmation = 0;
-                command.param1 = 0;
-                command.param2 = 0;
-                command.param3 = 0;
-                command.param4 = 0;
-                command.param5 = 0;
-                command.param6 = 0;
-                command.param7 = Float.parseFloat(et_height.getText().toString());
-
-                // 发送命令
-                flyVoid.sendMavlinkMessage(MyBoundService.type,command);
-
+//                msg_command_long command = new msg_command_long();
+//                command.target_system = 1;
+//                command.target_component = 1;
+//                command.command = MAV_CMD_NAV_TAKEOFF;
+//                command.confirmation = 0;
+//                command.param1 = 0;
+//                command.param2 = 0;
+//                command.param3 = 0;
+//                command.param4 = 0;
+//                command.param5 = 0;
+//                command.param6 = 0;
+//                command.param7 = Float.parseFloat(et_height.getText().toString());
+//                // 发送命令
+//                flyVoid.sendMavlinkMessage(MyBoundService.type,command);
+                flyVoid.requestTakeOff(et_height.getText().toString());
                 dialog.dismiss();
                 // 滑动到阈值后触发（如关闭对话框或执行操作）
                 Toast.makeText(context, "操作已确认", Toast.LENGTH_SHORT).show();
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/View/TurnBackDialog.java b/app/src/main/java/com/example/longyi_groundstation/Main/View/TurnBackDialog.java
index fd8f8bd..1b26174 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/View/TurnBackDialog.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/View/TurnBackDialog.java
@@ -89,25 +89,26 @@ public class TurnBackDialog {
         }
 
 
-        unlockView.setText("滑动降落");
+        unlockView.setText("滑动返航");
         unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
             @Override
             public void onUnlock() {
-                // 构造命令
-                msg_command_long command = new msg_command_long();
-                command.target_system = 1;
-                command.target_component = 1;
-                command.command = MAV_CMD_NAV_LAND;
-                command.confirmation = 0;
-                command.param1 = 0;
-                command.param2 = 0;
-                command.param3 = 0;
-                command.param4 = 0;
-                command.param5 = 0;
-                command.param6 = 0;
-                command.param7 = 0;
-                // 发送命令
-                flyVoid.sendMavlinkMessage(MyBoundService.type, command);
+//                // 构造命令
+//                msg_command_long command = new msg_command_long();
+//                command.target_system = 1;
+//                command.target_component = 1;
+//                command.command = MAV_CMD_NAV_LAND;
+//                command.confirmation = 0;
+//                command.param1 = 0;
+//                command.param2 = 0;
+//                command.param3 = 0;
+//                command.param4 = 0;
+//                command.param5 = 0;
+//                command.param6 = 0;
+//                command.param7 = 0;
+//                // 发送命令
+//                flyVoid.sendMavlinkMessage(MyBoundService.type, command);
+                flyVoid.requestTurnBack();
                 MyTool.hideBottomNavigationBar( context);
                 dialog.dismiss();
                 // 滑动到阈值后触发（如关闭对话框或执行操作）
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllView.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllView.java
index 0d7eaef..5f33971 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllView.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllView.java
@@ -13,6 +13,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.amap.api.maps.MapView;
 import com.example.longyi_groundstation.Main.View.AttitudeIndicatorView;
 import com.example.longyi_groundstation.Main.View.CircularLinearLayout;
+import com.example.longyi_groundstation.Main.View.DpadView;
 import com.example.longyi_groundstation.R;
 import com.skydroid.fpvplayer.FPVWidget;
 
@@ -46,7 +47,7 @@ public class AllView {
     public LinearLayout ll_icon_land;
     public LinearLayout ll_mode_select;
     public RecyclerView rv_error_list;
-    public LinearLayout ll_left_layout;
+    public LinearLayout ll_left_error_layout;
     public LinearLayout ll_setting;
     public ImageView iv_logo;
     public TextView tv_param_load;
@@ -64,6 +65,34 @@ public class AllView {
     public LinearLayout ll_searchlight;
     public LinearLayout ll_thoroughfare;
     public LinearLayout ll_hook;
+    public ImageView iv_ptz_top;
+    public ImageView iv_ptz_left;
+    public ImageView iv_ptz_right;
+    public ImageView iv_ptz_bottom;
+    public LinearLayout ll_PTZ_one_center;
+    public LinearLayout ll_PTZ_amplify;
+    public LinearLayout ll_PTZ_reduce;
+    public LinearLayout ll_PTZ_focus_amplify;
+    public LinearLayout ll_PTZ_focus_reduce;
+    public LinearLayout ll_ptz_ctrl;
+    public LinearLayout ll_ptz_fun;
+    public LinearLayout ll_PTZ_one_bottom;
+    public LinearLayout ll_open_layout;
+    public LinearLayout ll_text;
+    public LinearLayout ll_link;
+    public LinearLayout ll_link_save;
+    public LinearLayout ll_link_fun1;
+    public LinearLayout ll_link_fun2;
+    public LinearLayout ll_link_back;
+    public LinearLayout ll_create_link_layout;
+    public RecyclerView rv_create_link_list;
+    public LinearLayout ll_all_link_layout;
+    public RecyclerView rv_all_link_list;
+    public LinearLayout ll_link_start;
+    public LinearLayout ll_link_start_fun1;
+    public LinearLayout ll_link_start_fun2;
+    public LinearLayout ll_link_start_back;
+
 
 
     public AllView(Activity activity) {
@@ -97,7 +126,7 @@ public class AllView {
         ll_icon_land = activity.findViewById(R.id.ll_icon_land);
         ll_mode_select = activity.findViewById(R.id.ll_mode_select);
         rv_error_list = activity.findViewById(R.id.rv_error_list);
-        ll_left_layout = activity.findViewById(R.id.ll_left_layout);
+        ll_left_error_layout = activity.findViewById(R.id.ll_left_error_layout);
         ll_setting = activity.findViewById(R.id.ll_setting);
         iv_logo = activity.findViewById(R.id.iv_logo);
         tv_param_load = activity.findViewById(R.id.tv_param_load);
@@ -115,10 +144,34 @@ public class AllView {
         ll_searchlight = activity.findViewById(R.id.ll_searchlight);
         ll_thoroughfare = activity.findViewById(R.id.ll_thoroughfare);
         ll_hook = activity.findViewById(R.id.ll_hook);
+        iv_ptz_top = activity.findViewById(R.id.iv_ptz_top);
+        iv_ptz_left = activity.findViewById(R.id.iv_ptz_left);
+        iv_ptz_right = activity.findViewById(R.id.iv_ptz_right);
+        iv_ptz_bottom = activity.findViewById(R.id.iv_ptz_bottom);
+        ll_PTZ_one_center = activity.findViewById(R.id.ll_PTZ_one_center);
+        ll_PTZ_amplify = activity.findViewById(R.id.ll_PTZ_amplify);
+        ll_PTZ_reduce = activity.findViewById(R.id.ll_PTZ_reduce);
+        ll_PTZ_focus_amplify = activity.findViewById(R.id.ll_PTZ_focus_amplify);
+        ll_PTZ_focus_reduce = activity.findViewById(R.id.ll_PTZ_focus_reduce);
+        ll_ptz_ctrl = activity.findViewById(R.id.ll_ptz_ctrl);
+        ll_ptz_fun = activity.findViewById(R.id.ll_ptz_fun);
+        ll_PTZ_one_bottom = activity.findViewById(R.id.ll_PTZ_one_bottom);
+        ll_open_layout = activity.findViewById(R.id.ll_open_layout);
+        ll_text= activity.findViewById(R.id.ll_text);
+        ll_link = activity.findViewById(R.id.ll_link);
+        ll_link_save = activity.findViewById(R.id.ll_link_save);
+        ll_link_fun1 = activity.findViewById(R.id.ll_link_fun1);
+        ll_link_fun2 = activity.findViewById(R.id.ll_link_fun2);
+        ll_link_back = activity.findViewById(R.id.ll_link_back);
+        ll_create_link_layout = activity.findViewById(R.id.ll_create_link_layout);
+        rv_create_link_list = activity.findViewById(R.id.rv_create_link_list);
+        ll_all_link_layout = activity.findViewById(R.id.ll_all_link_layout);
+        rv_all_link_list = activity.findViewById(R.id.rv_all_link_list);
+        ll_link_start = activity.findViewById(R.id.ll_link_start);
+        ll_link_start_fun1 = activity.findViewById(R.id.ll_link_start_fun1);
+        ll_link_start_fun2 = activity.findViewById(R.id.ll_link_start_fun2);
+        ll_link_start_back = activity.findViewById(R.id.ll_link_start_back);
 
 
-
-
-//        iv_line_fly = activity.findViewById(R.id.iv_line_fly);
     }
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllVoid.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllVoid.java
new file mode 100644
index 0000000..0773a72
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/AllVoid.java
@@ -0,0 +1,65 @@
+package com.example.longyi_groundstation.Main.Void;
+
+import android.util.Log;
+import android.widget.Toast;
+
+import com.example.longyi_groundstation.Main.Adapter.AllLinkAdapter;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.TcpClientUtil;
+
+import java.util.List;
+
+public class AllVoid {
+
+    /**
+     * 带重试机制的云台TCP连接方法
+     * 如果连接失败，等待5秒后重试，最多重试3次
+     *
+     * @param tcpClient TcpClientUtil实例
+     * @param host 主机地址
+     * @param port 端口号
+     * @param context 上下文对象，用于显示Toast提示
+     * @param tag 日志标签
+     */
+    public static void connectToPTZWithRetry(TcpClientUtil tcpClient, String host, int port, android.content.Context context, String tag) {
+        new Thread(() -> {
+            int maxRetries = 3;
+            int retryCount = 0;
+
+            while (retryCount < maxRetries) {
+                try {
+                    if (tcpClient != null) {
+                        tcpClient.connect(host, port);
+                        // 连接成功，跳出循环
+                        ((android.app.Activity) context).runOnUiThread(() -> {
+                            Toast.makeText(context, "云台连接成功", Toast.LENGTH_SHORT).show();
+                        });
+                        break;
+                    }
+                } catch (Exception e) {
+                    retryCount++;
+                    Log.e(tag, "云台连接失败，第" + retryCount + "次重试", e);
+
+                    if (retryCount < maxRetries) {
+                        ((android.app.Activity) context).runOnUiThread(() -> {
+                            Toast.makeText(context, "云台连接失败，5秒后重试...", Toast.LENGTH_SHORT).show();
+                        });
+
+                        try {
+                            Thread.sleep(5000); // 等待5秒
+                        } catch (InterruptedException ie) {
+                            Thread.currentThread().interrupt();
+                            break;
+                        }
+                    } else {
+                        // 最后一次重试也失败了
+                        ((android.app.Activity) context).runOnUiThread(() -> {
+                            Toast.makeText(context, "云台连接失败，请检查设备", Toast.LENGTH_SHORT).show();
+                        });
+                    }
+                }
+            }
+        }).start();
+    }
+
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/FlyVoid.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/FlyVoid.java
index 4fb5948..cdbe602 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Void/FlyVoid.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/FlyVoid.java
@@ -1,5 +1,8 @@
 package com.example.longyi_groundstation.Main.Void;
 
+import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_LAND;
+import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_RETURN_TO_LAUNCH;
+import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_TAKEOFF;
 import static com.example.longyi_groundstation.Main.Service.MyBoundService.type;
 
 import android.content.Context;
@@ -40,6 +43,8 @@ public class FlyVoid {
     // 新增字段：表示参数是否更新完成
     private static volatile boolean isParamUpdateComplete = false;
 
+    public static int[] parseSerialData = null;
+
     // 提供一个获取状态的方法
     public static boolean isParamUpdateComplete() {
         return isParamUpdateComplete;
@@ -72,31 +77,6 @@ public class FlyVoid {
     }
 
 
-    /**
-     * 通用MAVLink消息发送方法
-     */
-    public void sendMavlinkMessage(int type,MAVLinkMessage msg) {
-        MAVLinkPacket packet = msg.pack();
-
-        if (type == 0) { // 串口
-            if (MyBoundService.serialHelper != null) {
-                MyBoundService.serialHelper.send(packet.encodePacket());
-            }
-        } else { // UDP
-            try {
-                InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // 改为飞控IP
-                DatagramPacket udpPacket = new DatagramPacket(
-                        packet.encodePacket(),
-                        packet.encodePacket().length,
-                        targetAddress,
-                        14553 // MAVLink标准端口
-                );
-                MyBoundService.serverSocket.send(udpPacket);
-            } catch (Exception e) {
-                Log.e("cuijinggzhou-发送", "发送失败: " + e.getMessage());
-            }
-        }
-    }
 
 
     /**
@@ -116,9 +96,8 @@ public class FlyVoid {
         sendMavlinkMessage(type,request);
     }
 
-
     /**
-     * 设置参数 (MAVLINK_MSG_ID_PARAM_SET)
+     * 方法：设置参数 (MAVLINK_MSG_ID_PARAM_SET)
      *
      * @cuijingzhou
      */
@@ -133,8 +112,27 @@ public class FlyVoid {
         paramSet.param_type = Short.parseShort(paramType); // 参数类型
         // 发送命令
         sendMavlinkMessage(MyBoundService.type,paramSet);
+        paramList.get(paramId).setParam_value(paramValue);
     }
 
+    /**
+     * 方法：设置参数 (MAVLINK_MSG_ID_PARAM_SET)
+     *
+     * @cuijingzhou
+     */
+    public void requestParamSet(String paramId,String paramValue) {
+        msg_param_set paramSet = new msg_param_set();
+        paramSet.target_system = 1;      // 目标系统ID (飞控)
+        paramSet.target_component = 1;   // 目标组件ID
+        // 设置参数ID (最多16字符)
+        byte[] paramIdBytes = paramId.getBytes();
+        System.arraycopy(paramIdBytes, 0, paramSet.param_id, 0, Math.min(paramIdBytes.length, 16));
+        paramSet.param_value = Float.parseFloat(paramValue);// 参数值
+        paramSet.param_type = Short.parseShort(paramList.get(paramId).getParam_type()); // 参数类型
+        // 发送命令
+        sendMavlinkMessage(MyBoundService.type,paramSet);
+        paramList.get(paramId).setParam_value(paramValue);
+    }
 
     /**
      * 方法：控制电机旋转 param1=电机ID param3=转速 param4=超时
@@ -163,13 +161,159 @@ public class FlyVoid {
     }
 
 
+    /**
+     * 方法：起飞指令
+     *
+     * @cuijingzhou
+     */
+    public void requestTakeOff(String height) {
+        msg_command_long command = new msg_command_long();
+        command.target_system = 1;
+        command.target_component = 1;
+        command.command = MAV_CMD_NAV_TAKEOFF;
+        command.confirmation = 0;
+        command.param1 = 0;
+        command.param2 = 0;
+        command.param3 = 0;
+        command.param4 = 0;
+        command.param5 = 0;
+        command.param6 = 0;
+        command.param7 = Float.parseFloat(height);
+
+        // 发送命令
+        sendMavlinkMessage(MyBoundService.type,command);
+    }
+
+    /**
+     * 方法：返航指令
+     *
+     * @cuijingzhou
+     */
+    public void requestTurnBack() {
+        // 构造命令
+        msg_command_long command = new msg_command_long();
+        command.target_system = 1;
+        command.target_component = 1;
+        command.command = MAV_CMD_NAV_RETURN_TO_LAUNCH;
+        command.confirmation = 0;
+        command.param1 = 0;
+        command.param2 = 0;
+        command.param3 = 0;
+        command.param4 = 0;
+        command.param5 = 0;
+        command.param6 = 0;
+        command.param7 = 0;
+
+        // 发送命令
+        sendMavlinkMessage(MyBoundService.type,command);
+    }
+
+    /**
+     * 方法：降落指令
+     *
+     * @cuijingzhou
+     */
+    public void requestLand() {
+        // 构造命令
+        msg_command_long command = new msg_command_long();
+        command.target_system = 1;      // 目标系统ID（飞控）
+        command.target_component = 1;   // 目标组件ID
+        command.command = MAV_CMD_NAV_LAND; // 返航命令
+        command.confirmation = 0;       // 确认位
+        command.param1 = 0;             // 通常不需要参数
+        command.param2 = 0;
+        command.param3 = 0;
+        command.param4 = 0;
+        command.param5 = 0;
+        command.param6 = 0;
+        command.param7 = 0;
+
+        // 发送命令
+        sendMavlinkMessage(MyBoundService.type,command);
+    }
+
+    /**
+     * 方法：投弹
+     *
+     * @cuijingzhou
+     */
+    public void requestBombing(String str) {
+        // 构造命令
+        byte byteData = SerialTool.decStringToHexByte(str);
+        byte byteData2 = SerialTool.calculateChecksum(byteData);
+        byte[] testData = new byte[]{(byte) 0xFF, byteData, byteData2};
+
+        Log.d("串口2发送的数据", SerialTool.bytesToHex(testData));
+        // 发送命令
+        sendMessage_com2(MyBoundService.type,testData);
+    }
+
+
+
+
+
+    /**
+     * 通用MAVLink消息发送方法-串口1 mavlink通道
+     */
+    public void sendMavlinkMessage(int type,MAVLinkMessage msg) {
+        MAVLinkPacket packet = msg.pack();
+
+        if (type == 0) { // 串口
+            if (MyBoundService.serialHelper != null) {
+                MyBoundService.serialHelper.send(packet.encodePacket());
+            }
+        } else { // UDP
+            try {
+                InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // 改为飞控IP
+                DatagramPacket udpPacket = new DatagramPacket(
+                        packet.encodePacket(),
+                        packet.encodePacket().length,
+                        targetAddress,
+                        14553 // MAVLink标准端口
+                );
+                MyBoundService.serverSocket.send(udpPacket);
+            } catch (Exception e) {
+                Log.e("cuijinggzhou-发送", "发送失败: " + e.getMessage());
+            }
+        }
+    }
+
+    /**
+     * 通用MAVLink消息发送方法-串口2 其它硬件通道
+     */
+    public void sendMessage_com2(int type,byte[] testData) {
+        if (type == 0) { // 串口
+            if (MyBoundService.serialHelper2 != null) {
+                MyBoundService.serialHelper2.send(testData);
+                Log.e("cuijinggzhou-发送", "发送成功 " );
+            }
+        } else { // UDP
+            try {
+                if (MyBoundService.serverSocket2 != null) {
+                    InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // IP
+                    DatagramPacket udpPacket = new DatagramPacket(
+                            testData,
+                            testData.length,
+                            targetAddress,
+                            13553 // 标准端口
+                    );
+                    MyBoundService.serverSocket2.send(udpPacket);
+                    Log.e("cuijinggzhou-发送", "发送成功 " );
+                }
+
+            } catch (Exception e) {
+                Log.e("cuijinggzhou-发送", "发送失败: " + e.getMessage());
+            }
+        }
+    }
+
+
     /**
      * 启动定时任务，用于检查 paramList 的加载进度，并更新 tv_param_load 显示
      */
     private static Handler handler = new Handler(Looper.getMainLooper());
     private static Runnable updateProgressRunnable;
     private static TextView tvParamLoad; // 假设 tvParamLoad 是用于显示进度的 TextView
-
     public static void startParamLoadMonitoring(TextView tvParamLoad) {
         FlyVoid.tvParamLoad = tvParamLoad;
 
@@ -201,4 +345,6 @@ public class FlyVoid {
 
 
 
+
+
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/FpvGestureHandler.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/FpvGestureHandler.java
new file mode 100644
index 0000000..dc51e53
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/FpvGestureHandler.java
@@ -0,0 +1,121 @@
+package com.example.longyi_groundstation.Main.Void;
+
+import android.view.GestureDetector;
+import android.view.MotionEvent;
+import android.view.ScaleGestureDetector;
+import android.view.View;
+
+import com.example.longyi_groundstation.R;
+
+public class FpvGestureHandler implements View.OnTouchListener {
+    private GestureDetector gestureDetector;
+    private ScaleGestureDetector scaleGestureDetector;
+    private OnFpvGestureListener gestureListener;
+    private boolean isSwiping = false; // 标记是否正在滑动
+    private float startX, startY; // 记录初始触摸点
+
+    public FpvGestureHandler(View view) {
+        gestureDetector = new GestureDetector(view.getContext(), new GestureListener());
+        scaleGestureDetector = new ScaleGestureDetector(view.getContext(), new ScaleListener());
+        view.setOnTouchListener(this);
+        view.setLongClickable(true);
+    }
+
+    public void setOnFpvGestureListener(OnFpvGestureListener listener) {
+        this.gestureListener = listener;
+    }
+
+    @Override
+    public boolean onTouch(View v, MotionEvent event) {
+        boolean result = scaleGestureDetector.onTouchEvent(event);
+
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                startX = event.getX();
+                startY = event.getY();
+                break;
+            case MotionEvent.ACTION_MOVE:
+                if (gestureListener != null) {
+                    float endX = event.getX();
+                    float endY = event.getY();
+                    float distanceX = endX - startX;
+                    float distanceY = endY - startY;
+
+                    // 检查是否是滑动操作（避免微小的移动被识别为滑动）
+                    if (Math.abs(distanceX) > 20 || Math.abs(distanceY) > 20) {
+                        if (!isSwiping) {
+                            isSwiping = true;
+                        }
+                        gestureListener.onSwipe(startX, startY, endX, endY, distanceX, distanceY);
+                    }
+                }
+                break;
+            case MotionEvent.ACTION_UP:
+            case MotionEvent.ACTION_CANCEL:
+                if (isSwiping && gestureListener != null) {
+                    gestureListener.onSwipeEnd();
+                }
+                isSwiping = false;
+                startX = 0;
+                startY = 0;
+                break;
+        }
+
+        result = gestureDetector.onTouchEvent(event) || result;
+        return result;
+    }
+
+    private class GestureListener extends GestureDetector.SimpleOnGestureListener {
+        @Override
+        public boolean onSingleTapConfirmed(MotionEvent e) {
+            if (gestureListener != null) {
+                gestureListener.onTap(e.getX(), e.getY());
+            }
+            return true;
+        }
+
+        @Override
+        public boolean onDoubleTap(MotionEvent e) {
+            if (gestureListener != null) {
+                gestureListener.onDoubleTap(e.getX(), e.getY());
+            }
+            return true;
+        }
+
+        @Override
+        public void onLongPress(MotionEvent e) {
+            if (gestureListener != null) {
+                gestureListener.onLongPress(e.getX(), e.getY());
+            }
+        }
+
+        @Override
+        public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY) {
+            // 我们在onTouch中处理滑动，这里不再处理
+            return true;
+        }
+    }
+
+    private class ScaleListener extends ScaleGestureDetector.SimpleOnScaleGestureListener {
+        @Override
+        public boolean onScale(ScaleGestureDetector detector) {
+            if (gestureListener != null) {
+                gestureListener.onZoom(detector.getScaleFactor());
+            }
+            return true;
+        }
+    }
+
+    public interface OnFpvGestureListener {
+        void onTap(float x, float y);
+        void onDoubleTap(float x, float y);
+        void onLongPress(float x, float y);
+        void onSwipe(float startX, float startY, float endX, float endY, float distanceX, float distanceY);
+        void onSwipeUp();
+        void onSwipeDown();
+        void onSwipeLeft();
+        void onSwipeRight();
+        void onZoom(float scaleFactor);
+        void onSwipeEnd(); // 添加滑动结束（抬起）事件
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogManager.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogManager.java
new file mode 100644
index 0000000..c50257e
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogManager.java
@@ -0,0 +1,163 @@
+// LogManager.java
+package com.example.longyi_groundstation.Main.Void.LogCat;
+
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.os.Process;
+import android.util.Log;
+
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.Locale;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Collections;
+
+public class LogManager {
+    private static final String TAG = "LogManager";
+    private static LogManager instance;
+    private HandlerThread logThread;
+    private Handler logHandler;
+    private File logDir;
+    private SimpleDateFormat dateFormat;
+    private SimpleDateFormat fileDateFormat;
+    private String currentDateString;
+
+    private LogManager() {
+        // 初始化日志线程
+        logThread = new HandlerThread("LogThread", Process.THREAD_PRIORITY_BACKGROUND);
+        logThread.start();
+        logHandler = new Handler(logThread.getLooper());
+
+        // 设置日志目录
+        logDir = new File(android.os.Environment.getExternalStorageDirectory(), "LongYiLogs");
+        if (!logDir.exists()) {
+            boolean created = logDir.mkdirs();
+            if (!created) {
+                Log.e(TAG, "Failed to create log directory: " + logDir.getAbsolutePath());
+            }
+        }
+
+        dateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS", Locale.getDefault());
+        fileDateFormat = new SimpleDateFormat("yyyy-MM-dd", Locale.getDefault());
+        currentDateString = fileDateFormat.format(new Date());
+    }
+
+    public static synchronized LogManager getInstance() {
+        if (instance == null) {
+            instance = new LogManager();
+        }
+        return instance;
+    }
+
+    public void saveLog(final String tag, final String msg) {
+        // 直接在日志线程中处理，避免创建额外的Runnables
+        logHandler.post(new Runnable() {
+            @Override
+            public void run() {
+                performSaveLog(tag, msg);
+            }
+        });
+    }
+
+    private void performSaveLog(String tag, String msg) {
+        String time = dateFormat.format(new Date());
+        String logEntry = time + " " + tag + ": " + msg + "\n";
+
+        // 检查是否需要创建新文件（新的一天）
+        String dateStr = fileDateFormat.format(new Date());
+        if (!dateStr.equals(currentDateString)) {
+            currentDateString = dateStr;
+        }
+
+        try {
+            // 确保目录存在
+            if (!logDir.exists()) {
+                boolean created = logDir.mkdirs();
+                if (!created) {
+                    Log.e(TAG, "Failed to create log directory: " + logDir.getAbsolutePath());
+                    return;
+                }
+            }
+
+            File logFile = new File(logDir, "log_" + currentDateString + ".txt");
+
+            // 确保文件存在
+            if (!logFile.exists()) {
+                try {
+                    boolean created = logFile.createNewFile();
+                    if (!created) {
+                        Log.e(TAG, "Failed to create log file: " + logFile.getAbsolutePath());
+                        return;
+                    }
+                } catch (IOException e) {
+                    Log.e(TAG, "IOException when creating log file: " + logFile.getAbsolutePath(), e);
+                    return;
+                }
+            }
+
+            BufferedWriter writer = new BufferedWriter(new FileWriter(logFile, true));
+            writer.write(logEntry);
+            writer.close();
+        } catch (IOException e) {
+            Log.e(TAG, "Failed to write log entry", e);
+        }
+    }
+
+    public File getLogFile(String date) {
+        File logFile = new File(logDir, "log_" + date + ".txt");
+        // 检查文件是否存在
+        if (!logFile.exists()) {
+            return null;
+        }
+        return logFile;
+    }
+
+    public File getCurrentLogFile() {
+        File logFile = new File(logDir, "log_" + currentDateString + ".txt");
+        // 检查文件是否存在
+        if (!logFile.exists()) {
+            return null;
+        }
+        return logFile;
+    }
+
+    public List<String> getAvailableDates() {
+        List<String> dates = new ArrayList<>();
+
+        // 检查目录是否存在
+        if (!logDir.exists()) {
+            return dates;
+        }
+
+        File[] files = logDir.listFiles();
+
+        if (files != null) {
+            for (File file : files) {
+                String name = file.getName();
+                if (name.startsWith("log_") && name.endsWith(".txt")) {
+                    String date = name.substring(4, name.length() - 4); // 提取日期部分
+                    dates.add(date);
+                }
+            }
+        }
+
+        // 按日期倒序排列（最新的在前）
+        Collections.sort(dates, Collections.reverseOrder());
+        return dates;
+    }
+
+    public boolean isLogDirAvailable() {
+        return logDir != null && logDir.exists();
+    }
+
+    public void shutdown() {
+        if (logThread != null) {
+            logThread.quitSafely();
+        }
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogUtil.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogUtil.java
new file mode 100644
index 0000000..a9efc8d
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/LogCat/LogUtil.java
@@ -0,0 +1,16 @@
+// LogUtil.java
+package com.example.longyi_groundstation.Main.Void.LogCat;
+
+import android.util.Log;
+
+public class LogUtil {
+    public static void d(String tag, String msg) {
+        // 正常打印日志
+//        Log.d(tag, msg);
+        
+        // 保存日志到文件
+        LogManager.getInstance().saveLog(tag, msg);
+    }
+    
+    // 可以添加其他级别的日志方法 (e, w, i等)
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/MapVoid.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/MapVoid.java
index ffc1ca1..42ba12b 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Void/MapVoid.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/MapVoid.java
@@ -1,19 +1,29 @@
 package com.example.longyi_groundstation.Main.Void;
 
 import android.app.Activity;
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
 import android.graphics.Color;
+import android.graphics.Paint;
+import android.graphics.Rect;
 import android.location.Location;
 import android.os.Bundle;
 import android.util.Log;
+import android.view.View;
+import android.widget.TextView;
 
 import com.amap.api.maps.AMap;
 import com.amap.api.maps.AMapUtils;
 import com.amap.api.maps.MapView;
 import com.amap.api.maps.MapsInitializer;
+import com.amap.api.maps.model.BitmapDescriptorFactory;
 import com.amap.api.maps.model.LatLng;
+import com.amap.api.maps.model.Marker;
+import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.MyLocationStyle;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
+import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
 import com.example.longyi_groundstation.Main.Activity.MainActivity;
 import com.example.longyi_groundstation.R;
 
@@ -23,7 +33,7 @@ import java.util.List;
 public class MapVoid {
     private String TAG = "cui";
 
-    private Activity  activity;
+    private Activity activity;
 
     public AllView allView;
 
@@ -32,12 +42,18 @@ public class MapVoid {
     public AMap aMap = null;
     //初始化地图控制器对象
     //画线
-    public Polyline polyline;
+
     //画线
     public List<LatLng> latLngss;
 
+    public List<Marker> waypointMarkers = new ArrayList<>();
+    public List<LatLng> waypointPositions = new ArrayList<>();
+    public Polyline polyline; // 用于保存航线
+    public int waypointCounter = 1;
+
 
     public List<LatLng> flyPointList = new ArrayList<>();
+    public List<Marker> textMarkers = new ArrayList<>();
 
     public MapVoid(Activity activity) {
         this.activity = activity;
@@ -45,20 +61,22 @@ public class MapVoid {
     }
 
     public void init() {
-        //高德地图用户协议不能删除
+        // 高德地图用户协议不能删除
         MapsInitializer.updatePrivacyShow(activity, true, true);
         MapsInitializer.updatePrivacyAgree(activity, true);
         allView = new AllView(activity);
-        //在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
+        // 在activity执行onCreate时执行mMapView.onCreate(savedInstanceState)，创建地图
         allView.map.onCreate(savedInstanceState);
         aMap = allView.map.getMap();
         // 禁用POI点击
         aMap.setMapType(AMap.MAP_TYPE_SATELLITE);// 设置卫星地图模式，aMap是地图控制器对象。
         aMap.getUiSettings().setZoomControlsEnabled(false);// 隐藏地图上的缩放控件（+ 和 - 按钮）
+        // 隐藏地图上的所有文字标注（地名、道路名等）
+        aMap.showMapText(false);
         MyLocationStyle myLocationStyle;
-        myLocationStyle = new MyLocationStyle();//初始化定位蓝点样式类
-        myLocationStyle.myLocationType(MyLocationStyle.LOCATION_TYPE_LOCATE);//定位一次，且将视角移动到地图中心点。
-        aMap.setMyLocationStyle(myLocationStyle);//设置定位蓝点的Style
+        myLocationStyle = new MyLocationStyle();// 初始化定位蓝点样式类
+        myLocationStyle.myLocationType(MyLocationStyle.LOCATION_TYPE_LOCATE);// 定位一次，且将视角移动到地图中心点。
+        aMap.setMyLocationStyle(myLocationStyle);// 设置定位蓝点的Style
         aMap.setMyLocationEnabled(false);// 设置为true表示启动显示定位蓝点，false表示隐藏定位蓝点并不进行定位，默认是false。
         aMap.setOnMyLocationChangeListener(new AMap.OnMyLocationChangeListener() {
             @Override
@@ -67,42 +85,18 @@ public class MapVoid {
             }
         });
 
-
-        //画大地图飞行线
-        polyline = aMap.addPolyline(new PolylineOptions()
-                .width(10)
-                .color(
-                        Color.argb(255, 1, 1, 1))
-        );
-        polyline.setVisible(true);
-        latLngss = new ArrayList<>();
-        upLine();
-    }
-
-    /**
-     * 方法：更新线路的线程
-     *
-     * @cuijingzhou
-     */
-    public void upLine() {
-        new Thread(new Runnable() {
+        // 添加marker点击监听器，确保点击时显示信息窗口
+        aMap.setOnMarkerClickListener(new AMap.OnMarkerClickListener() {
             @Override
-            public void run() {
-                while (aMap != null){
-                    try {
-                        polyline.setPoints(latLngss);
-                        Thread.sleep(1000);
-//                        polyline.setVisible(true);
-                    } catch (InterruptedException e) {
-                        e.printStackTrace();
-                    }
+            public boolean onMarkerClick(Marker marker) {
+                // 检查是否是航点marker
+                if (waypointMarkers.contains(marker)) {
+                    marker.showInfoWindow();
+                    return true;
                 }
+                return false;
             }
-        }).start();
-    }
-
-    public void showLine(boolean isShow) {
-        polyline.setVisible(isShow);
+        });
     }
 
 
@@ -121,4 +115,12 @@ public class MapVoid {
         // 保留两位小数
         return Math.round(distance * 100.0) / 100.0;
     }
+
+
+
+
+
+
+
+
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyReceiver.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyReceiver.java
index 6be998f..b0619be 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyReceiver.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyReceiver.java
@@ -18,6 +18,9 @@ public class MyReceiver extends BroadcastReceiver {
     public static JSONObject STATUSTEXT_json = null;//告警
     public static JSONObject HEARTBEAT_json = null;//飞机基础飞行模式
     public static JSONObject PARAM_VALUE_json = null;//飞机基础飞行模式
+    public static JSONObject RC_CHANNELS_json = null;//RC通道监控
+    public static JSONObject VFR_HUD_json = null;//油门量
+
 
 
     //ATTITUDE
@@ -68,6 +71,18 @@ public class MyReceiver extends BroadcastReceiver {
     }
     private OnParamValueListener ParamValuelistener;
 
+
+    public interface OnRcChannelsListener {
+        void onRcChannels(JSONObject data);
+    }
+    private OnRcChannelsListener RcChannelslistener;
+
+    public interface OnVfrHudListener {
+        void onVfrHud(JSONObject data);
+    }
+    private OnVfrHudListener VfrHudlistener;
+
+
     public void setATTITUDEListener(OnATTITUDEListener listener) {
         this.ATTITUDElistener = listener;
     }
@@ -93,6 +108,14 @@ public class MyReceiver extends BroadcastReceiver {
         this.ParamValuelistener = listener;
     }
 
+    public void setRcChannelsRawlistener(OnRcChannelsListener listener) {
+        this.RcChannelslistener = listener;
+    }
+
+    public void setVfrHudlistener(OnVfrHudListener listener) {
+        this.VfrHudlistener = listener;
+    }
+
 
     @Override
     public void onReceive(Context context, Intent intent) {
@@ -111,7 +134,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_ATTITUDE", e.toString());
             }
 
         }
@@ -130,7 +153,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_GPS_RAW_INT", e.toString());
             }
 
         }
@@ -148,7 +171,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+//                Log.e("cuijingzhou-e Broadcast_GLOBAL_POSITION_INT", e.toString());
             }
         }
 
@@ -166,7 +189,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_POWER_STATUS", e.toString());
             }
 
         }
@@ -185,7 +208,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_SYS_STATUS", e.toString());
             }
         }
 
@@ -203,7 +226,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_STATUSTEXT", e.toString());
             }
         }
 
@@ -221,7 +244,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_HEARTBEAT", e.toString());
             }
         }
 
@@ -239,11 +262,46 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e", e.toString());
+                Log.e("cuijingzhou-e Broadcast_PARAM_VALUE", e.toString());
             }
         }
 
 
+        if ("Broadcast_RC_CHANNELS".equals(intent.getAction())) {
+            try {
+                String receivedData = intent.getStringExtra("data");
+                if (receivedData != null) {
+                    RC_CHANNELS_json = new JSONObject(receivedData);
+                    RC_CHANNELS_json.optString("jsonObject");
+//                    Log.d("cuijingzhou", "onReceive: " + receivedData);
+                    // 触发回调
+                    if (RcChannelslistener != null) {
+                        RcChannelslistener.onRcChannels(RC_CHANNELS_json);
+                    }
+                }
 
+            } catch (Exception e) {
+                Log.e("cuijingzhou-e Broadcast_RC_CHANNELS_RAW", e.toString());
+            }
+        }
+
+
+        if ("Broadcast_VFR_HUD".equals(intent.getAction())) {
+            try {
+                String receivedData = intent.getStringExtra("data");
+                if (receivedData != null) {
+                    VFR_HUD_json = new JSONObject(receivedData);
+                    VFR_HUD_json.optString("jsonObject");
+//                    Log.d("cuijingzhou", "onReceive: " + receivedData);
+                    // 触发回调
+                    if (VfrHudlistener != null) {
+                        VfrHudlistener.onVfrHud(VFR_HUD_json);
+                    }
+                }
+
+            } catch (Exception e) {
+                Log.e("cuijingzhou-e Broadcast_RC_CHANNELS_RAW", e.toString());
+            }
+        }
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyTool.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyTool.java
index bea9eb1..5f78f0f 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyTool.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/MyTool.java
@@ -102,9 +102,61 @@ public class MyTool {
     }
 
 
+    /**
+     * 方法：油门量公式
+     *
+     * @cuijingzhou
+     */
+    public static double getThrottle(double spin_mins, double spin_maxs, double thrust_curve_expos, double thrusts, double lift_maxs) {
+        double thr_out = 0;//油门量
+        double spin_min = 0.95;//对应MOT_SPIN_MIN，没获取到就用默认的
+        double spin_max = 0.2;//对应MOT_SPIN_MAX，没获取到就用默认的
 
+        double throttle_curve = 0;
+        double thrust_curve_expo = 0.65;//曲线指数
+        double thrust = 0;//获取到的油门
+        double lift_max = 1;//获取到的油门
 
+        if (spin_mins != 0){
+            spin_min = spin_mins;
+        }
+        if (spin_maxs != 0){
+            spin_max = spin_maxs;
+        }
+        if (thrust_curve_expos != 0){
+            thrust_curve_expo = thrust_curve_expos;
+        }
+        if (thrusts != 0){
+            thrust = thrusts;
+        }
+        if (lift_maxs != 0){
+            lift_max = lift_maxs;
+        }
 
+        //公式一
+        throttle_curve = ((thrust_curve_expo - 1.0) + safe_sqrt(
+                        (1.0 - thrust_curve_expo) * (1.0 - thrust_curve_expo) + 4.0 * thrust_curve_expo * lift_max * thrust)) / (2.0 * thrust_curve_expo);//对应MOT_SPIN_MIN，没获取到就用默认的
+        //公式二
+        thr_out = spin_min + (spin_max - spin_min) //油门量公式运算
+                *  throttle_curve;
+
+        return thr_out;
+    }
+
+    /**
+     * 方法：安全平方根计算
+     * 防止对负数开方导致异常
+     *
+     * @param value 需要开方的数值
+     * @return 开方结果，如果输入为负数则返回0
+     * @cuijingzhou
+     */
+    public static double safe_sqrt(double value) {
+        if (value < 0) {
+            return 0.0;
+        }
+        return Math.sqrt(value);
+    }
 
 
 }
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/SQLClass.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/SQLClass.java
new file mode 100644
index 0000000..a3d0968
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/SQLClass.java
@@ -0,0 +1,441 @@
+package com.example.longyi_groundstation.Main.Void;
+
+import android.content.ContentValues;
+import android.content.Context;
+import android.database.Cursor;
+import android.database.sqlite.SQLiteDatabase;
+import android.database.sqlite.SQLiteOpenHelper;
+import android.util.Log;
+
+import com.amap.api.maps.model.LatLng;
+import com.example.longyi_groundstation.Main.Base.CreateLink;
+
+import java.util.ArrayList;
+import java.util.List;
+
+
+/**
+ * 方法：SQLClass （飞行航线本地数据库）
+ * // 初始化数据库
+ * SQLClass sqlClass = new SQLClass(context);
+ *
+ * // 添加一个CreateLink列表
+ * ArrayList<CreateLink> createLinkList = new ArrayList<>();
+ * // ... 添加CreateLink对象到列表中
+ * boolean success = sqlClass.addCreateLinkList("路线1", createLinkList);
+ *
+ * // 获取所有列表信息
+ * List<SQLClass.LinkListInfo> listInfos = sqlClass.getAllLinkListInfo();
+ *
+ * // 获取指定ID的完整列表
+ * ArrayList<CreateLink> retrievedList = sqlClass.getCreateLinkList(1);
+ *
+ * // 更新列表
+ * sqlClass.updateCreateLinkList(1, "新路线名称", updatedCreateLinkList);
+ *
+ * // 删除列表
+ * sqlClass.deleteCreateLinkList(1);
+ *
+ * // 获取列表数量
+ * int count = sqlClass.getLinkListCount();
+ *
+ * @cuijingzhou
+ */
+
+public class SQLClass extends SQLiteOpenHelper {
+    private static final String TAG = "SQLClass";
+
+    // 数据库名称和版本
+    private static final String DATABASE_NAME = "create_link_list.db";
+    private static final int DATABASE_VERSION = 1;
+
+    // 主表 - 存储列表信息
+    private static final String TABLE_LINK_LIST = "link_list";
+    private static final String COLUMN_LIST_ID = "list_id";
+    private static final String COLUMN_LIST_NAME = "list_name";
+    private static final String COLUMN_CREATED_TIME = "created_time";
+
+    // 详情表 - 存储每个列表中的CreateLink项
+    private static final String TABLE_LINK_ITEMS = "link_items";
+    private static final String COLUMN_ITEM_ID = "item_id";
+    private static final String COLUMN_LIST_REF_ID = "list_ref_id"; // 外键，关联到列表ID
+    private static final String COLUMN_NAME = "name";
+    private static final String COLUMN_HEIGHT = "height";
+    private static final String COLUMN_SPEED = "speed";
+    private static final String COLUMN_WAYPOINT_INDEX = "waypoint_index";
+    private static final String COLUMN_LATITUDE = "latitude";
+    private static final String COLUMN_LONGITUDE = "longitude";
+    private static final String COLUMN_ITEM_ORDER = "item_order"; // 项在列表中的顺序
+
+    // 创建主表的SQL语句
+    private static final String CREATE_LIST_TABLE_SQL =
+            "CREATE TABLE " + TABLE_LINK_LIST + " (" +
+                    COLUMN_LIST_ID + " INTEGER PRIMARY KEY AUTOINCREMENT, " +
+                    COLUMN_LIST_NAME + " TEXT NOT NULL, " +
+                    COLUMN_CREATED_TIME + " INTEGER NOT NULL)";
+
+    // 创建详情表的SQL语句
+    private static final String CREATE_ITEMS_TABLE_SQL =
+            "CREATE TABLE " + TABLE_LINK_ITEMS + " (" +
+                    COLUMN_ITEM_ID + " INTEGER PRIMARY KEY AUTOINCREMENT, " +
+                    COLUMN_LIST_REF_ID + " INTEGER NOT NULL, " +
+                    COLUMN_NAME + " TEXT NOT NULL, " +
+                    COLUMN_HEIGHT + " REAL NOT NULL, " +
+                    COLUMN_SPEED + " REAL NOT NULL, " +
+                    COLUMN_WAYPOINT_INDEX + " INTEGER NOT NULL, " +
+                    COLUMN_LATITUDE + " REAL, " +
+                    COLUMN_LONGITUDE + " REAL, " +
+                    COLUMN_ITEM_ORDER + " INTEGER NOT NULL, " +
+                    "FOREIGN KEY(" + COLUMN_LIST_REF_ID + ") REFERENCES " +
+                    TABLE_LINK_LIST + "(" + COLUMN_LIST_ID + ") ON DELETE CASCADE)";
+
+    public SQLClass(Context context) {
+        super(context, DATABASE_NAME, null, DATABASE_VERSION);
+    }
+
+    @Override
+    public void onCreate(SQLiteDatabase db) {
+        db.execSQL(CREATE_LIST_TABLE_SQL);
+        db.execSQL(CREATE_ITEMS_TABLE_SQL);
+    }
+
+    @Override
+    public void onUpgrade(SQLiteDatabase db, int oldVersion, int newVersion) {
+        db.execSQL("DROP TABLE IF EXISTS " + TABLE_LINK_ITEMS);
+        db.execSQL("DROP TABLE IF EXISTS " + TABLE_LINK_LIST);
+        onCreate(db);
+    }
+
+    @Override
+    public void onConfigure(SQLiteDatabase db) {
+        super.onConfigure(db);
+        db.setForeignKeyConstraintsEnabled(true); // 启用外键约束
+    }
+
+    /**
+     * 添加一个CreateLink列表
+     * @param listName 列表名称
+     * @param createLinkList CreateLink列表
+     * @return 添加成功返回true，否则返回false
+     */
+    public boolean addCreateLinkList(String listName, ArrayList<CreateLink> createLinkList) {
+        // 检查是否已达到最大数量限制
+        if (getLinkListCount() >= 10) {
+            Log.w(TAG, "已达到最大存储数量限制(10个列表)，无法添加新列表");
+            return false;
+        }
+
+        SQLiteDatabase db = this.getWritableDatabase();
+        db.beginTransaction(); // 开始事务以确保数据一致性
+
+        try {
+            // 插入列表信息
+            ContentValues listValues = new ContentValues();
+            listValues.put(COLUMN_LIST_NAME, listName);
+            listValues.put(COLUMN_CREATED_TIME, System.currentTimeMillis());
+
+            long listId = db.insert(TABLE_LINK_LIST, null, listValues);
+            if (listId == -1) {
+                db.endTransaction();
+                return false;
+            }
+
+            // 插入列表中的每个CreateLink项
+            for (int i = 0; i < createLinkList.size(); i++) {
+                CreateLink createLink = createLinkList.get(i);
+                ContentValues itemValues = new ContentValues();
+
+                itemValues.put(COLUMN_LIST_REF_ID, listId);
+                itemValues.put(COLUMN_NAME, createLink.getName());
+                itemValues.put(COLUMN_HEIGHT, createLink.getHeight());
+                itemValues.put(COLUMN_SPEED, createLink.getSpeed());
+                itemValues.put(COLUMN_WAYPOINT_INDEX, createLink.getWaypointIndex());
+
+                if (createLink.getLatLng() != null) {
+                    itemValues.put(COLUMN_LATITUDE, createLink.getLatLng().latitude);
+                    itemValues.put(COLUMN_LONGITUDE, createLink.getLatLng().longitude);
+                } else {
+                    itemValues.put(COLUMN_LATITUDE, 0.0);
+                    itemValues.put(COLUMN_LONGITUDE, 0.0);
+                }
+
+                itemValues.put(COLUMN_ITEM_ORDER, i);
+
+                long itemId = db.insert(TABLE_LINK_ITEMS, null, itemValues);
+                if (itemId == -1) {
+                    db.endTransaction();
+                    return false;
+                }
+            }
+
+            db.setTransactionSuccessful(); // 标记事务成功
+            return true;
+        } catch (Exception e) {
+            Log.e(TAG, "添加CreateLink列表时出错", e);
+            return false;
+        } finally {
+            db.endTransaction(); // 结束事务
+            db.close();
+        }
+    }
+
+    /**
+     * 获取所有列表的基本信息（不包含列表内容）
+     * @return 包含列表ID和名称的列表
+     */
+    public List<LinkListInfo> getAllLinkListInfo() {
+        List<LinkListInfo> listInfoList = new ArrayList<>();
+        String selectQuery = "SELECT " + COLUMN_LIST_ID + ", " + COLUMN_LIST_NAME +
+                ", " + COLUMN_CREATED_TIME +
+                " FROM " + TABLE_LINK_LIST +
+                " ORDER BY " + COLUMN_CREATED_TIME + " DESC";
+
+        SQLiteDatabase db = this.getReadableDatabase();
+        Cursor cursor = db.rawQuery(selectQuery, null);
+
+        if (cursor.moveToFirst()) {
+            do {
+                int listId = cursor.getInt(cursor.getColumnIndexOrThrow(COLUMN_LIST_ID));
+                String listName = cursor.getString(cursor.getColumnIndexOrThrow(COLUMN_LIST_NAME));
+                long createdTime = cursor.getLong(cursor.getColumnIndexOrThrow(COLUMN_CREATED_TIME));
+
+                listInfoList.add(new LinkListInfo(listId, listName, createdTime));
+            } while (cursor.moveToNext());
+        }
+
+        cursor.close();
+        db.close();
+        return listInfoList;
+    }
+
+    /**
+     * 根据列表ID获取完整的CreateLink列表
+     * @param listId 列表ID
+     * @return CreateLink列表，如果不存在返回null
+     */
+    public ArrayList<CreateLink> getCreateLinkList(int listId) {
+        // 首先检查列表是否存在
+        if (!isLinkListExists(listId)) {
+            return null;
+        }
+
+        ArrayList<CreateLink> createLinkList = new ArrayList<>();
+        String selectQuery = "SELECT * FROM " + TABLE_LINK_ITEMS +
+                " WHERE " + COLUMN_LIST_REF_ID + " = ?" +
+                " ORDER BY " + COLUMN_ITEM_ORDER;
+
+        SQLiteDatabase db = this.getReadableDatabase();
+        Cursor cursor = db.rawQuery(selectQuery, new String[]{String.valueOf(listId)});
+
+        if (cursor.moveToFirst()) {
+            do {
+                String name = cursor.getString(cursor.getColumnIndexOrThrow(COLUMN_NAME));
+                double height = cursor.getDouble(cursor.getColumnIndexOrThrow(COLUMN_HEIGHT));
+                double speed = cursor.getDouble(cursor.getColumnIndexOrThrow(COLUMN_SPEED));
+                int waypointIndex = cursor.getInt(cursor.getColumnIndexOrThrow(COLUMN_WAYPOINT_INDEX));
+                double latitude = cursor.getDouble(cursor.getColumnIndexOrThrow(COLUMN_LATITUDE));
+                double longitude = cursor.getDouble(cursor.getColumnIndexOrThrow(COLUMN_LONGITUDE));
+
+                LatLng latLng = new LatLng(latitude, longitude);
+                CreateLink createLink = new CreateLink(name, height, speed, waypointIndex, latLng);
+                createLinkList.add(createLink);
+            } while (cursor.moveToNext());
+        }
+
+        cursor.close();
+        db.close();
+        return createLinkList;
+    }
+
+    /**
+     * 更新指定ID的CreateLink列表
+     * @param listId 列表ID
+     * @param listName 新的列表名称
+     * @param createLinkList 新的CreateLink列表
+     * @return 更新成功返回true，否则返回false
+     */
+    public boolean updateCreateLinkList(int listId, String listName, ArrayList<CreateLink> createLinkList) {
+        // 检查列表是否存在
+        if (!isLinkListExists(listId)) {
+            Log.w(TAG, "列表ID " + listId + " 不存在，无法更新");
+            return false;
+        }
+
+        SQLiteDatabase db = this.getWritableDatabase();
+        db.beginTransaction(); // 开始事务以确保数据一致性
+
+        try {
+            // 更新列表名称
+            ContentValues listValues = new ContentValues();
+            listValues.put(COLUMN_LIST_NAME, listName);
+
+            int updateResult = db.update(TABLE_LINK_LIST, listValues,
+                    COLUMN_LIST_ID + " = ?",
+                    new String[]{String.valueOf(listId)});
+
+            if (updateResult <= 0) {
+                db.endTransaction();
+                return false;
+            }
+
+            // 删除原有的列表项
+            db.delete(TABLE_LINK_ITEMS, COLUMN_LIST_REF_ID + " = ?",
+                    new String[]{String.valueOf(listId)});
+
+            // 插入新的列表项
+            for (int i = 0; i < createLinkList.size(); i++) {
+                CreateLink createLink = createLinkList.get(i);
+                ContentValues itemValues = new ContentValues();
+
+                itemValues.put(COLUMN_LIST_REF_ID, listId);
+                itemValues.put(COLUMN_NAME, createLink.getName());
+                itemValues.put(COLUMN_HEIGHT, createLink.getHeight());
+                itemValues.put(COLUMN_SPEED, createLink.getSpeed());
+                itemValues.put(COLUMN_WAYPOINT_INDEX, createLink.getWaypointIndex());
+
+                if (createLink.getLatLng() != null) {
+                    itemValues.put(COLUMN_LATITUDE, createLink.getLatLng().latitude);
+                    itemValues.put(COLUMN_LONGITUDE, createLink.getLatLng().longitude);
+                } else {
+                    itemValues.put(COLUMN_LATITUDE, 0.0);
+                    itemValues.put(COLUMN_LONGITUDE, 0.0);
+                }
+
+                itemValues.put(COLUMN_ITEM_ORDER, i);
+
+                long itemId = db.insert(TABLE_LINK_ITEMS, null, itemValues);
+                if (itemId == -1) {
+                    db.endTransaction();
+                    return false;
+                }
+            }
+
+            db.setTransactionSuccessful(); // 标记事务成功
+            return true;
+        } catch (Exception e) {
+            Log.e(TAG, "更新CreateLink列表时出错", e);
+            return false;
+        } finally {
+            db.endTransaction(); // 结束事务
+            db.close();
+        }
+    }
+
+    /**
+     * 根据列表ID删除CreateLink列表
+     * @param listId 列表ID
+     * @return 删除成功返回true，否则返回false
+     */
+    public boolean deleteCreateLinkList(int listId) {
+        SQLiteDatabase db = this.getWritableDatabase();
+        db.beginTransaction(); // 开始事务
+
+        try {
+            // 删除列表项
+            db.delete(TABLE_LINK_ITEMS, COLUMN_LIST_REF_ID + " = ?",
+                    new String[]{String.valueOf(listId)});
+
+            // 删除列表
+            int result = db.delete(TABLE_LINK_LIST, COLUMN_LIST_ID + " = ?",
+                    new String[]{String.valueOf(listId)});
+
+            db.setTransactionSuccessful(); // 标记事务成功
+            return result > 0;
+        } catch (Exception e) {
+            Log.e(TAG, "删除CreateLink列表时出错", e);
+            return false;
+        } finally {
+            db.endTransaction(); // 结束事务
+            db.close();
+        }
+    }
+
+    /**
+     * 删除所有CreateLink列表
+     * @return 删除成功返回true，否则返回false
+     */
+    public boolean deleteAllCreateLinkLists() {
+        SQLiteDatabase db = this.getWritableDatabase();
+        db.beginTransaction(); // 开始事务
+
+        try {
+            // 删除所有列表项
+            db.delete(TABLE_LINK_ITEMS, null, null);
+
+            // 删除所有列表
+            db.delete(TABLE_LINK_LIST, null, null);
+
+            db.setTransactionSuccessful(); // 标记事务成功
+            return true;
+        } catch (Exception e) {
+            Log.e(TAG, "删除所有CreateLink列表时出错", e);
+            return false;
+        } finally {
+            db.endTransaction(); // 结束事务
+            db.close();
+        }
+    }
+
+    /**
+     * 获取存储的列表数量
+     * @return 列表数量
+     */
+    public int getLinkListCount() {
+        String countQuery = "SELECT COUNT(*) FROM " + TABLE_LINK_LIST;
+        SQLiteDatabase db = this.getReadableDatabase();
+        Cursor cursor = db.rawQuery(countQuery, null);
+        int count = 0;
+
+        if (cursor.moveToFirst()) {
+            count = cursor.getInt(0);
+        }
+
+        cursor.close();
+        db.close();
+        return count;
+    }
+
+    /**
+     * 检查指定ID的列表是否存在
+     * @param listId 列表ID
+     * @return 存在返回true，否则返回false
+     */
+    public boolean isLinkListExists(int listId) {
+        String query = "SELECT 1 FROM " + TABLE_LINK_LIST +
+                " WHERE " + COLUMN_LIST_ID + " = ? LIMIT 1";
+        SQLiteDatabase db = this.getReadableDatabase();
+        Cursor cursor = db.rawQuery(query, new String[]{String.valueOf(listId)});
+        boolean exists = cursor.getCount() > 0;
+
+        cursor.close();
+        db.close();
+        return exists;
+    }
+
+    /**
+     * 列表信息内部类
+     */
+    public static class LinkListInfo {
+        private int listId;
+        private String listName;
+        private long createdTime;
+
+        public LinkListInfo(int listId, String listName, long createdTime) {
+            this.listId = listId;
+            this.listName = listName;
+            this.createdTime = createdTime;
+        }
+
+        public int getListId() {
+            return listId;
+        }
+
+        public String getListName() {
+            return listName;
+        }
+
+        public long getCreatedTime() {
+            return createdTime;
+        }
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/SerialTool.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/SerialTool.java
new file mode 100644
index 0000000..e2ad7ee
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/SerialTool.java
@@ -0,0 +1,105 @@
+package com.example.longyi_groundstation.Main.Void;
+
+public class SerialTool {
+
+    /**
+     * 将字节数组转换为Hex字符串
+     *
+     * @param bytes 字节数组
+     * @return Hex字符串
+     */
+    public static String bytesToHex(byte[] bytes) {
+        StringBuilder result = new StringBuilder();
+        for (byte b : bytes) {
+            result.append(String.format("%02X", b));
+        }
+        return result.toString();
+    }
+
+    /**
+     * 将十进制字符串转换为十六进制byte
+     *
+     * @param decString 十进制字符串
+     * @return 十六进制byte值
+     * @throws IllegalArgumentException 当输入不是有效的十进制字符串或超出范围时
+     */
+    public static byte decStringToHexByte(String decString) {
+        if (decString == null || decString.isEmpty()) {
+            throw new IllegalArgumentException("输入的十进制字符串不能为空");
+        }
+
+        try {
+            // 将十进制字符串解析为整数
+            int value = Integer.parseInt(decString);
+
+            // 检查范围是否在0-255之间（单字节范围）
+            if (value < 0 || value > 255) {
+                throw new IllegalArgumentException("十进制值超出byte范围(0-255): " + decString);
+            }
+
+            // 直接返回对应的byte值
+            return (byte) value;
+        } catch (NumberFormatException e) {
+            throw new IllegalArgumentException("输入的不是有效的十进制字符串: " + decString);
+        }
+    }
+
+
+
+
+    /**
+     * 计算校验和
+     * 校验和 = 帧头(0xFF) + 发送设置高度，取低8位
+     *
+     * @param heightSetting 发送设置高度的byte值
+     * @return 校验和的byte值
+     */
+    public static byte calculateChecksum(byte heightSetting) {
+        // 帧头固定为0xFF
+        int frameHeader = 0xFF;
+
+        // 将byte转换为无符号整数进行计算
+        int heightValue = heightSetting & 0xFF;
+
+        // 计算校验和：帧头 + 设置高度
+        int checksum = frameHeader + heightValue;
+
+        // 取低8位
+        checksum = checksum & 0xFF;
+
+        // 转换为byte返回
+        return (byte) checksum;
+    }
+
+
+    /**
+     * 解析串口数据，提取特定字节并转换为十进制值
+     * 添加校验：data第4个字节 = data第1个+data第2个+data第3个，取低8位
+     *
+     * @param data 串口数据字节数组
+     * @return 包含解析结果的数组，[0]为第2、3字节组合的值，[1]为第4字节的值；校验失败返回null
+     */
+    public static int[] parseSerialData(byte[] data) {
+        if (data == null || data.length < 4) {
+            throw new IllegalArgumentException("数据长度不足，无法解析");
+        }
+
+        // 校验：第4个字节应该等于前三个字节之和的低8位
+        int checksum = (data[0] & 0xFF) + (data[1] & 0xFF) + (data[2] & 0xFF);
+        checksum = checksum & 0xFF; // 取低8位
+
+        // 如果校验失败，返回null
+        if ((data[3] & 0xFF) != checksum) {
+            return null;
+        }
+
+        // 提取第2、3字节组合成一个16位值 (例如: 01 2C -> 0x012C = 300)
+        int value1 = ((data[1] & 0xFF) << 8) | (data[2] & 0xFF);
+
+        // 提取第4字节转换为十进制 (例如: 12 -> 0x12 = 18)
+        int value2 = data[3] & 0xFF;
+
+        return new int[]{value1, value2};
+    }
+
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Instruction.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Instruction.java
new file mode 100644
index 0000000..2ee1ad1
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Instruction.java
@@ -0,0 +1,90 @@
+package com.example.longyi_groundstation.Main.Void.XiangTuo;
+
+public enum Instruction {
+
+    /**
+     * 云台控制指令：
+     * PTZ_LEFT_AND_DOWN：云台左下移动
+     * PTZ_RIGHT_AND_UP：云台右上移动
+     * PTZ_RIGHT_AND_DOWN：云台右下移动
+     * PTZ_LEFT_AND_UP：云台左上移动
+     * MOTOR_STOP：运动停止（速度控制模式）
+     * 角度控制指令：
+     * PITCH_ANGLE_CONTROL：俯仰角度控制
+     * YAW_ANGLE_CONTROL：航向角度控制
+     * 点动/跟踪指令：
+     * POINT_TO_MOVE：指点移动（画面XY坐标）
+     * POINT_TO_TRACKING：指点跟踪（画面XY坐标）
+     * STOP_TRACKING：停止跟踪
+     * 模式切换指令：
+     * FOLLOW_YAW_MODE：航向跟随模式
+     * LOCK_YAW_MODE：航向锁定模式
+     * VERTICAL_OVERLOOK：垂直俯视（一键按下）90° overlook
+     * ONE_CLICK_RESET：一键回中
+     * 拍照/录像指令：
+     * TAKE_PICTURE：拍照
+     * START_RECORDING：开始录像
+     * STOP_RECORDING：停止录像
+     * 可见光变焦指令：
+     * VIS_LIGHT_ZOOM：可见光变焦
+     * VIS_LIGHT_SPEED_ZOOM：可见光速度变焦
+     * VIS_LIGHT_STOP_ZOOM：可见光停止变焦
+     * VIS_LIGHT_SPEC_OPT_ZOOM：可见光特殊光学变焦
+     * 可见光手动聚焦指令：
+     * TURN_ON_VIS_LIGHT_MAN_FOCUS：开启可见光手动聚焦
+     * TURN_OFF_VIS_LIGHT_MAN_FOCUS：关闭可见光手动聚焦
+     * VIS_LIGHT_MAN_FOCUS_PLUS：可见光手动聚焦（远焦）
+     * VIS_LIGHT_MAN_FOCUS_MINUS：可见光手动聚焦（近焦）
+     * VIS_LIGHT_MAN_FOCUS_STOP：可见光手动聚焦停止
+     * OSD显示指令：
+     * TURN_ON_OSD：打开OSD显示
+     * TURN_OFF_OSD：关闭OSD显示
+     *
+     * @cuijingzhou
+     */
+
+    PTZ_UP((byte) 0x00, (byte) 0x08),
+    PTZ_DOWN((byte) 0x00, (byte) 0x10),
+    PTZ_LEFT((byte) 0x00, (byte) 0x04),
+    PTZ_RIGHT((byte) 0x00, (byte) 0x02),
+    MOTOR_STOP((byte) 0x00, (byte) 0x00),
+    PITCH_ANGLE_CONTROL((byte) 0x10, (byte) 0x01),
+    YAW_ANGLE_CONTROL((byte) 0x10, (byte) 0x02),
+    POINT_TO_MOVE((byte) 0x10, (byte) 0x00),
+    POINT_TO_TRACKING((byte) 0x11, (byte) 0x00),
+    STOP_TRACKING((byte) 0x11, (byte) 0x01),
+    FOLLOW_YAW_MODE((byte) 0x13, (byte) 0x00),
+    LOCK_YAW_MODE((byte) 0x13, (byte) 0x01),
+    VERTICAL_OVERLOOK((byte) 0x13, (byte) 0x02),
+    ONE_CLICK_RESET((byte) 0x13, (byte) 0x03),
+    TAKE_PICTURE((byte) 0x12, (byte) 0x00),
+    START_RECORDING((byte) 0x12, (byte) 0x01),
+    STOP_RECORDING((byte) 0x12, (byte) 0x02),
+    VIS_LIGHT_ZOOM((byte) 0x00, (byte) 0x40),
+    VIS_LIGHT_SPEED_ZOOM((byte) 0x00, (byte) 0x20),
+    VIS_LIGHT_STOP_ZOOM((byte) 0x00, (byte) 0x60),
+    VIS_LIGHT_SPEC_OPT_ZOOM((byte) 0x1F, (byte) 0x00),
+    TURN_ON_VIS_LIGHT_MAN_FOCUS((byte) 0x1D, (byte) 0x00),
+    TURN_OFF_VIS_LIGHT_MAN_FOCUS((byte) 0x1D, (byte) 0x01),
+    VIS_LIGHT_MAN_FOCUS_PLUS((byte) 0x1D, (byte) 0x03),
+    VIS_LIGHT_MAN_FOCUS_MINUS((byte) 0x1D, (byte) 0x02),
+    VIS_LIGHT_MAN_FOCUS_STOP((byte) 0x1D, (byte) 0x04),
+    TURN_ON_OSD((byte) 0x19, (byte) 0x00),
+    TURN_OFF_OSD((byte) 0x19, (byte) 0x01);
+
+    private final byte code1;
+    private final byte code2;
+
+    Instruction(byte code1, byte code2) {
+        this.code1 = code1;
+        this.code2 = code2;
+    }
+
+    public byte getCode1() {
+        return code1;
+    }
+
+    public byte getCode2() {
+        return code2;
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Protocol.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Protocol.java
new file mode 100644
index 0000000..53ee67f
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/Protocol.java
@@ -0,0 +1,54 @@
+package com.example.longyi_groundstation.Main.Void.XiangTuo;
+
+public class Protocol {
+    private static final int SYNC_BYTE = 0xFF;
+    private byte addressCode;
+    private byte instructionCode1;
+    private byte instructionCode2;
+    private byte dataCode1;
+    private byte dataCode2;
+    private byte checkCode;
+
+    public Protocol(byte addressCode, byte instructionCode1, byte instructionCode2, byte dataCode1, byte dataCode2) {
+        this.addressCode = addressCode;
+        this.instructionCode1 = instructionCode1;
+        this.instructionCode2 = instructionCode2;
+        this.dataCode1 = dataCode1;
+        this.dataCode2 = dataCode2;
+//        this.checkCode = calculateCheckCode();
+    }
+
+    public static byte calculateCheckCode(byte addressCode, byte instructionCode1, byte instructionCode2, byte dataCode1, byte dataCode2) {
+        // 校验码计算逻辑：字节2 + 字节3 + 字节4 + 字节5 + 字节6
+        int sum = addressCode & 0xFF;
+        sum += instructionCode1 & 0xFF;
+        sum += instructionCode2 & 0xFF;
+        sum += dataCode1 & 0xFF;
+        sum += dataCode2 & 0xFF;
+        return (byte) (sum & 0xFF);
+    }
+
+    public byte[] toBytes() {
+        return new byte[]{
+                (byte) SYNC_BYTE,
+                addressCode,
+                instructionCode1,
+                instructionCode2,
+                dataCode1,
+                dataCode2,
+                checkCode
+        };
+    }
+
+    public String toHexBytes() {
+        String hexString = String.format("%02X", SYNC_BYTE) + " " +
+                String.format("%02X", addressCode) + " " +
+                String.format("%02X", instructionCode1) + " " +
+                String.format("%02X", instructionCode2) + " " +
+                String.format("%02X", dataCode1) + " " +
+                String.format("%02X", dataCode2) + " " +
+                String.format("%02X", checkCode);
+
+        return hexString;
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/TcpClientUtil.java b/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/TcpClientUtil.java
new file mode 100644
index 0000000..48ac78b
--- /dev/null
+++ b/app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/TcpClientUtil.java
@@ -0,0 +1,295 @@
+package com.example.longyi_groundstation.Main.Void.XiangTuo;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.util.Log;
+import android.widget.TextView;
+
+import java.io.IOException;
+import java.net.InetSocketAddress;
+import java.net.Socket;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+import okio.Buffer;
+import okio.Okio;
+import okio.Sink;
+import okio.Source;
+
+public class TcpClientUtil {
+    private static final String TAG = "TcpClientUtil";
+    private Socket socket;
+    private Source source;
+    private Sink sink;
+    private ExecutorService executorService;
+    private Handler mainHandler;
+    private boolean isConnected = false;
+    private TextView infoTextView;
+
+    public TcpClientUtil() {
+        executorService = Executors.newSingleThreadExecutor();
+        mainHandler = new Handler(Looper.getMainLooper());
+    }
+
+    /**
+     * 连接到TCP服务器
+     *
+     * @param host 服务器地址
+     * @param port 服务器端口
+     */
+    public void connect(String host, int port) {
+        updateInfoTextView("正在连接到 " + host + ":" + port + "...");
+
+        executorService.execute(() -> {
+            try {
+                socket = new Socket();
+                // 设置Socket选项以提高性能
+                socket.setTcpNoDelay(true);
+                socket.setSoTimeout(100000000); // 10秒读取超时
+                socket.connect(new InetSocketAddress(host, port), 5000); // 5秒连接超时
+                source = Okio.source(socket.getInputStream());
+                sink = Okio.sink(socket.getOutputStream());
+                isConnected = true;
+                Log.d(TAG, "连接成功: " + host + ":" + port);
+                updateInfoTextView("连接成功: " + host + ":" + port);
+
+                // 启动接收数据线程
+//                startReceiving();
+            } catch (IOException e) {
+                Log.e(TAG, "连接失败: " + e.getMessage());
+                isConnected = false;
+                updateInfoTextView("连接失败: " + e.getMessage());
+            }
+        });
+    }
+
+    /**
+     * 断开连接
+     */
+    public void disconnect() {
+        updateInfoTextView("正在断开连接...");
+
+        executorService.execute(() -> {
+            try {
+                isConnected = false;
+                if (source != null) {
+                    source.close();
+                }
+                if (sink != null) {
+                    sink.close();
+                }
+                if (socket != null) {
+                    socket.close();
+                }
+                Log.d(TAG, "连接已断开");
+                updateInfoTextView("连接已断开");
+            } catch (IOException e) {
+                Log.e(TAG, "断开连接时出错: " + e.getMessage());
+                updateInfoTextView("断开连接时出错: " + e.getMessage());
+            }
+        });
+    }
+
+    /**
+     * 发送Hex数据
+     *
+     * @param hexData 以Hex格式表示的数据
+     */
+    public void sendHexData(String hexData) {
+        if (!isConnected) {
+            Log.e(TAG, "未连接到服务器");
+            updateInfoTextView("错误: 未连接到服务器");
+            return;
+        }
+
+        executorService.execute(() -> {
+            try {
+                // 将Hex字符串转换为字节数组
+                byte[] data = hexStringToByteArray(hexData);
+
+                // 发送数据
+                Buffer buffer = new Buffer();
+                buffer.write(data);
+                sink.write(buffer, data.length);
+                sink.flush();
+                Log.d(TAG, "发送数据: " + hexData);
+                updateInfoTextView("发送: " + hexData);
+            } catch (Exception e) {
+                Log.e(TAG, "发送数据失败: " + e.getMessage());
+                updateInfoTextView("发送失败: " + e.getMessage());
+            } catch (OutOfMemoryError e) {
+                Log.e(TAG, "发送数据时内存不足: " + e.getMessage());
+                updateInfoTextView("发送失败: 内存不足");
+            }
+        });
+    }
+
+    /**
+     * 发送字节数组
+     *
+     * @param data 字节数组
+     */
+    public void sendBytes(byte[] data) {
+        if (!isConnected) {
+            Log.e(TAG, "未连接到服务器");
+            updateInfoTextView("错误: 未连接到服务器");
+            return;
+        }
+
+        executorService.execute(() -> {
+            try {
+                if (data == null || data.length == 0) {
+                    Log.w(TAG, "尝试发送空数据");
+                    updateInfoTextView("警告: 尝试发送空数据");
+                    return;
+                }
+
+                Buffer buffer = new Buffer();
+                buffer.write(data);
+                sink.write(buffer, data.length);
+                sink.flush();
+                String hexData = bytesToHex(data);
+                Log.d(TAG, "发送数据: " + hexData + " (长度: " + data.length + " 字节)");
+                updateInfoTextView("发送: " + hexData + " (" + data.length + " 字节)");
+            } catch (Exception e) {
+                Log.e(TAG, "发送数据失败: " + e.getMessage(), e);
+                updateInfoTextView("发送失败: " + e.getMessage());
+            } catch (OutOfMemoryError e) {
+                Log.e(TAG, "发送数据时内存不足: " + e.getMessage());
+                updateInfoTextView("发送失败: 内存不足");
+            }
+        });
+    }
+
+    /**
+     * 开始接收数据
+     */
+    private void startReceiving() {
+        executorService.execute(() -> {
+            try {
+                Buffer buffer = new Buffer();
+                while (isConnected && socket != null && !socket.isClosed() && !socket.isInputShutdown()) {
+                    // 读取数据
+                    long bytesRead = source.read(buffer, 1024);
+
+                    if (bytesRead > 0) {
+                        byte[] data = buffer.readByteArray();
+                        String hexData = bytesToHex(data);
+
+                        // 在主线程更新UI
+                        updateInfoTextView("接收: " + hexData + " (" + data.length + " 字节)");
+                        Log.d(TAG, "接收到数据: " + hexData + " (长度: " + data.length + " 字节)");
+                    } else if (bytesRead == -1) {
+                        // 连接已关闭
+                        isConnected = false;
+                        updateInfoTextView("连接已关闭");
+                        Log.d(TAG, "连接已关闭");
+                        break;
+                    }
+                }
+            } catch (Exception e) {
+                if (isConnected) {
+                    Log.e(TAG, "接收数据时出错: " + e.getMessage());
+                    updateInfoTextView("接收数据时出错: " + e.getMessage());
+                    isConnected = false;
+                }
+            }
+        });
+    }
+
+    /**
+     * 设置用于显示信息的TextView
+     *
+     * @param textView TextView控件
+     */
+    public void setInfoTextView(TextView textView) {
+        this.infoTextView = textView;
+    }
+
+    /**
+     * 更新TextView显示内容
+     *
+     * @param data 要显示的数据
+     */
+    private void updateInfoTextView(String data) {
+        if (infoTextView != null) {
+            mainHandler.post(() -> {
+                String currentText = infoTextView.getText().toString();
+                // 添加时间戳
+                String timestamp = java.text.DateFormat.getTimeInstance().format(new java.util.Date());
+                String newText = currentText + "\n[" + timestamp + "] " + data;
+
+                // 限制文本长度，避免内存问题
+                if (newText.length() > 10000) {
+                    newText = newText.substring(newText.length() - 10000);
+                }
+
+                infoTextView.setText(newText);
+
+                // 自动滚动到底部
+                infoTextView.post(() -> {
+                    if (infoTextView.getLayout() != null) {
+                        int scrollAmount = infoTextView.getLayout().getLineTop(infoTextView.getLineCount()) - infoTextView.getHeight();
+                        if (scrollAmount > 0) {
+                            infoTextView.scrollTo(0, scrollAmount);
+                        } else {
+                            infoTextView.scrollTo(0, 0);
+                        }
+                    }
+                });
+            });
+        }
+    }
+
+    /**
+     * 将Hex字符串转换为字节数组
+     *
+     * @param hexString Hex字符串
+     * @return 字节数组
+     */
+    private byte[] hexStringToByteArray(String hexString) {
+        int len = hexString.length();
+        byte[] data = new byte[len / 2];
+        for (int i = 0; i < len; i += 2) {
+            data[i / 2] = (byte) ((Character.digit(hexString.charAt(i), 16) << 4)
+                    + Character.digit(hexString.charAt(i+1), 16));
+        }
+        return data;
+    }
+
+    /**
+     * 将字节数组转换为Hex字符串
+     *
+     * @param bytes 字节数组
+     * @return Hex字符串
+     */
+    private String bytesToHex(byte[] bytes) {
+        StringBuilder result = new StringBuilder();
+        for (byte b : bytes) {
+            result.append(String.format("%02X", b));
+        }
+        return result.toString();
+    }
+
+    /**
+     * 检查是否已连接
+     *
+     * @return 连接状态
+     */
+    public boolean isConnected() {
+        return isConnected;
+    }
+
+    /**
+     * 获取Socket状态
+     *
+     * @return Socket状态信息
+     */
+    public String getSocketStatus() {
+        if (socket == null) {
+            return "Socket未初始化";
+        }
+        return String.format("Socket状态 - 已连接: %s, 已关闭: %s, 输入关闭: %s, 输出关闭: %s",
+                isConnected, socket.isClosed(), socket.isInputShutdown(), socket.isOutputShutdown());
+    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/MainActivity2.java b/app/src/main/java/com/example/longyi_groundstation/MainActivity2.java
index bdb85cc..247c2a2 100644
--- a/app/src/main/java/com/example/longyi_groundstation/MainActivity2.java
+++ b/app/src/main/java/com/example/longyi_groundstation/MainActivity2.java
@@ -1,11 +1,12 @@
 package com.example.longyi_groundstation;
 
+
 import android.annotation.SuppressLint;
 import android.os.Bundle;
-import android.os.Message;
-import android.speech.tts.TextToSpeech;
 import android.util.Log;
+import android.widget.Button;
 import android.widget.TextView;
+import android.widget.Toast;
 
 import androidx.activity.EdgeToEdge;
 import androidx.appcompat.app.AppCompatActivity;
@@ -13,33 +14,17 @@ import androidx.core.graphics.Insets;
 import androidx.core.view.ViewCompat;
 import androidx.core.view.WindowInsetsCompat;
 
-import com.example.longyi_groundstation.MAVLink.MAVLinkPacket;
-import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkMessage;
-import com.example.longyi_groundstation.MAVLink.Parser;
-import com.example.longyi_groundstation.Util.Serial.SerialPortUtil;
-import com.example.longyi_groundstation.Util.Tool;
-import com.example.longyi_groundstation.Util.UdpClient;
-
-import java.io.IOException;
-import java.net.DatagramPacket;
-import java.net.DatagramSocket;
-import java.net.InetAddress;
-import java.net.SocketException;
-import java.net.UnknownHostException;
-import java.util.Locale;
-
-import tp.xmaihh.serialport.SerialHelper;
-import tp.xmaihh.serialport.bean.ComBean;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.Instruction;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.Protocol;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.TcpClientUtil;
 
 public class MainActivity2 extends AppCompatActivity {
+    private static final String TAG = "MainActivity2";
 
-    private static final String TAG = "UDPServer";
-    private TextView tv_text;
-    private DatagramSocket serverSocket;
-    private boolean isRunning = true;
-    private int serverPort = 14550; // 服务端监听端口
-
-    private UdpClient udpClient;
+    private TcpClientUtil tcpClient;
+    private TextView tvInfo;
+    private Button btnConnect;
+    private Button btnDisconnect;
 
     @SuppressLint("MissingInflatedId")
     @Override
@@ -53,52 +38,148 @@ public class MainActivity2 extends AppCompatActivity {
             return insets;
         });
 
-        tv_text = findViewById(R.id.tv_text);
+        initViews();
+        initTcpClient();
+    }
 
-        try {
-            udpClient = new UdpClient("127.0.0.1", 14551); // 服务器的IP地址和端口号
-            isRunning = true;
-            udpClient.send("AA01");
-            getDataTR();
+    private void initViews() {
+        tvInfo = findViewById(R.id.tv_info);
+        btnConnect = findViewById(R.id.btn_connect);
+        btnDisconnect = findViewById(R.id.btn_disconnect);
 
-        } catch (SocketException | UnknownHostException e) {
-//                throw new RuntimeException(e);
-            Log.d(TAG, e + "");
-        } catch (IOException e) {
-            throw new RuntimeException(e);
+        if (btnConnect != null) {
+            btnConnect.setOnClickListener(v -> connectToServer());
         }
 
+        if (btnDisconnect != null) {
+            btnDisconnect.setOnClickListener(v -> disconnectFromServer());
+        }
 
-
-    }
-
-    //接收数据线程
-    private void getDataTR() {
-        new Thread(() -> {
-            byte[] buffer = new byte[1024];
-            while (true) {
-                DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
-                try {
-                    if (udpClient != null) {
-                        udpClient.socket.receive(packet);
-                        //转成Hex
-                        String receivedData = Tool.bytesToHex(packet.getData());
-                        Log.d(TAG, receivedData);
+        // 添加测试按钮，用于测试发送数据
+        Button btn_left = findViewById(R.id.btn_left);
+        btn_left.setOnClickListener(v -> {
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        return;
                     }
-                } catch (Exception e) {
-                    e.printStackTrace();
-                    Log.d(TAG, "getDataTR: stop");
-//                    Log.e(TAG, " "+ e );
-                }
+                    new Thread(() -> {
+                        try {
+                            // 发送测试数据
+                            byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x04, (byte) 0xFF, 0x00, 0x04};
+                            tcpClient.sendBytes(testData);
+                            Thread.sleep(200);
+                            // 发送测试数据
+                            byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                            tcpClient.sendBytes(testData1);
+                            Log.d(TAG, "发送测试数据: " + bytesToHex(testData));
 
-            }
-        }).start();
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
+                    }).start();
+                }
+        );
+
+        // 添加测试按钮，用于测试发送数据
+        Button btn_right = findViewById(R.id.btn_right);
+        btn_right.setOnClickListener(v -> {
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        return;
+                    }
+                    new Thread(() -> {
+                        try {
+                            // 发送测试数据
+                            byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x02, (byte) 0xFF, 0x00, 0x02};
+                            tcpClient.sendBytes(testData);
+                            Thread.sleep(200);
+                            // 发送测试数据
+                            byte[] testData1 = new byte[]{(byte) 0xFF, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01};
+                            tcpClient.sendBytes(testData1);
+                            Log.d(TAG, "发送测试数据: " + bytesToHex(testData));
+
+                        } catch (InterruptedException e) {
+                            e.printStackTrace();
+                        }
+                    }).start();
+                }
+        );
+
+        // 添加测试按钮，用于测试发送数据
+        Button btn_centre = findViewById(R.id.btn_centre);
+        btn_centre.setOnClickListener(v -> {
+                    if (!tcpClient.isConnected()) {
+                        Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+                        return;
+                    }
+                    // 发送测试数据
+                    byte[] testData = new byte[]{(byte) 0xFF, 0x01, 0x13, 0x03, 0x00, 0x00, 0x17};
+                    tcpClient.sendBytes(testData);
+                    Log.d(TAG, "发送测试数据: " + bytesToHex(testData));
+                }
+        );
+
+
+//        // 添加测试按钮，用于测试发送数据
+//        Button btnTestSend = findViewById(R.id.btn_left);
+//        // 添加测试按钮，用于测试发送数据
+//        Button btnTestSend = findViewById(R.id.btn_left);
     }
 
+    private void initTcpClient() {
+        tcpClient = new TcpClientUtil();
+        // 设置用于显示信息的TextView
+        if (tvInfo != null) {
+            tcpClient.setInfoTextView(tvInfo);
+        }
+    }
+
+    private void connectToServer() {
+        // 这里使用示例IP和端口，需要根据实际情况修改
+        tcpClient.connect("192.168.144.119", 2000);
+    }
+
+    private void disconnectFromServer() {
+        tcpClient.disconnect();
+    }
+
+    private void testSendData() {
+
+
+    }
+
+    private String bytesToHex(byte[] bytes) {
+        StringBuilder result = new StringBuilder();
+        for (byte b : bytes) {
+            result.append(String.format("%02X ", b));
+        }
+        return result.toString().trim();
+    }
 
     @Override
     protected void onDestroy() {
         super.onDestroy();
-        isRunning = false;
+        if (tcpClient != null) {
+            tcpClient.disconnect();
+        }
     }
-}
\ No newline at end of file
+
+    // 示例方法：发送云台控制指令
+//    private void sendPTZCommand(Instruction instruction) {
+//        if (!tcpClient.isConnected()) {
+//            Toast.makeText(this, "未连接到服务器", Toast.LENGTH_SHORT).show();
+//            return;
+//        }
+//
+//        Protocol protocol = new Protocol(
+//                ADDRESS_CODE,
+//                instruction.getCode1(),
+//                instruction.getCode2(),
+//                (byte) 0x00,
+//                (byte) 0x00
+//        );
+//        byte[] bytes = protocol.toBytes();
+//        tcpClient.sendBytes(bytes);
+//        Log.d(TAG, "发送指令: " + instruction.name() + ", 数据: " + bytesToHex(bytes));
+//    }
+}
diff --git a/app/src/main/java/com/example/longyi_groundstation/Util/BroadcastUtil.java b/app/src/main/java/com/example/longyi_groundstation/Util/BroadcastUtil.java
index 6e130ec..abd8b7c 100644
--- a/app/src/main/java/com/example/longyi_groundstation/Util/BroadcastUtil.java
+++ b/app/src/main/java/com/example/longyi_groundstation/Util/BroadcastUtil.java
@@ -106,5 +106,45 @@ public class BroadcastUtil {
         intent.clone();
     }
 
+    /**
+     * MAVLINK_MSG_ID_RC_CHANNELS
+     *
+     * @param context 上下文
+     * @param data    数据-json
+     */
+    public static void Broadcast_RC_CHANNELS(Context context, String data) {
+        Intent intent = new Intent("Broadcast_RC_CHANNELS");
+        intent.putExtra("data", data);
+        context.sendBroadcast(intent);
+        intent.clone();
+    }
+
+
+    /**
+     * MAVLINK_MSG_ID_RC_CHANNELS_RAW
+     *
+     * @param context 上下文
+     * @param data    数据-json
+     */
+    public static void Broadcast_RC_CHANNELS_RAW(Context context, String data) {
+        Intent intent = new Intent("Broadcast_RC_CHANNELS_RAW");
+        intent.putExtra("data", data);
+        context.sendBroadcast(intent);
+        intent.clone();
+    }
+
+    /**
+     * MAVLINK_MSG_ID_VFR_HUD
+     *
+     * @param context 上下文
+     * @param data    数据-json
+     */
+    public static void Broadcast_VFR_HUD(Context context, String data) {
+        Intent intent = new Intent("Broadcast_VFR_HUD");
+        intent.putExtra("data", data);
+        context.sendBroadcast(intent);
+        intent.clone();
+    }
+
 
 }
diff --git a/app/src/main/res/drawable/custom_info_bubble.xml b/app/src/main/res/drawable/custom_info_bubble.xml
new file mode 100644
index 0000000..304978c
--- /dev/null
+++ b/app/src/main/res/drawable/custom_info_bubble.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="#FFFFFF" />
+    <stroke
+        android:width="1dp"
+        android:color="#CCCCCC" />
+    <corners android:radius="8dp" />
+</shape>
\ No newline at end of file
diff --git a/app/src/main/res/drawable/eb51518b_4round_bg.xml b/app/src/main/res/drawable/ff029a45_4round_bg.xml
similarity index 83%
rename from app/src/main/res/drawable/eb51518b_4round_bg.xml
rename to app/src/main/res/drawable/ff029a45_4round_bg.xml
index 96e9570..53e220b 100644
--- a/app/src/main/res/drawable/eb51518b_4round_bg.xml
+++ b/app/src/main/res/drawable/ff029a45_4round_bg.xml
@@ -3,6 +3,6 @@
 
     <corners android:topLeftRadius="4dp" android:topRightRadius="4dp"/>
 
-    <solid android:color="#49B6E7"/>
+    <solid android:color="#029A45"/>
 
 </shape>
\ No newline at end of file
diff --git a/app/src/main/res/drawable/ff8decec_2round_bg.xml b/app/src/main/res/drawable/ff8decec_2round_bg.xml
index ffde954..b971a11 100644
--- a/app/src/main/res/drawable/ff8decec_2round_bg.xml
+++ b/app/src/main/res/drawable/ff8decec_2round_bg.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <shape xmlns:android="http://schemas.android.com/apk/res/android">
 
-    <corners android:radius="4dp"/>
+    <corners android:radius="2dp"/>
 
     <solid android:color="#8DECEC"/>
 
diff --git a/app/src/main/res/layout/activity_login.xml b/app/src/main/res/layout/activity_login.xml
index 2b45c9f..dc278a9 100644
--- a/app/src/main/res/layout/activity_login.xml
+++ b/app/src/main/res/layout/activity_login.xml
@@ -27,7 +27,7 @@
             android:layout_marginBottom="10dp"/>
 
         <EditText
-            android:text="admin"
+            android:text="admin1"
             android:textSize="12sp"
             android:id="@+id/et_username"
             android:layout_width="match_parent"
diff --git a/app/src/main/res/layout/activity_main.xml b/app/src/main/res/layout/activity_main.xml
index 20843c5..84f9fdd 100644
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -34,7 +34,6 @@
         android:padding="3dp"
         android:visibility="visible" />
 
-
     <!--  偏航文字  -->
     <TextView
         android:id="@+id/tv_yaw"
@@ -54,6 +53,7 @@
 
     <!--  底部数据栏  -->
     <LinearLayout
+        android:visibility="visible"
         android:id="@+id/ll_text"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
@@ -73,9 +73,9 @@
 
 
             <RelativeLayout
-                android:layout_marginLeft="2dp"
                 android:layout_width="90dp"
-                android:layout_height="90dp">
+                android:layout_height="90dp"
+                android:layout_marginLeft="2dp">
 
                 <!--  天地仪  -->
                 <com.example.longyi_groundstation.Main.View.CircularLinearLayout
@@ -113,145 +113,151 @@
                             android:orientation="vertical">
 
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="10dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="10dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="3dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="45"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="45"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="7dp"
                                     android:layout_width="14dp"
                                     android:layout_height="1dp"
+                                    android:layout_marginRight="7dp"
                                     android:background="#ffffff" />
                             </LinearLayout>
 
 
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="2dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="3dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="30"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="30"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="6dp"
                                     android:layout_width="22dp"
                                     android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
                                     android:background="#ffffff" />
                             </LinearLayout>
 
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="2dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="3dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="15"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="15"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="6dp"
                                     android:layout_width="30dp"
                                     android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
                                     android:background="#ffffff" />
                             </LinearLayout>
 
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="2dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="4dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="0"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="4dp"
+                                    android:text="0"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="6dp"
                                     android:layout_width="40dp"
                                     android:layout_height="1.5dp"
+                                    android:layout_marginRight="6dp"
                                     android:background="#DBCE16" />
                             </LinearLayout>
 
 
-
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="2dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="3dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="15"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="15"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="6dp"
                                     android:layout_width="30dp"
                                     android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
                                     android:background="#ffffff" />
                             </LinearLayout>
 
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="2dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="3dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="30"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="30"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="6dp"
                                     android:layout_width="22dp"
                                     android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
                                     android:background="#ffffff" />
                             </LinearLayout>
 
                             <LinearLayout
-                                android:gravity="center_vertical"
-                                android:layout_marginTop="2dp"
                                 android:layout_width="wrap_content"
-                                android:layout_height="wrap_content">
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
 
                                 <TextView
-                                    android:layout_marginRight="3dp"
-                                    android:textColor="#ffffff"
-                                    android:textSize="4sp"
-                                    android:text="45"
                                     android:layout_width="wrap_content"
-                                    android:layout_height="wrap_content"/>
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="45"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
                                 <View
-                                    android:layout_marginRight="7dp"
                                     android:layout_width="14dp"
                                     android:layout_height="1dp"
+                                    android:layout_marginRight="7dp"
                                     android:background="#ffffff" />
                             </LinearLayout>
 
@@ -280,10 +286,10 @@
 
                 <!--  小飞机  -->
                 <ImageView
-                    android:paddingBottom="3dp"
                     android:layout_width="36dp"
                     android:layout_height="36dp"
                     android:layout_centerInParent="true"
+                    android:paddingBottom="3dp"
                     android:src="@mipmap/icon_instrument_fly" />
 
                 <LinearLayout
@@ -336,10 +342,10 @@
 
         <!-- 标题栏 -->
         <LinearLayout
-            android:layout_marginTop="-1dp"
             android:id="@+id/ll_title"
             android:layout_width="match_parent"
             android:layout_height="30dp"
+            android:layout_marginTop="-1dp"
             android:background="@mipmap/icon_title_bg">
 
             <ImageView
@@ -361,28 +367,28 @@
                 android:textSize="9sp" />
 
             <ImageView
-                android:layout_marginLeft="5dp"
                 android:id="@+id/iv_error"
                 android:layout_width="16dp"
                 android:layout_height="match_parent"
+                android:layout_marginLeft="5dp"
                 android:src="@mipmap/icon_error"
-                android:visibility="visible" />
+                android:visibility="invisible" />
 
             <TextView
-                android:layout_marginLeft="25dp"
                 android:id="@+id/tv_param_load"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:layout_gravity="center_vertical"
+                android:layout_marginLeft="25dp"
                 android:padding="8dp"
                 android:text="资源加载：0%"
-                android:textColor="#ffffff"
+                android:textColor="#FFFFFF"
                 android:textSize="8sp" />
 
             <LinearLayout
-                android:layout_gravity="center_vertical"
                 android:layout_width="match_parent"
                 android:layout_height="26dp"
+                android:layout_gravity="center_vertical"
                 android:gravity="end|center_vertical"
                 android:orientation="horizontal">
 
@@ -435,12 +441,12 @@
 
 
                 <LinearLayout
-                    android:visibility="gone"
                     android:layout_width="wrap_content"
                     android:layout_height="26dp"
                     android:background="@drawable/b2ffffff_4round_1stroke_bg"
                     android:gravity="center"
-                    android:padding="5dp">
+                    android:padding="5dp"
+                    android:visibility="gone">
 
                     <ImageView
                         android:layout_width="15dp"
@@ -519,18 +525,29 @@
 
                 </LinearLayout>
 
+                <LinearLayout
+                    android:id="@+id/ll_setting"
+                    android:layout_width="26dp"
+                    android:layout_height="26dp"
+                    android:background="@drawable/b2ffffff_4round_1stroke_bg"
+                    android:gravity="center"
+                    android:padding="6dp">
 
+                    <ImageView
+                        android:layout_width="15dp"
+                        android:layout_height="15dp"
+                        android:src="@mipmap/icon_setting" />
+
+
+                </LinearLayout>
 
 
             </LinearLayout>
 
         </LinearLayout>
 
-
-
         <!-- 左侧功能布局 -->
-        <LinearLayout
-            android:id="@+id/ll_left_layout"
+        <RelativeLayout
             android:layout_width="wrap_content"
             android:layout_height="match_parent"
             android:layout_below="@+id/ll_title"
@@ -538,410 +555,385 @@
 
             <LinearLayout
                 android:layout_width="wrap_content"
-                android:layout_height="110dp"
-                android:layout_marginTop="3dp"
-                android:background="@drawable/xbb303030_4round_bg"
-                android:orientation="vertical">
+                android:layout_height="wrap_content">
 
-                <androidx.recyclerview.widget.RecyclerView
-                    android:id="@+id/rv_error_list"
+                <LinearLayout
+                    android:id="@+id/ll_left_error_layout"
                     android:layout_width="wrap_content"
-                    android:layout_height="match_parent"/>
+                    android:layout_height="110dp"
+                    android:layout_marginTop="3dp"
+                    android:background="@drawable/xbb303030_4round_bg"
+                    android:orientation="vertical"
+                    android:visibility="gone">
+
+                    <androidx.recyclerview.widget.RecyclerView
+                        android:id="@+id/rv_error_list"
+                        android:layout_width="wrap_content"
+                        android:layout_height="match_parent" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:id="@+id/ll_create_link_layout"
+                    android:layout_width="wrap_content"
+                    android:layout_height="match_parent"
+                    android:layout_marginTop="3dp"
+                    android:background="@drawable/xbb303030_4round_bg"
+                    android:orientation="vertical"
+                    android:visibility="gone">
+
+                    <androidx.recyclerview.widget.RecyclerView
+                        android:id="@+id/rv_create_link_list"
+                        android:layout_width="wrap_content"
+                        android:layout_height="match_parent" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:id="@+id/ll_all_link_layout"
+                    android:layout_width="wrap_content"
+                    android:layout_height="match_parent"
+                    android:layout_marginTop="3dp"
+                    android:layout_marginLeft="3dp"
+                    android:background="@drawable/xbb303030_4round_bg"
+                    android:orientation="vertical"
+                    android:visibility="gone">
+
+                    <androidx.recyclerview.widget.RecyclerView
+                        android:id="@+id/rv_all_link_list"
+                        android:layout_width="wrap_content"
+                        android:layout_height="match_parent" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:id="@+id/ll_ptz_fun"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_margin="6dp"
+                    android:elevation="100dp"
+                    android:visibility="gone">
+
+                    <LinearLayout
+                        android:id="@+id/ll_PTZ_one_center"
+                        android:layout_width="38dp"
+                        android:layout_height="38dp"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:gravity="center_horizontal"
+                        android:orientation="vertical"
+                        android:padding="5dp"
+                        android:visibility="visible">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_execute_line" />
+
+                        <TextView
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginTop="3dp"
+                            android:gravity="center"
+                            android:text="一键居中"
+                            android:textColor="#ffffff"
+                            android:textSize="7sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:id="@+id/ll_PTZ_one_bottom"
+                        android:layout_width="38dp"
+                        android:layout_height="38dp"
+                        android:layout_marginLeft="5dp"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:gravity="center_horizontal"
+                        android:orientation="vertical"
+                        android:padding="5dp"
+                        android:visibility="visible">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_ptz_one_bottom" />
+
+                        <TextView
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginTop="3dp"
+                            android:gravity="center"
+                            android:text="一键向下"
+                            android:textColor="#ffffff"
+                            android:textSize="6sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:id="@+id/ll_PTZ_amplify"
+                        android:layout_width="38dp"
+                        android:layout_height="38dp"
+                        android:layout_marginLeft="5dp"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:gravity="center_horizontal"
+                        android:orientation="vertical"
+                        android:padding="5dp"
+                        android:visibility="visible">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_ptz_amplify" />
+
+                        <TextView
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginTop="3dp"
+                            android:gravity="center"
+                            android:text="画面放大"
+                            android:textColor="#ffffff"
+                            android:textSize="6sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:id="@+id/ll_PTZ_reduce"
+                        android:layout_width="38dp"
+                        android:layout_height="38dp"
+                        android:layout_marginLeft="5dp"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:gravity="center_horizontal"
+                        android:orientation="vertical"
+                        android:padding="5dp"
+                        android:visibility="visible">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_ptz_reduce" />
+
+                        <TextView
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginTop="3dp"
+                            android:gravity="center"
+                            android:text="画面缩小"
+                            android:textColor="#ffffff"
+                            android:textSize="6sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+
+                        android:id="@+id/ll_PTZ_focus_amplify"
+                        android:layout_width="35dp"
+                        android:layout_height="35dp"
+                        android:layout_marginLeft="5dp"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:gravity="center_horizontal"
+                        android:orientation="vertical"
+                        android:padding="5dp"
+                        android:visibility="gone">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_execute_line" />
+
+                        <TextView
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginTop="3dp"
+                            android:gravity="center"
+                            android:text="变焦远"
+                            android:textColor="#ffffff"
+                            android:textSize="6sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:id="@+id/ll_PTZ_focus_reduce"
+                        android:layout_width="35dp"
+                        android:layout_height="35dp"
+                        android:layout_marginLeft="5dp"
+                        android:background="@drawable/b2101010_4round_1stroke_bg"
+                        android:gravity="center_horizontal"
+                        android:orientation="vertical"
+                        android:padding="5dp"
+                        android:visibility="gone">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_execute_line" />
+
+                        <TextView
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:layout_marginTop="3dp"
+                            android:gravity="center"
+                            android:text="变焦近"
+                            android:textColor="#ffffff"
+                            android:textSize="7sp" />
+
+                    </LinearLayout>
+
+
+                </LinearLayout>
 
             </LinearLayout>
 
-        </LinearLayout>
-
-<!--        &lt;!&ndash;中间布局&ndash;&gt;-->
-<!--        <LinearLayout-->
-<!--            android:layout_width="match_parent"-->
-<!--            android:layout_height="wrap_content"-->
-<!--            android:layout_below="@+id/ll_title"-->
-<!--            android:layout_margin="3dp"-->
-<!--            android:layout_toLeftOf="@+id/ll_right_layout"-->
-<!--            android:layout_toRightOf="@+id/ll_left_layout"-->
-<!--            android:gravity="right"-->
-<!--            android:visibility="gone"-->
-<!--            android:orientation="vertical">-->
-
-<!--            <LinearLayout-->
-<!--                android:id="@+id/ll_item1_layout"-->
-<!--                android:layout_width="wrap_content"-->
-<!--                android:layout_height="wrap_content"-->
-<!--                android:background="@drawable/xbb303030_4round_bg"-->
-<!--                android:orientation="horizontal"-->
-<!--                android:visibility="visible">-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_lift_off"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_lift_off" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_turn_back"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_turn_back" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_icon_land"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_land" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_mode_select"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_mode_select" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_execute_line"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_execute_line" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_one_word"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_one_word" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_joystick"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_joystick" />-->
-
-<!--                </LinearLayout>-->
-
-
-<!--            </LinearLayout>-->
-
-<!--            <LinearLayout-->
-<!--                android:layout_marginTop="32dp"-->
-<!--                android:id="@+id/ll_item2_layout"-->
-<!--                android:layout_width="wrap_content"-->
-<!--                android:layout_height="wrap_content"-->
-<!--                android:background="@drawable/xbb303030_4round_bg"-->
-<!--                android:orientation="horizontal"-->
-<!--                android:visibility="visible">-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_fire"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="14dp"-->
-<!--                        android:layout_height="14dp"-->
-<!--                        android:src="@mipmap/icon_fire" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_bombing"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="14dp"-->
-<!--                        android:layout_height="14dp"-->
-<!--                        android:src="@mipmap/icon_bombing" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_shout"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="14dp"-->
-<!--                        android:layout_height="14dp"-->
-<!--                        android:src="@mipmap/icon_shout" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_searchlight"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="14dp"-->
-<!--                        android:layout_height="14dp"-->
-<!--                        android:src="@mipmap/icon_searchlight" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_thoroughfare"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="14dp"-->
-<!--                        android:layout_height="14dp"-->
-<!--                        android:src="@mipmap/icon_thoroughfare" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_hook"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="14dp"-->
-<!--                        android:layout_height="14dp"-->
-<!--                        android:src="@mipmap/icon_hook" />-->
-
-<!--                </LinearLayout>-->
-
-
-
-
-<!--            </LinearLayout>-->
-
-<!--        </LinearLayout>-->
-
-<!--        &lt;!&ndash; 右侧功能布局 &ndash;&gt;-->
-<!--        <LinearLayout-->
-<!--            android:visibility="gone"-->
-<!--            android:id="@+id/ll_right_layout"-->
-<!--            android:layout_width="wrap_content"-->
-<!--            android:layout_height="match_parent"-->
-<!--            android:layout_below="@+id/ll_title"-->
-<!--            android:layout_alignParentRight="true"-->
-<!--            android:orientation="vertical">-->
-
-<!--            <LinearLayout-->
-<!--                android:layout_width="wrap_content"-->
-<!--                android:layout_height="wrap_content"-->
-<!--                android:layout_marginTop="3dp"-->
-<!--                android:background="@drawable/xbb303030_4round_bg"-->
-<!--                android:orientation="vertical">-->
-
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_item1"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_function" />-->
-
-<!--                </LinearLayout>-->
-
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_line_fly_layout"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_line_fly" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:id="@+id/ll_item2"-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_menu" />-->
-
-<!--                </LinearLayout>-->
-
-
-
-
-
-<!--                <LinearLayout-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_map" />-->
-
-<!--                </LinearLayout>-->
-
-
-<!--                <LinearLayout-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_antenna" />-->
-
-<!--                </LinearLayout>-->
-
-<!--                <LinearLayout-->
-<!--                    android:layout_width="wrap_content"-->
-<!--                    android:layout_height="wrap_content"-->
-<!--                    android:background="@drawable/b2101010_4round_1stroke"-->
-<!--                    android:padding="8dp">-->
-
-<!--                    <ImageView-->
-<!--                        android:layout_width="15dp"-->
-<!--                        android:layout_height="15dp"-->
-<!--                        android:src="@mipmap/icon_clear" />-->
-
-<!--                </LinearLayout>-->
-
-
-<!--            </LinearLayout>-->
-
-
-<!--        </LinearLayout>-->
-
-
+            <LinearLayout
+                android:id="@+id/ll_ptz_ctrl"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_centerVertical="true"
+                android:layout_margin="15dp"
+                android:orientation="vertical"
+                android:visibility="gone">
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal">
+
+                    <ImageView
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1" />
+
+                    <ImageView
+                        android:id="@+id/iv_ptz_top"
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/x80000000_4round_bg"
+                        android:padding="3dp"
+                        android:src="@mipmap/icon_ptz_top" />
+
+                    <ImageView
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1" />
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal">
+
+                    <ImageView
+                        android:id="@+id/iv_ptz_left"
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/x80000000_4round_bg"
+                        android:padding="3dp"
+                        android:src="@mipmap/icon_ptz_left" />
+
+                    <ImageView
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1" />
+
+                    <ImageView
+                        android:id="@+id/iv_ptz_right"
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/x80000000_4round_bg"
+                        android:padding="3dp"
+                        android:src="@mipmap/icon_ptz_right" />
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal">
+
+                    <ImageView
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1" />
+
+                    <ImageView
+                        android:id="@+id/iv_ptz_bottom"
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/x80000000_4round_bg"
+                        android:padding="3dp"
+                        android:src="@mipmap/icon_ptz_down" />
+
+                    <ImageView
+                        android:layout_width="30dp"
+                        android:layout_height="30dp"
+                        android:layout_weight="1" />
+                </LinearLayout>
+
+
+            </LinearLayout>
+
+        </RelativeLayout>
+
+        <!--  右侧布局  -->
         <LinearLayout
-            android:layout_marginTop="7dp"
-            android:orientation="horizontal"
-            android:layout_below="@+id/ll_title"
+            android:visibility="visible"
             android:id="@+id/ll_open_layout"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
+            android:layout_below="@+id/ll_title"
             android:layout_alignParentRight="true"
-            android:elevation="100dp">
+            android:layout_marginTop="3dp"
+            android:elevation="100dp"
+            android:orientation="horizontal">
 
             <LinearLayout
-                android:paddingBottom="10dp"
-                android:paddingTop="10dp"
-                android:background="@drawable/bf202020_4round_lt_lb_bg"
                 android:id="@+id/ll_left_open"
-                android:layout_centerVertical="true"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_centerVertical="true"
                 android:layout_toStartOf="@+id/spv_layout"
+                android:background="@drawable/bf202020_4round_lt_lb_bg"
+                android:elevation="100dp"
                 android:orientation="vertical"
-                android:elevation="100dp">
+                android:paddingTop="10dp"
+                android:paddingBottom="10dp">
 
                 <ImageView
-                    android:layout_margin="5dp"
-                    android:src="@mipmap/icon_left_open"
                     android:layout_width="15dp"
-                    android:layout_height="15dp"/>
+                    android:layout_height="15dp"
+                    android:layout_margin="5dp"
+                    android:src="@mipmap/icon_left_open" />
 
             </LinearLayout>
 
             <LinearLayout
-                android:orientation="horizontal"
-                android:background="@drawable/bf202020_4round_lb_bg"
-                android:layout_gravity="center_vertical"
                 android:layout_width="wrap_content"
-                android:layout_height="wrap_content">
+                android:layout_height="wrap_content"
+                android:layout_gravity="center_vertical"
+                android:background="@drawable/bf202020_4round_lb_bg"
+                android:orientation="horizontal">
 
                 <RelativeLayout
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content">
 
                     <LinearLayout
-                        android:layout_margin="3dp"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
+                        android:layout_margin="3dp"
                         android:orientation="vertical">
 
 
-
-
                         <LinearLayout
-                            android:background="@drawable/b2101010_4round_1stroke_bg"
-                            android:gravity="center_horizontal"
-                            android:orientation="vertical"
                             android:id="@+id/ll_lift_off"
                             android:layout_width="40dp"
                             android:layout_height="40dp"
+                            android:background="@drawable/b2101010_4round_1stroke_bg"
+                            android:gravity="center_horizontal"
+                            android:orientation="vertical"
                             android:padding="5dp">
 
                             <ImageView
@@ -950,25 +942,25 @@
                                 android:src="@mipmap/icon_lift_off" />
 
                             <TextView
-                                android:gravity="center"
-                                android:layout_marginTop="3dp"
-                                android:textSize="7sp"
                                 android:layout_width="30dp"
                                 android:layout_height="wrap_content"
+                                android:layout_marginTop="3dp"
+                                android:gravity="center"
                                 android:text="起飞"
-                                android:textColor="#ffffff" />
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
 
                         </LinearLayout>
 
 
                         <LinearLayout
+                            android:id="@+id/ll_turn_back"
+                            android:layout_width="40dp"
+                            android:layout_height="40dp"
                             android:layout_marginTop="3dp"
                             android:background="@drawable/b2101010_4round_1stroke_bg"
                             android:gravity="center_horizontal"
                             android:orientation="vertical"
-                            android:id="@+id/ll_turn_back"
-                            android:layout_width="40dp"
-                            android:layout_height="40dp"
                             android:padding="5dp">
 
                             <ImageView
@@ -977,28 +969,27 @@
                                 android:src="@mipmap/icon_turn_back" />
 
                             <TextView
-                                android:gravity="center"
-                                android:layout_marginTop="3dp"
-                                android:textSize="7sp"
                                 android:layout_width="35dp"
                                 android:layout_height="wrap_content"
+                                android:layout_marginTop="3dp"
+                                android:gravity="center"
                                 android:text="返航"
-                                android:textColor="#ffffff" />
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
 
                         </LinearLayout>
 
 
-
                         <LinearLayout
-                            android:layout_marginTop="3dp"
-                            android:orientation="vertical"
-                            android:gravity="center_horizontal"
-                            android:visibility="visible"
                             android:id="@+id/ll_icon_land"
                             android:layout_width="40dp"
                             android:layout_height="40dp"
+                            android:layout_marginTop="3dp"
                             android:background="@drawable/b2101010_4round_1stroke_bg"
-                            android:padding="5dp">
+                            android:gravity="center_horizontal"
+                            android:orientation="vertical"
+                            android:padding="5dp"
+                            android:visibility="visible">
 
                             <ImageView
                                 android:layout_width="15dp"
@@ -1007,44 +998,42 @@
 
 
                             <TextView
-                                android:gravity="center"
-                                android:layout_marginTop="3dp"
-                                android:textSize="7sp"
                                 android:layout_width="35dp"
                                 android:layout_height="wrap_content"
+                                android:layout_marginTop="3dp"
+                                android:gravity="center"
                                 android:text="降落"
-                                android:textColor="#ffffff" />
-
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
 
 
                         </LinearLayout>
 
                         <LinearLayout
-                            android:layout_marginTop="3dp"
-                            android:orientation="vertical"
-                            android:gravity="center_horizontal"
-                            android:visibility="visible"
-                            android:id="@+id/ll_setting"
+                            android:id="@+id/ll_location_me"
                             android:layout_width="40dp"
                             android:layout_height="40dp"
+                            android:layout_marginTop="3dp"
                             android:background="@drawable/b2101010_4round_1stroke_bg"
-                            android:padding="5dp">
+                            android:gravity="center_horizontal"
+                            android:orientation="vertical"
+                            android:padding="5dp"
+                            android:visibility="visible">
 
                             <ImageView
+                                android:id="@+id/iv_location_me"
                                 android:layout_width="15dp"
                                 android:layout_height="15dp"
-                                android:src="@mipmap/icon_setting" />
-
+                                android:src="@mipmap/icon_location_me" />
 
                             <TextView
-                                android:gravity="center"
-                                android:layout_marginTop="3dp"
-                                android:textSize="7sp"
-                                android:layout_width="35dp"
+                                android:layout_width="30dp"
                                 android:layout_height="wrap_content"
-                                android:text="设置"
-                                android:textColor="#ffffff" />
-
+                                android:layout_marginTop="3dp"
+                                android:gravity="center"
+                                android:text="飞机位置"
+                                android:textColor="#ffffff"
+                                android:textSize="7sp" />
 
 
                         </LinearLayout>
@@ -1053,43 +1042,42 @@
                     </LinearLayout>
 
 
-
                 </RelativeLayout>
 
                 <LinearLayout
-                    android:visibility="gone"
                     android:id="@+id/ll_function_layout"
-                    android:orientation="horizontal"
                     android:layout_width="wrap_content"
-                    android:layout_height="wrap_content">
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal"
+                    android:visibility="gone">
 
                     <View
-                        android:layout_margin="5dp"
-                        android:background="#44FFFFFF"
                         android:layout_width="0.2dp"
-                        android:layout_height="match_parent"/>
+                        android:layout_height="match_parent"
+                        android:layout_margin="5dp"
+                        android:background="#44FFFFFF" />
 
                     <ScrollView
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content">
 
                         <LinearLayout
-                            android:layout_margin="3dp"
-                            android:orientation="vertical"
                             android:layout_width="wrap_content"
-                            android:layout_height="match_parent">
+                            android:layout_height="match_parent"
+                            android:layout_margin="3dp"
+                            android:orientation="vertical">
 
                             <LinearLayout
                                 android:layout_width="wrap_content"
                                 android:layout_height="wrap_content">
 
                                 <LinearLayout
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
                                     android:id="@+id/ll_clear"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1098,24 +1086,24 @@
                                         android:src="@mipmap/icon_clear" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
                                         android:text="清除"
-                                        android:textColor="#ffffff" />
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
                                 <LinearLayout
+                                    android:id="@+id/ll_antenna"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
                                     android:layout_marginLeft="6dp"
                                     android:background="@drawable/b2101010_4round_1stroke_bg"
                                     android:gravity="center_horizontal"
                                     android:orientation="vertical"
-                                    android:id="@+id/ll_antenna"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1124,24 +1112,24 @@
                                         android:src="@mipmap/icon_antenna" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
                                         android:text="天线"
-                                        android:textColor="#ffffff" />
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
                                 <LinearLayout
+                                    android:id="@+id/ll_map"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
                                     android:layout_marginLeft="6dp"
                                     android:background="@drawable/b2101010_4round_1stroke_bg"
                                     android:gravity="center_horizontal"
                                     android:orientation="vertical"
-                                    android:id="@+id/ll_map"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1150,24 +1138,24 @@
                                         android:src="@mipmap/icon_map" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
-                                        android:text="路线"
-                                        android:textColor="#ffffff" />
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="创建航线"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
                                 <LinearLayout
+                                    android:id="@+id/ll_line_fly_layout"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
                                     android:layout_marginLeft="6dp"
                                     android:background="@drawable/b2101010_4round_1stroke_bg"
                                     android:gravity="center_horizontal"
                                     android:orientation="vertical"
-                                    android:id="@+id/ll_line_fly_layout"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1176,13 +1164,13 @@
                                         android:src="@mipmap/icon_line_fly" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
-                                        android:text="飞行路线"
-                                        android:textColor="#ffffff" />
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="执行路线"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
@@ -1190,21 +1178,20 @@
                             </LinearLayout>
 
                             <LinearLayout
-                                android:layout_marginTop="3dp"
                                 android:layout_width="wrap_content"
                                 android:layout_height="wrap_content"
+                                android:layout_marginTop="3dp"
                                 android:orientation="horizontal"
                                 android:visibility="visible">
 
 
-
                                 <LinearLayout
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
                                     android:id="@+id/ll_mode_select"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1213,51 +1200,25 @@
                                         android:src="@mipmap/icon_mode_select" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
                                         android:text="切换模式"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-                                <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_one_word"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_execute_line" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="一键作业"
-                                        android:textColor="#ffffff" />
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
 
                                 <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
                                     android:id="@+id/ll_execute_line"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1266,212 +1227,24 @@
                                         android:src="@mipmap/icon_one_word" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
                                         android:text="线路作业"
-                                        android:textColor="#ffffff" />
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
                                 <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_joystick"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_joystick" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="虚拟摇杆"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-
-
-
-
-                            </LinearLayout>
-
-                            <LinearLayout
-                                android:layout_marginTop="3dp"
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:orientation="horizontal"
-                                android:visibility="visible">
-
-                                <LinearLayout
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_fire"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_fire" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="火警告警"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-
-                                <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_bombing"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_bombing" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="投弹"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-
-
-                                <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_shout"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_shout" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="广播"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-
-
-                                <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_searchlight"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_searchlight" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="照明"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-
-
-
-
-
-
-                            </LinearLayout>
-
-                            <LinearLayout
-                                android:layout_marginTop="3dp"
-                                android:layout_width="wrap_content"
-                                android:layout_height="wrap_content"
-                                android:orientation="horizontal"
-                                android:visibility="visible">
-
-                                <LinearLayout
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
-                                    android:id="@+id/ll_thoroughfare"
-                                    android:layout_width="40dp"
-                                    android:layout_height="40dp"
-                                    android:padding="5dp">
-
-                                    <ImageView
-                                        android:layout_width="15dp"
-                                        android:layout_height="15dp"
-                                        android:src="@mipmap/icon_thoroughfare" />
-
-                                    <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
-                                        android:layout_width="30dp"
-                                        android:layout_height="wrap_content"
-                                        android:text="通道"
-                                        android:textColor="#ffffff" />
-
-                                </LinearLayout>
-
-
-                                <LinearLayout
-                                    android:layout_marginLeft="6dp"
-                                    android:background="@drawable/b2101010_4round_1stroke_bg"
-                                    android:gravity="center_horizontal"
-                                    android:orientation="vertical"
                                     android:id="@+id/ll_hook"
                                     android:layout_width="40dp"
                                     android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
                                     android:padding="5dp">
 
                                     <ImageView
@@ -1480,26 +1253,224 @@
                                         android:src="@mipmap/icon_hook" />
 
                                     <TextView
-                                        android:gravity="center"
-                                        android:layout_marginTop="3dp"
-                                        android:textSize="7sp"
                                         android:layout_width="30dp"
                                         android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
                                         android:text="负载"
-                                        android:textColor="#ffffff" />
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
+
+                                <LinearLayout
+                                    android:id="@+id/ll_joystick"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp">
+
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_joystick" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="虚拟摇杆"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
 
                                 </LinearLayout>
 
 
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="3dp"
+                                android:orientation="horizontal"
+                                android:visibility="visible">
+
+                                <LinearLayout
+                                    android:id="@+id/ll_fire"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp">
+
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_fire" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="火警告警"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
 
 
+                                <LinearLayout
+                                    android:id="@+id/ll_bombing"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp">
 
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_bombing" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="投弹"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
+
+
+                                <LinearLayout
+                                    android:id="@+id/ll_shout"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp">
+
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_shout" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="广播"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
+
+
+                                <LinearLayout
+                                    android:id="@+id/ll_searchlight"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp">
+
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_searchlight" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="照明"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
 
 
                             </LinearLayout>
 
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="3dp"
+                                android:orientation="horizontal"
+                                android:visibility="visible">
+
+                                <LinearLayout
+                                    android:id="@+id/ll_thoroughfare"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp">
+
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_thoroughfare" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="通道"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+                                </LinearLayout>
 
 
+                                <LinearLayout
+                                    android:id="@+id/ll_one_word"
+                                    android:layout_width="40dp"
+                                    android:layout_height="40dp"
+                                    android:layout_marginLeft="6dp"
+                                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                                    android:gravity="center_horizontal"
+                                    android:orientation="vertical"
+                                    android:padding="5dp"
+                                    android:visibility="visible">
+
+                                    <ImageView
+                                        android:layout_width="15dp"
+                                        android:layout_height="15dp"
+                                        android:src="@mipmap/icon_execute_line" />
+
+                                    <TextView
+                                        android:layout_width="30dp"
+                                        android:layout_height="wrap_content"
+                                        android:layout_marginTop="3dp"
+                                        android:gravity="center"
+                                        android:text="一键作业"
+                                        android:textColor="#ffffff"
+                                        android:textSize="7sp" />
+
+
+                                </LinearLayout>
+
+
+                            </LinearLayout>
 
 
                         </LinearLayout>
@@ -1509,46 +1480,185 @@
                 </LinearLayout>
 
 
+            </LinearLayout>
+
+        </LinearLayout>
+
+        <!--  路线规划  -->
+        <LinearLayout
+            android:id="@+id/ll_link"
+            android:visibility="gone"
+            android:layout_marginRight="10dp"
+            android:layout_below="@+id/ll_title"
+            android:layout_alignParentRight="true"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="10dp"
+            android:orientation="vertical">
+
+            <LinearLayout
+                android:id="@+id/ll_link_save"
+                android:layout_width="60dp"
+                android:layout_height="25dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
+
+                <ImageView
+                    android:layout_width="15dp"
+                    android:layout_height="15dp"
+                    android:src="@mipmap/icon_save" />
+
+                <TextView
+                    android:layout_width="30dp"
+                    android:layout_height="25dp"
+                    android:gravity="center"
+                    android:text="保存"
+                    android:textColor="#ffffff"
+                    android:textSize="8sp" />
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_link_fun1"
+                android:layout_marginTop="10dp"
+                android:layout_width="60dp"
+                android:layout_height="25dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
 
 
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="25dp"
+                    android:gravity="center"
+                    android:text="航线反转"
+                    android:textColor="#ffffff"
+                    android:textSize="8sp" />
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_link_fun2"
+                android:layout_marginTop="4dp"
+                android:layout_width="60dp"
+                android:layout_height="25dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="25dp"
+                    android:gravity="center"
+                    android:text="航线清除"
+                    android:textColor="#ffffff"
+                    android:textSize="8sp" />
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_link_back"
+                android:layout_marginTop="4dp"
+                android:layout_width="60dp"
+                android:layout_height="25dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="25dp"
+                    android:gravity="center"
+                    android:text="退出编辑"
+                    android:textColor="#ffffff"
+                    android:textSize="8sp" />
 
             </LinearLayout>
 
         </LinearLayout>
 
+        <!--  路线执行  -->
         <LinearLayout
-            android:layout_margin="16dp"
-            android:layout_alignParentBottom="true"
+            android:gravity="center_horizontal"
+            android:id="@+id/ll_link_start"
+            android:visibility="gone"
+            android:layout_marginRight="10dp"
+            android:layout_below="@+id/ll_title"
             android:layout_alignParentRight="true"
-            android:orientation="vertical"
             android:layout_width="wrap_content"
-            android:layout_height="wrap_content">
+            android:layout_height="wrap_content"
+            android:layout_marginTop="10dp"
+            android:orientation="vertical">
 
-            <ImageView
-                android:id="@+id/iv_location_me"
-                android:layout_width="27dp"
-                android:layout_height="27dp"
-                android:layout_gravity="bottom|end"
-                android:background="@drawable/x80101010_15round_1stroke_bg"
-                android:padding="5dp"
-                android:src="@mipmap/icon_location_me" />
 
-<!--            <ImageView-->
-<!--                android:padding="5dp"-->
-<!--                android:background="@drawable/b2101010_4round_1stroke_bg"-->
-<!--                android:id="@+id/iv_line_fly"-->
-<!--                android:layout_width="27dp"-->
-<!--                android:layout_height="27dp"-->
-<!--                android:layout_gravity="bottom|end"-->
-<!--                android:layout_marginTop="5dp"-->
-<!--                android:src="@mipmap/icon_line_fly"/>-->
+
+            <LinearLayout
+                android:id="@+id/ll_link_start_fun1"
+                android:layout_marginTop="4dp"
+                android:layout_width="65dp"
+                android:layout_height="28dp"
+                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:textStyle="bold"
+                    android:layout_width="wrap_content"
+                    android:layout_height="28dp"
+                    android:gravity="center"
+                    android:text="开始执行"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_link_start_fun2"
+                android:layout_marginTop="10dp"
+                android:layout_width="60dp"
+                android:layout_height="25dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="25dp"
+                    android:gravity="center"
+                    android:text="重新编辑"
+                    android:textColor="#ffffff"
+                    android:textSize="8sp" />
+
+            </LinearLayout>
+
+            <LinearLayout
+                android:id="@+id/ll_link_start_back"
+                android:layout_marginTop="4dp"
+                android:layout_width="60dp"
+                android:layout_height="25dp"
+                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:gravity="center"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="25dp"
+                    android:gravity="center"
+                    android:text="退出执行"
+                    android:textColor="#ffffff"
+                    android:textSize="8sp" />
+
+            </LinearLayout>
 
         </LinearLayout>
 
-
-
-
     </RelativeLayout>
 
-
 </RelativeLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/activity_main2.xml b/app/src/main/res/layout/activity_main2.xml
index e223fb0..1bbecfa 100644
--- a/app/src/main/res/layout/activity_main2.xml
+++ b/app/src/main/res/layout/activity_main2.xml
@@ -1,18 +1,114 @@
 <?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:id="@+id/main"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
+    android:orientation="vertical"
     tools:context=".MainActivity2">
 
-    <TextView
-        android:gravity="center"
-        android:text="text"
-        android:textColor="#303030"
-        android:id="@+id/tv_text"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
 
-</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
+    <!-- 添加TCP连接控制按钮 -->
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:padding="8dp">
+
+        <Button
+            android:id="@+id/btn_connect"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="连接"
+            android:layout_marginEnd="4dp"/>
+
+        <Button
+            android:id="@+id/btn_disconnect"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="断开"
+            android:layout_marginStart="4dp"/>
+    </LinearLayout>
+
+    <!-- 添加TCP连接控制按钮 -->
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:padding="8dp">
+
+        <Button
+            android:id="@+id/btn_left"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="左"
+            android:layout_marginEnd="4dp"/>
+        <Button
+            android:id="@+id/btn_right"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="右"
+            android:layout_marginEnd="4dp"/>
+
+        <Button
+            android:id="@+id/btn_centre"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="回中"
+            android:layout_marginEnd="4dp"/>
+
+        <Button
+            android:id="@+id/btn_up"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="上"
+            android:layout_marginStart="4dp"/>
+        <Button
+            android:id="@+id/btn_down"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="下"
+            android:layout_marginStart="4dp"/>
+    </LinearLayout>
+
+
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent">
+
+        <ScrollView
+            android:layout_width="match_parent"
+            android:layout_height="match_parent">
+
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="match_parent">
+
+                <!-- 添加用于显示TCP数据的TextView -->
+                <TextView
+                    android:id="@+id/tv_info"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:background="@android:color/black"
+                    android:textColor="@android:color/holo_green_light"
+                    android:padding="8dp"
+                    android:textSize="12sp"
+                    android:scrollbars="vertical"
+                    android:maxLines="10"
+                    android:layout_margin="8dp"/>
+            </LinearLayout>
+
+        </ScrollView>
+
+    </LinearLayout>
+
+</LinearLayout>
diff --git a/app/src/main/res/layout/activity_play_back.xml b/app/src/main/res/layout/activity_play_back.xml
new file mode 100644
index 0000000..5b762e7
--- /dev/null
+++ b/app/src/main/res/layout/activity_play_back.xml
@@ -0,0 +1,591 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/main"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:context=".Main.Activity.PlayBackActivity">
+
+    <com.amap.api.maps.MapView
+        android:id="@+id/map"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:layout_alignParentBottom="true">
+
+        <RelativeLayout
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+            android:background="#00ffffff"
+            android:elevation="10dp">
+
+            <!-- 标题栏 -->
+            <LinearLayout
+                android:id="@+id/ll_title"
+                android:layout_width="match_parent"
+                android:layout_height="30dp"
+                android:layout_marginTop="-1dp"
+                android:background="@mipmap/icon_title_bg">
+
+                <ImageView
+                    android:id="@+id/iv_logo"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_gravity="center_vertical"
+                    android:layout_marginLeft="5dp"
+                    android:src="@mipmap/logo_w" />
+
+                <TextView
+                    android:id="@+id/tv_connect"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_gravity="center_vertical"
+                    android:padding="8dp"
+                    android:text="未知模式"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="match_parent"
+                    android:layout_height="26dp"
+                    android:layout_gravity="center_vertical"
+                    android:gravity="end|center_vertical"
+                    android:orientation="horizontal">
+
+                    <LinearLayout
+                        android:layout_width="wrap_content"
+                        android:layout_height="26dp"
+                        android:background="@drawable/b2ffffff_4round_1stroke_bg"
+                        android:gravity="center"
+                        android:padding="5dp">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_satellite" />
+
+                        <TextView
+                            android:id="@+id/tv_satellite"
+                            android:layout_width="30dp"
+                            android:layout_height="wrap_content"
+                            android:gravity="center"
+                            android:text="-.-"
+                            android:textColor="#D8E481"
+                            android:textSize="9sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:layout_width="wrap_content"
+                        android:layout_height="26dp"
+                        android:background="@drawable/b2ffffff_4round_1stroke_bg"
+                        android:gravity="center_vertical"
+                        android:padding="5dp">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_power" />
+
+                        <TextView
+                            android:id="@+id/tv_power"
+                            android:layout_width="36dp"
+                            android:layout_height="wrap_content"
+                            android:gravity="center"
+                            android:text="-.-"
+                            android:textColor="#D8E481"
+                            android:textSize="8sp" />
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:layout_width="wrap_content"
+                        android:layout_height="26dp"
+                        android:background="@drawable/b2ffffff_4round_1stroke_bg"
+                        android:gravity="center"
+                        android:padding="5dp"
+                        android:visibility="gone">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_speed" />
+
+                        <TextView
+                            android:id="@+id/tv_vel"
+                            android:layout_width="36dp"
+                            android:layout_height="wrap_content"
+                            android:gravity="center"
+                            android:text="-.-"
+                            android:textColor="#D8E481"
+                            android:textSize="8sp" />
+
+                    </LinearLayout>
+
+                    <LinearLayout
+                        android:layout_width="wrap_content"
+                        android:layout_height="26dp"
+                        android:background="@drawable/b2ffffff_4round_1stroke_bg"
+                        android:gravity="center_vertical"
+                        android:padding="5dp">
+
+                        <ImageView
+                            android:layout_width="15dp"
+                            android:layout_height="15dp"
+                            android:src="@mipmap/icon_height_fly" />
+
+                        <TextView
+                            android:id="@+id/tv_height"
+                            android:layout_width="36dp"
+                            android:layout_height="wrap_content"
+                            android:gravity="center"
+                            android:text="-.-"
+                            android:textColor="#D8E481"
+                            android:textSize="8sp" />
+                    </LinearLayout>
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+            <!-- 左侧功能布局 -->
+            <RelativeLayout
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_below="@+id/ll_title"
+                android:orientation="vertical">
+
+                <LinearLayout
+                    android:layout_width="wrap_content"
+                    android:layout_height="110dp">
+
+                    <LinearLayout
+                        android:id="@+id/ll_left_error_layout"
+                        android:layout_width="wrap_content"
+                        android:layout_height="110dp"
+                        android:layout_marginTop="3dp"
+                        android:background="@drawable/xbb303030_4round_bg"
+                        android:orientation="vertical"
+                        android:visibility="gone">
+
+                        <androidx.recyclerview.widget.RecyclerView
+                            android:id="@+id/rv_error_list"
+                            android:layout_width="wrap_content"
+                            android:layout_height="match_parent" />
+
+                    </LinearLayout>
+
+                </LinearLayout>
+
+            </RelativeLayout>
+
+        </RelativeLayout>
+    </com.amap.api.maps.MapView>
+
+    <!--  偏航文字  -->
+    <TextView
+        android:id="@+id/tv_yaw"
+        android:layout_width="25dp"
+        android:layout_height="wrap_content"
+        android:layout_above="@+id/ll_text"
+        android:layout_alignParentRight="true"
+        android:layout_marginRight="226dp"
+        android:layout_marginBottom="5dp"
+        android:background="@drawable/xbb303030_4round_bg"
+        android:elevation="10dp"
+        android:gravity="center"
+        android:padding="3dp"
+        android:text="0°"
+        android:textColor="#ffffff"
+        android:textSize="8sp" />
+
+    <!--  底部数据栏  -->
+    <RelativeLayout
+        android:id="@+id/ll_text"
+        android:layout_width="match_parent"
+        android:layout_height="110dp"
+        android:layout_alignParentBottom="true"
+        android:elevation="10dp"
+        android:orientation="horizontal"
+        android:visibility="visible">
+
+        <LinearLayout
+            android:layout_margin="5dp"
+            android:orientation="vertical"
+            android:layout_alignParentBottom="true"
+            android:layout_marginRight="20dp"
+            android:background="@drawable/x80000000_4round_bg"
+            android:layout_width="wrap_content"
+            android:layout_height="match_parent">
+
+            <!-- 自定义进度条 -->
+            <com.example.longyi_groundstation.Main.View.CustomSeekBar
+                android:id="@+id/custom_seekbar"
+                android:layout_width="300dp"
+                android:layout_height="35dp"
+                android:layout_weight="1"
+                android:layout_margin="5dp" />
+
+            <!--  路线规划  -->
+            <LinearLayout
+                android:layout_gravity="center_horizontal"
+                android:layout_marginBottom="5dp"
+                android:layout_marginTop="5dp"
+                android:id="@+id/ll_link"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_below="@+id/ll_title"
+                android:layout_alignParentRight="true"
+                android:orientation="horizontal"
+                android:visibility="visible">
+
+                <LinearLayout
+                    android:id="@+id/ll_link_save"
+                    android:layout_width="60dp"
+                    android:layout_height="25dp"
+                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="25dp"
+                        android:gravity="center"
+                        android:text="开始/暂停"
+                        android:textColor="#ffffff"
+                        android:textSize="8sp" />
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_marginLeft="10dp"
+                    android:id="@+id/ll_link_fun1"
+                    android:layout_width="60dp"
+                    android:layout_height="25dp"
+                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="25dp"
+                        android:gravity="center"
+                        android:text="X 1.5"
+                        android:textColor="#ffffff"
+                        android:textSize="8sp" />
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_marginLeft="10dp"
+                    android:id="@+id/ll_link_fun2"
+                    android:layout_width="60dp"
+                    android:layout_height="25dp"
+                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="25dp"
+                        android:gravity="center"
+                        android:text="X 2.0"
+                        android:textColor="#ffffff"
+                        android:textSize="8sp" />
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_marginLeft="10dp"
+                    android:id="@+id/ll_link_back"
+                    android:layout_width="60dp"
+                    android:layout_height="25dp"
+                    android:background="@drawable/b2101010_4round_1stroke_bg"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="25dp"
+                        android:gravity="center"
+                        android:text="重新播放"
+                        android:textColor="#ffffff"
+                        android:textSize="8sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_margin="5dp"
+            android:layout_alignParentBottom="true"
+            android:layout_width="wrap_content"
+            android:layout_height="100dp"
+            android:layout_alignParentRight="true"
+            android:background="@drawable/ff101010_120round_bg"
+            android:gravity="center_vertical"
+            android:orientation="horizontal"
+            android:padding="5dp">
+
+
+            <RelativeLayout
+                android:layout_width="90dp"
+                android:layout_height="90dp"
+                android:layout_marginLeft="2dp">
+
+                <!--  天地仪  -->
+                <com.example.longyi_groundstation.Main.View.CircularLinearLayout
+                    android:id="@+id/cll_layout"
+                    android:layout_width="72dp"
+                    android:layout_height="72dp"
+                    android:layout_centerInParent="true"
+                    android:orientation="vertical"
+                    android:visibility="invisible">
+
+                    <RelativeLayout
+                        android:layout_width="72dp"
+                        android:layout_height="72dp">
+
+                        <!--  天地-->
+                        <LinearLayout
+                            android:layout_width="match_parent"
+                            android:layout_height="match_parent"
+                            android:orientation="vertical">
+
+                            <View
+                                android:id="@+id/v_welkin"
+                                android:layout_width="match_parent"
+                                android:layout_height="35dp"
+                                android:background="#B875C5DB" />
+                        </LinearLayout>
+
+                        <!--  俯仰  -->
+                        <LinearLayout
+                            android:id="@+id/ll_pitch"
+                            android:layout_width="match_parent"
+                            android:layout_height="match_parent"
+                            android:layout_marginTop="0dp"
+                            android:gravity="center_horizontal"
+                            android:orientation="vertical">
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="10dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="45"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="14dp"
+                                    android:layout_height="1dp"
+                                    android:layout_marginRight="7dp"
+                                    android:background="#ffffff" />
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="30"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="22dp"
+                                    android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
+                                    android:background="#ffffff" />
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="15"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="30dp"
+                                    android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
+                                    android:background="#ffffff" />
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="4dp"
+                                    android:text="0"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="40dp"
+                                    android:layout_height="1.5dp"
+                                    android:layout_marginRight="6dp"
+                                    android:background="#DBCE16" />
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="15"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="30dp"
+                                    android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
+                                    android:background="#ffffff" />
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="30"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="22dp"
+                                    android:layout_height="1dp"
+                                    android:layout_marginRight="6dp"
+                                    android:background="#ffffff" />
+                            </LinearLayout>
+
+                            <LinearLayout
+                                android:layout_width="wrap_content"
+                                android:layout_height="wrap_content"
+                                android:layout_marginTop="2dp"
+                                android:gravity="center_vertical">
+
+                                <TextView
+                                    android:layout_width="wrap_content"
+                                    android:layout_height="wrap_content"
+                                    android:layout_marginRight="3dp"
+                                    android:text="45"
+                                    android:textColor="#ffffff"
+                                    android:textSize="4sp" />
+
+                                <View
+                                    android:layout_width="14dp"
+                                    android:layout_height="1dp"
+                                    android:layout_marginRight="7dp"
+                                    android:background="#ffffff" />
+                            </LinearLayout>
+
+                        </LinearLayout>
+
+                        <!--  翻滚  -->
+                        <ImageView
+                            android:id="@+id/iv_roll"
+                            android:layout_width="match_parent"
+                            android:layout_height="match_parent"
+                            android:layout_centerInParent="true"
+                            android:src="@mipmap/icon_instrument_roll" />
+
+                    </RelativeLayout>
+
+                </com.example.longyi_groundstation.Main.View.CircularLinearLayout>
+
+                <ImageView
+                    android:id="@+id/iv_yaw"
+                    android:layout_width="90dp"
+                    android:layout_height="90dp"
+                    android:layout_centerInParent="true"
+                    android:src="@mipmap/icon_instrument_yaw" />
+
+                <!--  小飞机  -->
+                <ImageView
+                    android:layout_width="36dp"
+                    android:layout_height="36dp"
+                    android:layout_centerInParent="true"
+                    android:paddingBottom="3dp"
+                    android:src="@mipmap/icon_instrument_fly" />
+
+                <LinearLayout
+                    android:layout_width="90dp"
+                    android:layout_height="90dp"
+                    android:gravity="center_horizontal"
+                    android:padding="16dp">
+
+                    <ImageView
+                        android:layout_width="5dp"
+                        android:layout_height="5dp"
+                        android:src="@mipmap/icon_instrument_pitch_z" />
+
+                </LinearLayout>
+
+            </RelativeLayout>
+
+            <!--  底部状态栏  -->
+            <LinearLayout
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_margin="5dp"
+                android:gravity="right"
+                android:orientation="horizontal"
+                tools:ignore="RtlHardcoded">
+
+                <androidx.recyclerview.widget.RecyclerView
+                    android:id="@+id/rv_type_list"
+                    android:layout_width="160dp"
+                    android:layout_height="match_parent"
+                    android:layout_marginLeft="5dp"
+                    android:layout_marginRight="10dp"
+                    android:layout_weight="1" />
+
+            </LinearLayout>
+
+        </LinearLayout>
+
+    </RelativeLayout>
+
+    <!--  主页面  -->
+
+</RelativeLayout>
diff --git a/app/src/main/res/layout/activity_setting.xml b/app/src/main/res/layout/activity_setting.xml
index f89159c..e7a89ef 100644
--- a/app/src/main/res/layout/activity_setting.xml
+++ b/app/src/main/res/layout/activity_setting.xml
@@ -65,7 +65,7 @@
 
                     <TextView
                         android:textSize="12sp"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:id="@+id/tv_control"
@@ -76,7 +76,7 @@
 
                     <TextView
                         android:textSize="12sp"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:id="@+id/tv_fly"
@@ -87,7 +87,7 @@
 
                     <TextView
                         android:textSize="12sp"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:id="@+id/tv_secure"
@@ -98,7 +98,7 @@
 
                     <TextView
                         android:textSize="12sp"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:id="@+id/tv_motor"
@@ -109,7 +109,7 @@
 
                     <TextView
                         android:textSize="12sp"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:id="@+id/tv_load"
@@ -118,9 +118,10 @@
                         android:layout_width="match_parent"
                         android:layout_height="35dp"/>
 
+
                     <TextView
                         android:textSize="12sp"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:id="@+id/tv_sensor"
@@ -129,10 +130,11 @@
                         android:layout_width="match_parent"
                         android:layout_height="35dp"/>
 
+
                     <TextView
                         android:textSize="12sp"
                         android:id="@+id/tv_parameter"
-                        android:layout_marginTop="3dp"
+                        android:layout_marginTop="1dp"
                         android:background="@drawable/b2303030_4round_1stroke_bg"
                         android:textColor="#303030"
                         android:gravity="center"
diff --git a/app/src/main/res/layout/adapter_all_link_item.xml b/app/src/main/res/layout/adapter_all_link_item.xml
new file mode 100644
index 0000000..e8096a6
--- /dev/null
+++ b/app/src/main/res/layout/adapter_all_link_item.xml
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="180dp"
+    android:background="@drawable/x80000000_4round_bg"
+    android:padding="5dp"
+    android:orientation="vertical"
+    android:layout_margin="3dp"
+    android:layout_height="wrap_content">
+
+    <RelativeLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content">
+
+        <TextView
+            android:id="@+id/tv_title"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:textColor="#ffffff"
+            android:textSize="9sp"
+            android:text="名称："
+            android:layout_width="wrap_content"
+            android:layout_height="22dp"/>
+
+        <TextView
+            android:layout_alignParentRight="true"
+            android:id="@+id/tv_del"
+            android:layout_marginLeft="10dp"
+            android:gravity="center"
+            android:textColor="#ffffff"
+            android:background="@drawable/ffdd635a_4round_1stroke_bg"
+            android:textSize="9sp"
+            android:text="删除"
+            android:layout_width="42dp"
+            android:layout_height="20dp"/>
+
+    </RelativeLayout>
+
+    <LinearLayout
+        android:orientation="vertical"
+        android:padding="8dp"
+        android:background="@drawable/ffffffff_4round_bg"
+        android:layout_marginTop="5dp"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content">
+
+        <LinearLayout
+            android:gravity="center_vertical"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="8sp"
+                android:text="创建时间："
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+
+            <TextView
+                android:id="@+id/tv_time"
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="7sp"
+                android:text="2010-10-10 12:00:00"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_marginTop="5dp"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="8sp"
+                android:text="点位数量："
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+
+            <TextView
+                android:id="@+id/tv_number"
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="7sp"
+                android:text="12个"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+
+    </LinearLayout>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/adapter_control_data_item.xml b/app/src/main/res/layout/adapter_control_data_item.xml
index 3b29567..66d8e8e 100644
--- a/app/src/main/res/layout/adapter_control_data_item.xml
+++ b/app/src/main/res/layout/adapter_control_data_item.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.cardview.widget.CardView xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="wrap_content"
+    android:layout_width="match_parent"
     android:layout_height="wrap_content"
-    android:layout_margin="8dp"
+    android:layout_margin="6dp"
     app:cardCornerRadius="8dp"
     app:cardElevation="4dp">
 
@@ -11,7 +11,7 @@
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
         android:orientation="vertical"
-        android:padding="16dp">
+        android:padding="8dp">
 
         <RelativeLayout
             android:orientation="horizontal"
@@ -28,6 +28,7 @@
                 android:textStyle="bold" />
 
             <TextView
+                android:layout_centerVertical="true"
                 android:textStyle="bold"
                 android:layout_alignParentRight="true"
                 android:id="@+id/tv_current_value"
@@ -35,63 +36,40 @@
                 android:layout_height="wrap_content"
                 android:layout_marginTop="4dp"
                 android:layout_marginRight="10dp"
-                android:text="1200"
+                android:text="00"
                 android:textColor="#62a7f0"
                 android:textSize="11sp" />
 
         </RelativeLayout>
 
 
-
+        <!-- 添加条形图 -->
         <LinearLayout
+            android:id="@+id/ll_progress_container"
             android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="8dp"
+            android:layout_height="8dp"
+            android:layout_marginTop="6dp"
             android:orientation="horizontal">
 
-            <TextView
-                android:id="@+id/tv_max_desc"
+            <View
+                android:id="@+id/view_left_progress"
                 android:layout_width="0dp"
-                android:layout_height="wrap_content"
+                android:layout_height="match_parent"
                 android:layout_weight="1"
-                android:text="最大值说明: "
-                android:textColor="#888"
-                android:textSize="10sp" />
+                android:background="#62a7f0" />
 
-            <TextView
-                android:id="@+id/tv_min_desc"
+            <View
+                android:id="@+id/view_right_progress"
                 android:layout_width="0dp"
-                android:layout_height="wrap_content"
+                android:layout_height="match_parent"
                 android:layout_weight="1"
-                android:text="最小值说明: "
-                android:textColor="#888"
-                android:textSize="10sp" />
+                android:background="#cccccc" />
+
         </LinearLayout>
 
-        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="8dp"
-            android:orientation="horizontal">
 
-            <TextView
-                android:textSize="11sp"
-                android:id="@+id/tv_max_value"
-                android:layout_width="0dp"
-                android:layout_height="wrap_content"
-                android:layout_weight="1"
-                android:text="最大值: "
-                android:textColor="#666" />
 
-            <TextView
-                android:textSize="11sp"
-                android:id="@+id/tv_min_value"
-                android:layout_width="0dp"
-                android:layout_height="wrap_content"
-                android:layout_weight="1"
-                android:text="最小值: "
-                android:textColor="#666" />
-        </LinearLayout>
+
 
 
 
diff --git a/app/src/main/res/layout/adapter_create_link_item.xml b/app/src/main/res/layout/adapter_create_link_item.xml
new file mode 100644
index 0000000..ebf21b4
--- /dev/null
+++ b/app/src/main/res/layout/adapter_create_link_item.xml
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="160dp"
+    android:background="@drawable/x80000000_4round_bg"
+    android:padding="5dp"
+    android:orientation="vertical"
+    android:layout_height="wrap_content">
+
+    <RelativeLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content">
+
+        <TextView
+            android:id="@+id/tv_title"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:textColor="#ffffff"
+            android:textSize="11sp"
+            android:text="名称："
+            android:layout_width="wrap_content"
+            android:layout_height="22dp"/>
+
+        <TextView
+            android:layout_alignParentRight="true"
+            android:id="@+id/tv_del"
+            android:layout_marginLeft="10dp"
+            android:gravity="center"
+            android:textColor="#ffffff"
+            android:background="@drawable/ffdd635a_4round_1stroke_bg"
+            android:textSize="9sp"
+            android:text="删除"
+            android:layout_width="42dp"
+            android:layout_height="20dp"/>
+
+    </RelativeLayout>
+
+    <LinearLayout
+        android:orientation="vertical"
+        android:padding="10dp"
+        android:background="@drawable/ffffffff_4round_bg"
+        android:layout_marginTop="5dp"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content">
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="9sp"
+                android:text="高度："
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:gravity="center"
+                android:layout_marginLeft="10dp"
+                android:text="30"
+                android:textSize="9sp"
+                android:background="#ffffff"
+                android:id="@+id/et_height"
+                android:layout_width="30dp"
+                android:layout_height="wrap_content"/>
+
+            <TextView
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="9sp"
+                android:text="m"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_marginTop="10dp"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="9sp"
+                android:text="速度："
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:gravity="center"
+                android:layout_marginLeft="10dp"
+                android:text="30"
+                android:textSize="9sp"
+                android:background="#ffffff"
+                android:id="@+id/et_speed"
+                android:layout_width="30dp"
+                android:layout_height="wrap_content"/>
+
+            <TextView
+                android:layout_marginLeft="10dp"
+                android:textColor="#303030"
+                android:textSize="9sp"
+                android:text="m/s"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+
+    </LinearLayout>
+
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/adapter_log.xml b/app/src/main/res/layout/adapter_log.xml
index c1ef728..a7f1860 100644
--- a/app/src/main/res/layout/adapter_log.xml
+++ b/app/src/main/res/layout/adapter_log.xml
@@ -24,7 +24,7 @@
 
         <LinearLayout
             android:orientation="vertical"
-            android:layout_width="200dp"
+            android:layout_width="160dp"
             android:layout_height="wrap_content">
 
             <TextView
diff --git a/app/src/main/res/layout/adapter_motor_data_item.xml b/app/src/main/res/layout/adapter_motor_data_item.xml
index 27ed041..d7215e3 100644
--- a/app/src/main/res/layout/adapter_motor_data_item.xml
+++ b/app/src/main/res/layout/adapter_motor_data_item.xml
@@ -4,12 +4,13 @@
     android:layout_height="wrap_content">
 
     <TextView
+        android:gravity="center"
         android:id="@+id/tv_item"
         android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_margin="8dp"
+        android:layout_margin="6dp"
         android:textColor="@android:color/white"
-        android:textSize="16sp"
-        android:padding="12dp"/>
+        android:textSize="10sp"
+        android:padding="6dp"/>
 
 </LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/adapter_type_item.xml b/app/src/main/res/layout/adapter_type_item.xml
index 8a0ffb6..32a3a0e 100644
--- a/app/src/main/res/layout/adapter_type_item.xml
+++ b/app/src/main/res/layout/adapter_type_item.xml
@@ -7,11 +7,15 @@
     android:id="@+id/ll_main">
 
     <TextView
+        android:textColor="#ffffff"
         android:id="@+id/text"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:gravity="center"
-        android:textSize="7sp"
-        android:textColor="#ffffff" />
+        android:textSize="8sp"
+        android:maxWidth="400dp"
+        android:minWidth="0dp"
+        android:singleLine="true"
+        android:ellipsize="none" />
+
 
 </LinearLayout>
diff --git a/app/src/main/res/layout/custom_info_window.xml b/app/src/main/res/layout/custom_info_window.xml
new file mode 100644
index 0000000..7e839e6
--- /dev/null
+++ b/app/src/main/res/layout/custom_info_window.xml
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:background="@drawable/custom_info_bubble"
+    android:orientation="vertical"
+    android:padding="8dp">
+
+    <TextView
+        android:id="@+id/title"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textStyle="bold"
+        android:textColor="#000000"
+        android:textSize="14sp" />
+
+    <LinearLayout
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:layout_marginTop="4dp">
+
+        <Button
+            android:id="@+id/delete_button"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="删除"
+            android:textSize="12sp"
+            android:background="#FF5555"
+            android:textColor="#FFFFFF" />
+    </LinearLayout>
+</LinearLayout>
diff --git a/app/src/main/res/layout/custom_marker_layout.xml b/app/src/main/res/layout/custom_marker_layout.xml
new file mode 100644
index 0000000..27d7a8c
--- /dev/null
+++ b/app/src/main/res/layout/custom_marker_layout.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="30dp"
+    android:layout_height="40dp"
+    android:orientation="vertical"
+    android:gravity="center">
+
+    <!-- 自定义图标 -->
+    <ImageView
+        android:layout_centerHorizontal="true"
+        android:id="@+id/marker_icon"
+        android:layout_width="25dp"
+        android:layout_height="40dp"
+        android:src="@mipmap/icon_marker" />
+
+    <!-- 文字标签 -->
+    <TextView
+        android:layout_alignParentBottom="true"
+        android:id="@+id/marker_text"
+        android:layout_width="30dp"
+        android:layout_height="wrap_content"
+        android:text="点位1"
+        android:textSize="7sp"
+        android:textColor="#ffffff"
+        android:background="@drawable/x80000000_4round_bg"
+        android:gravity="center" />
+
+</RelativeLayout>
diff --git a/app/src/main/res/layout/dialog_bombing.xml b/app/src/main/res/layout/dialog_bombing.xml
new file mode 100644
index 0000000..8410fed
--- /dev/null
+++ b/app/src/main/res/layout/dialog_bombing.xml
@@ -0,0 +1,77 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:orientation="vertical">
+
+    <LinearLayout
+        android:layout_width="300dp"
+        android:layout_height="wrap_content"
+        android:orientation="vertical">
+
+        <TextView
+            android:id="@+id/tv_title"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_gravity="center_horizontal"
+            android:background="@drawable/ff029a45_4round_bg"
+            android:gravity="center"
+            android:padding="8dp"
+            android:text="投弹"
+            android:textColor="#fff"
+            android:textSize="13sp" />
+
+        <LinearLayout
+
+            android:layout_margin="8dp"
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <TextView
+                android:textSize="12sp"
+                android:text="高度设置："
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+            <EditText
+                android:textSize="12sp"
+                android:padding="2dp"
+                android:id="@+id/et_height"
+                android:background="@drawable/b2303030_4round_1stroke_bg"
+                android:layout_width="50dp"
+                android:layout_height="wrap_content"/>
+
+            <TextView
+                android:textSize="12sp"
+                android:layout_marginLeft="3dp"
+                android:text="M"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+
+
+        <com.example.longyi_groundstation.Main.View.SlideToUnlockView
+            android:background="#ffffff"
+            android:id="@+id/unlockView"
+            android:layout_width="wrap_content"
+            android:layout_height="35dp"
+            android:layout_margin="8dp" />
+
+        <TextView
+            android:id="@+id/tv_message"
+            android:layout_width="match_parent"
+            android:layout_height="30dp"
+            android:layout_gravity="center"
+            android:background="#C3606060"
+            android:gravity="center"
+            android:text="取消"
+            android:textColor="#ffffff"
+            android:textSize="12sp" />
+
+    </LinearLayout>
+
+
+</LinearLayout>
diff --git a/app/src/main/res/layout/dialog_error_log.xml b/app/src/main/res/layout/dialog_error_log.xml
index e878dec..b865335 100644
--- a/app/src/main/res/layout/dialog_error_log.xml
+++ b/app/src/main/res/layout/dialog_error_log.xml
@@ -14,7 +14,7 @@
             android:padding="8dp"
             android:gravity="center"
             android:text="警告"
-            android:background="@drawable/eb51518b_4round_bg"
+            android:background="@drawable/ff029a45_4round_bg"
             android:layout_gravity="center_horizontal"
             android:id="@+id/tv_title"
             android:layout_width="match_parent"
diff --git a/app/src/main/res/layout/dialog_land.xml b/app/src/main/res/layout/dialog_land.xml
index 01b1ccf..eb9f2a0 100644
--- a/app/src/main/res/layout/dialog_land.xml
+++ b/app/src/main/res/layout/dialog_land.xml
@@ -14,7 +14,7 @@
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:layout_gravity="center_horizontal"
-            android:background="@drawable/eb51518b_4round_bg"
+            android:background="@drawable/ff029a45_4round_bg"
             android:gravity="center"
             android:padding="8dp"
             android:text="返航"
diff --git a/app/src/main/res/layout/dialog_take_off.xml b/app/src/main/res/layout/dialog_take_off.xml
index ee5b04c..240d90c 100644
--- a/app/src/main/res/layout/dialog_take_off.xml
+++ b/app/src/main/res/layout/dialog_take_off.xml
@@ -14,7 +14,7 @@
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:layout_gravity="center_horizontal"
-            android:background="@drawable/eb51518b_4round_bg"
+            android:background="@drawable/ff029a45_4round_bg"
             android:gravity="center"
             android:padding="8dp"
             android:text="起飞"
diff --git a/app/src/main/res/layout/dialog_turn_back.xml b/app/src/main/res/layout/dialog_turn_back.xml
index 4ed2367..1b5737d 100644
--- a/app/src/main/res/layout/dialog_turn_back.xml
+++ b/app/src/main/res/layout/dialog_turn_back.xml
@@ -14,7 +14,7 @@
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:layout_gravity="center_horizontal"
-            android:background="@drawable/eb51518b_4round_bg"
+            android:background="@drawable/ff029a45_4round_bg"
             android:gravity="center"
             android:padding="8dp"
             android:text="降落"
diff --git a/app/src/main/res/layout/fragment_control.xml b/app/src/main/res/layout/fragment_control.xml
index 672a98b..2bca6ed 100644
--- a/app/src/main/res/layout/fragment_control.xml
+++ b/app/src/main/res/layout/fragment_control.xml
@@ -1,28 +1,33 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#555f75"
+    android:background="#112446"
+    android:orientation="vertical"
     tools:context=".Main.Setting.Fragment.MotorFragment">
 
     <TextView
+        android:textSize="10sp"
         android:layout_alignParentRight="true"
-        android:layout_margin="8dp"
+        android:layout_margin="6dp"
         android:background="@drawable/ff62a7f0_2round_1stroke_bg"
         android:textColor="#ffffff"
         android:id="@+id/tv_calibration"
         android:gravity="center"
         android:text="参数校准"
-        android:layout_width="120dp"
-        android:layout_height="35dp"/>
+        android:layout_width="100dp"
+        android:padding="6dp"
+        android:layout_height="wrap_content"/>
 
     <androidx.recyclerview.widget.RecyclerView
+        android:background="@drawable/ff112446_4round_bg"
         android:id="@+id/rv_data"
-        android:layout_marginLeft="8dp"
-        android:layout_marginRight="8dp"
-        android:layout_marginTop="50dp"
+        android:layout_marginLeft="6dp"
+        android:layout_marginRight="6dp"
+        android:layout_marginBottom="6dp"
+        android:padding="6dp"
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 
-</RelativeLayout>
\ No newline at end of file
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_fly.xml b/app/src/main/res/layout/fragment_fly.xml
index 0731044..2ebd88d 100644
--- a/app/src/main/res/layout/fragment_fly.xml
+++ b/app/src/main/res/layout/fragment_fly.xml
@@ -1,13 +1,451 @@
 <?xml version="1.0" encoding="utf-8"?>
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#555f75"
+    android:background="#112446"
+    android:padding="8dp"
+    android:orientation="horizontal"
     tools:context=".Main.Setting.Fragment.MotorFragment">
 
+    <LinearLayout
+        android:orientation="vertical"
+        android:layout_weight="2.5"
+        android:layout_width="0dp"
+        android:layout_height="match_parent">
+
+        <!-- 功能按钮 -->
+        <RelativeLayout
+            android:paddingRight="30dp"
+            android:paddingLeft="10dp"
+            android:layout_marginTop="16dp"
+            android:layout_gravity="center_horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical">
+
+
+            <TextView
+                android:id="@+id/tv_default"
+                android:layout_marginLeft="5dp"
+                android:layout_marginRight="20dp"
+                android:gravity="center"
+                android:textColor="#ffffff"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                android:textSize="10sp"
+                android:text="恢复默认"
+                android:paddingLeft="20dp"
+                android:paddingRight="20dp"
+                android:layout_width="wrap_content"
+                android:layout_height="22dp"/>
+
+            <TextView
+                android:layout_alignParentRight="true"
+                android:id="@+id/tv_save"
+                android:gravity="center"
+                android:textColor="#ffffff"
+                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:textSize="10sp"
+                android:text="保存"
+                android:layout_width="42dp"
+                android:layout_height="22dp"/>
+
+        </RelativeLayout>
+
+        <!-- 最大平飞速度 -->
+        <LinearLayout
+            android:layout_marginTop="16dp"
+            android:layout_gravity="center_horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical">
+
+            <TextView
+                android:gravity="right"
+                android:textSize="10sp"
+                android:text="最大平飞速度:"
+                android:textColor="#ffffff"
+                android:layout_width="80dp"
+                android:layout_height="wrap_content"/>
+
+            <!-- 减按钮 -->
+            <TextView
+                android:layout_marginLeft="5dp"
+                android:gravity="center"
+                android:id="@+id/tv_flight_speed_minus"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="-"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+            <!-- 滑动条 -->
+            <SeekBar
+                android:id="@+id/seekBar_flight_speed"
+                android:layout_width="140dp"
+                android:layout_marginRight="5dp"
+                android:layout_marginLeft="5dp"
+                android:layout_height="wrap_content"
+                android:max="3500"
+                android:min="20"
+                android:progress="0"
+
+                />
+
+            <!-- 加按钮 -->
+            <TextView
+                android:gravity="center"
+                android:id="@+id/tv_flight_speed_add"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="+"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+            <TextView
+                android:layout_marginLeft="3dp"
+                android:textSize="10sp"
+                android:id="@+id/tv_flight_speed"
+                android:text="20cm/s"
+                android:textColor="#ffffff"
+                android:layout_width="50dp"
+                android:gravity="right"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+
+        <!-- 最大平飞速度 -->
+        <LinearLayout
+            android:layout_marginTop="16dp"
+            android:layout_gravity="center_horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical">
+
+            <TextView
+                android:gravity="right"
+                android:textSize="10sp"
+                android:text="最大爬升速度:"
+                android:textColor="#ffffff"
+                android:layout_width="80dp"
+                android:layout_height="wrap_content"/>
+
+            <!-- 减按钮 -->
+            <TextView
+                android:layout_marginLeft="5dp"
+                android:gravity="center"
+                android:id="@+id/tv_climb_speed_minus"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="-"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+            <!-- 滑动条 -->
+            <SeekBar
+                android:id="@+id/seekBar_climb_speed"
+                android:layout_width="140dp"
+                android:layout_marginRight="5dp"
+                android:layout_marginLeft="5dp"
+                android:layout_height="wrap_content"
+                android:max="500"
+                android:min="50"
+                android:progress="0"
+
+                />
+
+            <!-- 加按钮 -->
+            <TextView
+                android:gravity="center"
+                android:id="@+id/tv_climb_speed_add"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="+"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+            <TextView
+                android:layout_marginLeft="3dp"
+                android:textSize="10sp"
+                android:id="@+id/tv_climb_speed"
+                android:text="50cm/s"
+                android:textColor="#ffffff"
+                android:layout_width="50dp"
+                android:gravity="right"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+
+        <!-- 最大平飞速度 -->
+        <LinearLayout
+            android:layout_marginTop="16dp"
+            android:layout_gravity="center_horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical">
+
+            <TextView
+                android:gravity="right"
+                android:textSize="10sp"
+                android:text="最大下降速度:"
+                android:textColor="#ffffff"
+                android:layout_width="80dp"
+                android:layout_height="wrap_content"/>
+
+            <!-- 减按钮 -->
+            <TextView
+                android:layout_marginLeft="5dp"
+                android:gravity="center"
+                android:id="@+id/tv_decline_speed_minus"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="-"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+            <!-- 滑动条 -->
+            <SeekBar
+                android:id="@+id/seekBar_decline_speed"
+                android:layout_width="140dp"
+                android:layout_marginRight="5dp"
+                android:layout_marginLeft="5dp"
+                android:layout_height="wrap_content"
+                android:max="500"
+                android:min="0"
+                android:progress="0"
+
+                />
+
+            <!-- 加按钮 -->
+            <TextView
+                android:gravity="center"
+                android:id="@+id/tv_decline_speed_add"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="+"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+            <TextView
+                android:layout_marginLeft="3dp"
+
+                android:textSize="10sp"
+                android:id="@+id/tv_decline_speed"
+                android:text="0cm/s"
+                android:textColor="#ffffff"
+                android:layout_width="50dp"
+                android:gravity="right"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+
+        <!-- 最大平飞速度 -->
+        <LinearLayout
+            android:layout_marginTop="16dp"
+            android:layout_gravity="center_horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical">
+
+            <TextView
+                android:gravity="right"
+                android:textSize="10sp"
+                android:text="最大水平角度:"
+                android:textColor="#ffffff"
+                android:layout_width="80dp"
+                android:layout_height="wrap_content"/>
+
+            <!-- 减按钮 -->
+            <TextView
+                android:layout_marginLeft="5dp"
+                android:gravity="center"
+                android:id="@+id/tv_horizontal_angle_minus"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="-"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+            <!-- 滑动条 -->
+            <SeekBar
+                android:id="@+id/seekBar_horizontal_angle"
+                android:layout_width="140dp"
+                android:layout_marginRight="5dp"
+                android:layout_marginLeft="5dp"
+                android:layout_height="wrap_content"
+                android:max="8000"
+                android:min="1000"
+                android:progress="0"
+
+                />
+
+            <!-- 加按钮 -->
+            <TextView
+                android:gravity="center"
+                android:id="@+id/tv_horizontal_angle_add"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="+"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+            <TextView
+                android:layout_marginLeft="3dp"
+                android:textSize="10sp"
+                android:id="@+id/tv_horizontal_angle"
+                android:text="1000cdeg"
+                android:textColor="#ffffff"
+                android:layout_width="50dp"
+                android:gravity="right"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+
+        <!-- 最大平飞速度 -->
+        <LinearLayout
+            android:layout_marginTop="16dp"
+            android:layout_gravity="center_horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:gravity="center_vertical">
+
+            <TextView
+                android:gravity="right"
+                android:textSize="10sp"
+                android:text="最大旋转速率:"
+                android:textColor="#ffffff"
+                android:layout_width="80dp"
+                android:layout_height="wrap_content"/>
+
+            <!-- 减按钮 -->
+            <TextView
+                android:layout_marginLeft="5dp"
+                android:gravity="center"
+                android:id="@+id/tv_rotation_rate_minus"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="-"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+            <!-- 滑动条 -->
+            <SeekBar
+                android:id="@+id/seekBar_rotation_rate"
+                android:layout_width="140dp"
+                android:layout_marginRight="5dp"
+                android:layout_marginLeft="5dp"
+                android:layout_height="wrap_content"
+                android:max="3600"
+                android:progress="10"
+
+                />
+
+            <!-- 加按钮 -->
+            <TextView
+                android:gravity="center"
+                android:id="@+id/tv_rotation_rate_add"
+                android:layout_width="22dp"
+                android:layout_height="22dp"
+                android:text="+"
+                android:textColor="#ffffff"
+                android:textSize="10sp"
+                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+            <TextView
+                android:layout_marginLeft="3dp"
+                android:textSize="10sp"
+                android:id="@+id/tv_rotation_rate"
+                android:text="1.0度/s"
+                android:textColor="#ffffff"
+                android:layout_width="50dp"
+                android:gravity="right"
+                android:layout_height="wrap_content"/>
+        </LinearLayout>
+
+
+    </LinearLayout>
+
+    <LinearLayout
+        android:background="@drawable/ffffffff_4round_bg"
+        android:layout_weight="1"
+        android:layout_width="0dp"
+        android:layout_height="match_parent">
+
+        <ScrollView
+            android:layout_width="match_parent"
+            android:layout_height="match_parent">
+
+
+            <LinearLayout
+                android:orientation="vertical"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent">
+
+
+                <TextView
+                    android:layout_margin="10dp"
+                    android:text="    1.最大平飞速度‌：指无人机在水平方向能达到的最高飞行速度。"
+                    android:textColor="#606060"
+                    android:textSize="12sp"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"/>
+
+                <TextView
+                    android:layout_margin="10dp"
+                    android:text="     2.最大爬升速度‌：指无人机垂直上升时的最高速率"
+                    android:textColor="#606060"
+                    android:textSize="12sp"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"/>
+
+                <TextView
+                    android:layout_margin="10dp"
+                    android:text="    3.最大下降速度‌：指无人机垂直下降时的最高安全速率"
+                    android:textColor="#606060"
+                    android:textSize="12sp"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"/>
+
+                <TextView
+                    android:layout_margin="10dp"
+                    android:text="    4.最大水平角度‌：指无人机倾斜飞行的最大角度（以度为单位），影响机动性和抗风能力"
+                    android:textColor="#606060"
+                    android:textSize="12sp"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"/>
+
+                <TextView
+                    android:layout_margin="10dp"
+                    android:text="     5.最大旋转速率‌：指无人机绕轴旋转的最高角速度（单位 m/秒），用于快速转向或姿态调整。"
+                    android:textColor="#606060"
+                    android:textSize="12sp"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"/>
+            </LinearLayout>
+
+
+        </ScrollView>
+
+
+    </LinearLayout>
 
 
 
 
-</RelativeLayout>
\ No newline at end of file
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_fly_acceleration.xml b/app/src/main/res/layout/fragment_fly_acceleration.xml
new file mode 100644
index 0000000..9fb2ac6
--- /dev/null
+++ b/app/src/main/res/layout/fragment_fly_acceleration.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <TextView
+        android:textColor="#ffffff"
+        android:text="加速度"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_fly_install.xml b/app/src/main/res/layout/fragment_fly_install.xml
new file mode 100644
index 0000000..3f878fc
--- /dev/null
+++ b/app/src/main/res/layout/fragment_fly_install.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <TextView
+        android:textColor="#ffffff"
+        android:text="安装设置"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_fly_magnetometer.xml b/app/src/main/res/layout/fragment_fly_magnetometer.xml
new file mode 100644
index 0000000..7631591
--- /dev/null
+++ b/app/src/main/res/layout/fragment_fly_magnetometer.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <TextView
+        android:textColor="#ffffff"
+        android:text="磁力"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_fly_model.xml b/app/src/main/res/layout/fragment_fly_model.xml
new file mode 100644
index 0000000..9332fbd
--- /dev/null
+++ b/app/src/main/res/layout/fragment_fly_model.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:padding="6dp">
+
+
+    <androidx.recyclerview.widget.RecyclerView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_foundation.xml b/app/src/main/res/layout/fragment_foundation.xml
index 7db083c..594cfac 100644
--- a/app/src/main/res/layout/fragment_foundation.xml
+++ b/app/src/main/res/layout/fragment_foundation.xml
@@ -1,16 +1,41 @@
 <?xml version="1.0" encoding="utf-8"?>
-<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    tools:context=".Main.Setting.Fragment.MotorFragment">
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:background="#555f75"
+    android:orientation="vertical"
+    tools:context=".Main.Setting.Fragment.FoundationFragment">
 
-    <!-- TODO: Update blank fragment layout -->
     <TextView
-        android:background="#cdcdcd"
         android:gravity="center"
+        android:text="维护中.."
+        android:background="#cdcdcd"
         android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        android:text="正在维护.." />
+        android:layout_height="match_parent"/>
 
-</FrameLayout>
\ No newline at end of file
+    <com.google.android.material.tabs.TabLayout
+        android:layout_marginTop="6dp"
+        android:layout_marginLeft="6dp"
+        android:id="@+id/tab_layout"
+        android:layout_width="match_parent"
+        android:layout_height="26dp"
+        android:background="#555f75"
+        app:tabIndicatorHeight="0dp"
+        app:tabRippleColor="@null"
+        app:tabBackground="@drawable/tab_background_selector"
+        app:tabTextColor="@drawable/tab_text_color_selector"
+        app:tabTextAppearance="@style/CustomTabTextAppearance"
+        android:contentDescription="载荷选择" />
+
+    <androidx.viewpager2.widget.ViewPager2
+        android:background="@drawable/ff112446_4round_bg"
+        android:layout_margin="6dp"
+        android:id="@+id/view_pager"
+        android:layout_width="match_parent"
+        android:layout_height="0dp"
+        android:layout_weight="1" />
+
+
+</LinearLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout/fragment_load.xml b/app/src/main/res/layout/fragment_load.xml
index 5b92a7c..6d0a106 100644
--- a/app/src/main/res/layout/fragment_load.xml
+++ b/app/src/main/res/layout/fragment_load.xml
@@ -1,33 +1,1475 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<ScrollView xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#555f75"
+    android:background="#ff112446"
     android:orientation="vertical"
     tools:context=".Main.Setting.Fragment.LoadFragment">
 
-    <com.google.android.material.tabs.TabLayout
-        android:layout_marginTop="6dp"
-        android:layout_marginLeft="6dp"
-        android:id="@+id/tab_layout"
+    <LinearLayout
         android:layout_width="match_parent"
-        android:layout_height="26dp"
-        android:background="#555f75"
-        app:tabIndicatorHeight="0dp"
-        app:tabRippleColor="@null"
-        app:tabBackground="@drawable/tab_background_selector"
-        app:tabTextColor="@drawable/tab_text_color_selector"
-        app:tabTextAppearance="@style/CustomTabTextAppearance"
-        android:contentDescription="载荷选择" />
+        android:layout_height="wrap_content"
+        android:orientation="vertical">
 
-    <androidx.viewpager2.widget.ViewPager2
-        android:background="@drawable/ff112446_4round_bg"
-        android:layout_margin="6dp"
-        android:id="@+id/view_pager"
-        android:layout_width="match_parent"
-        android:layout_height="0dp"
-        android:layout_weight="1" />
+        <RelativeLayout
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="10dp"
+            android:layout_marginRight="10dp"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
 
-</LinearLayout>
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="投 弹："
+                android:textColor="#ffffff"
+                android:textSize="14sp"
+                android:textStyle="bold" />
+
+            <TextView
+                android:layout_alignParentRight="true"
+                android:textSize="10sp"
+                android:id="@+id/tv_save"
+                android:textColor="#ffffff"
+                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:padding="5dp"
+                android:gravity="center"
+                android:text="保存"
+                android:layout_width="50dp"
+                android:layout_height="wrap_content"/>
+
+
+        </RelativeLayout>
+
+
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="10dp"
+            android:layout_marginRight="10dp">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="名称"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="5dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="遥控器映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="飞控映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="打开值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="关闭值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="5dp"
+            android:layout_marginTop="5dp"
+            android:layout_marginRight="5dp"
+            android:orientation="vertical">
+
+            <!--   投弹1  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="投弹1"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m7"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m7"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m7"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m7"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m7"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m7"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m7"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m7"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m7"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m7"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+            <!--   投弹2  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="投弹2"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m8"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m8"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m8"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m8"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m8"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m8"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m8"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m8"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m8"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m8"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+            <!--   投弹3  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="投弹3"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m9"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m9"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m9"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m9"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m9"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m9"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m9"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m9"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m9"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m9"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+            <!--   投弹4  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="投弹3"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m10"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m10"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m10"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m10"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m10"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m10"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m10"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m10"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m10"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m10"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+        </LinearLayout>
+
+
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="30dp"
+            android:layout_marginRight="10dp"
+            android:text="缓降器："
+            android:textColor="#ffffff"
+            android:textSize="14sp"
+            android:textStyle="bold" />
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="10dp"
+            android:layout_marginRight="10dp">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="名称"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="5dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="遥控器映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="飞控映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="打开值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="关闭值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="5dp"
+            android:layout_marginTop="5dp"
+            android:layout_marginRight="5dp"
+            android:orientation="vertical">
+
+            <!--   缓降器1  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="缓降器1"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m11"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m11"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m11"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m11"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m11"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m11"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m11"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m11"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m11"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m11"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+
+        </LinearLayout>
+
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="30dp"
+            android:layout_marginRight="10dp"
+            android:text="抛投勾："
+            android:textColor="#ffffff"
+            android:textSize="14sp"
+            android:textStyle="bold" />
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="10dp"
+            android:layout_marginRight="10dp">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="名称"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="5dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="遥控器映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="飞控映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="打开值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="关闭值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="5dp"
+            android:layout_marginTop="5dp"
+            android:layout_marginRight="5dp"
+            android:orientation="vertical">
+
+            <!--   抛投勾1  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="抛投勾1"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m12"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m12"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m12"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m12"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m12"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m12"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m12"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m12"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m12"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m12"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+
+        </LinearLayout>
+
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="30dp"
+            android:layout_marginRight="10dp"
+            android:text="其他载荷："
+            android:textColor="#ffffff"
+            android:textSize="14sp"
+            android:textStyle="bold" />
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginLeft="10dp"
+            android:layout_marginTop="10dp"
+            android:layout_marginRight="10dp">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="名称"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="5dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="遥控器映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_weight="1"
+                android:gravity="center"
+                android:text="飞控映射通道"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="打开值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+            <TextView
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="15dp"
+                android:layout_weight="2"
+                android:gravity="center"
+                android:text="关闭值"
+                android:textColor="#ffffff"
+                android:textSize="9sp" />
+
+
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_margin="5dp"
+            android:orientation="vertical">
+
+            <!--   其它  -->
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="10dp"
+                android:layout_marginTop="10dp"
+                android:layout_marginRight="10dp"
+                android:gravity="center_vertical"
+                android:orientation="horizontal">
+
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:text="其它1"
+                    android:textColor="#ffffff"
+                    android:textSize="9sp" />
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="5dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_ctrl_m13"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="m13"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+
+                </LinearLayout>
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="22dp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                    android:orientation="vertical">
+
+                    <TextView
+                        android:id="@+id/tv_fly_m13"
+                        android:layout_width="match_parent"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="--"
+                        android:textColor="#ffffff"
+                        android:textSize="9sp" />
+
+                    <Spinner
+                        android:id="@+id/sp_m13"
+                        android:layout_width="match_parent"
+                        android:layout_height="1dp" />
+
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_value_minus_m13"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_value_m13"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1900"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_value_add_m13"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+
+                <LinearLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_marginLeft="15dp"
+                    android:layout_weight="2"
+                    android:gravity="center"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tv_off_minus_m13"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="-"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                    <EditText
+                        android:id="@+id/et_off_m13"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginLeft="5dp"
+                        android:layout_marginRight="5dp"
+                        android:layout_weight="1"
+                        android:background="@drawable/ffffffff_4round_bg"
+                        android:digits="0123456789"
+                        android:gravity="center"
+                        android:inputType="number"
+                        android:maxLength="4"
+                        android:text="1100"
+                        android:textColor="#303030"
+                        android:textSize="9sp" />
+
+                    <TextView
+                        android:id="@+id/tv_off_add_m13"
+                        android:layout_width="20dp"
+                        android:layout_height="20dp"
+                        android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                        android:gravity="center"
+                        android:text="+"
+                        android:textColor="#ffffff"
+                        android:textSize="12sp" />
+
+                </LinearLayout>
+
+            </LinearLayout>
+
+
+        </LinearLayout>
+
+
+    </LinearLayout>
+
+
+</ScrollView>
diff --git a/app/src/main/res/layout/fragment_logcat.xml b/app/src/main/res/layout/fragment_logcat.xml
new file mode 100644
index 0000000..130b2d0
--- /dev/null
+++ b/app/src/main/res/layout/fragment_logcat.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical"
+    android:background="#ff112446">
+
+    <TextView
+        android:gravity="center"
+        android:text="维护中.."
+        android:background="#cdcdcd"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+</LinearLayout>
diff --git a/app/src/main/res/layout/fragment_motor.xml b/app/src/main/res/layout/fragment_motor.xml
index 0a2bdbd..eef7b7d 100644
--- a/app/src/main/res/layout/fragment_motor.xml
+++ b/app/src/main/res/layout/fragment_motor.xml
@@ -3,182 +3,235 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#555f75"
+    android:background="#112446"
     android:orientation="horizontal"
+
     tools:context=".Main.Setting.Fragment.MotorFragment">
 
     <LinearLayout
-        android:gravity="bottom"
         android:orientation="vertical"
         android:layout_weight="1"
         android:layout_width="0dp"
         android:layout_height="match_parent">
 
-        <!-- 持续时间控制区域 -->
         <LinearLayout
-            android:layout_marginLeft="16dp"
-            android:layout_marginRight="16dp"
-            android:layout_gravity="center_horizontal"
+            android:orientation="vertical"
             android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal"
-            android:gravity="center_vertical"
-            android:layout_marginBottom="24dp">
+            android:layout_height="wrap_content">
 
-            <TextView
-                android:text="持续时间:"
-                android:textColor="#ffffff"
-                android:layout_width="70dp"
+            <ImageView
+                android:layout_marginTop="30dp"
+                android:layout_gravity="center"
+                android:src="@mipmap/icon_ft60"
+                android:layout_width="wrap_content"
                 android:layout_height="wrap_content"/>
 
-            <!-- 减按钮 -->
             <TextView
-                android:gravity="center"
-                android:id="@+id/tv_time_minus"
-                android:layout_width="24dp"
-                android:layout_height="24dp"
-                android:text="-"
+                android:layout_marginTop="16dp"
+                android:layout_gravity="center"
+                android:text="FT60"
                 android:textColor="#ffffff"
-                android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
-
-            <!-- 滑动条 -->
-            <SeekBar
-                android:id="@+id/seekBar_time"
-                android:layout_width="150dp"
-                android:layout_height="wrap_content"
-                android:layout_weight="1"
-                android:max="10"
-                android:progress="0"
-
-                />
-
-
-
-            <!-- 加按钮 -->
-            <TextView
-                android:gravity="center"
-                android:id="@+id/tv_time_add"
-                android:layout_width="24dp"
-                android:layout_height="24dp"
-                android:text="+"
-                android:textColor="#ffffff"
-                android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
-
-
-            <TextView
-                android:id="@+id/tv_time"
-                android:text="0秒"
-                android:textColor="#ffffff"
-                android:layout_width="40dp"
-                android:gravity="right"
+                android:layout_width="wrap_content"
                 android:layout_height="wrap_content"/>
+
         </LinearLayout>
 
-        <!-- 持续时间控制区域 -->
+
         <LinearLayout
-            android:layout_gravity="center_horizontal"
-            android:layout_marginLeft="16dp"
-            android:layout_marginRight="16dp"
+            android:gravity="bottom"
+            android:orientation="vertical"
             android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal"
-            android:gravity="center_vertical"
-            android:layout_marginBottom="24dp">
+            android:layout_height="match_parent">
 
-            <TextView
-                android:text="油门量:"
-                android:textColor="#ffffff"
-                android:layout_width="70dp"
-                android:layout_height="wrap_content"/>
 
-            <!-- 减按钮 -->
-            <TextView
-                android:gravity="center"
-                android:id="@+id/tv_power_minus"
-                android:layout_width="24dp"
-                android:layout_height="24dp"
-                android:text="-"
-                android:textColor="#ffffff"
-                android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
-
-            <!-- 滑动条 -->
-            <SeekBar
-                android:id="@+id/seekBar_power"
-                android:layout_width="150dp"
+            <!-- 持续时间控制区域 -->
+            <LinearLayout
+                android:layout_marginLeft="16dp"
+                android:layout_marginRight="16dp"
+                android:layout_gravity="center_horizontal"
+                android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:layout_weight="1"
-                android:max="100"
-                android:progress="0"
+                android:orientation="horizontal"
+                android:gravity="center_vertical"
+                android:layout_marginBottom="24dp">
 
-                />
+                <TextView
+                    android:textSize="10sp"
+                    android:text="持续时间:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
 
-            <!-- 加按钮 -->
-            <TextView
-                android:gravity="center"
-                android:id="@+id/tv_power_add"
-                android:layout_width="24dp"
-                android:layout_height="24dp"
-                android:text="+"
-                android:textColor="#ffffff"
-                android:textSize="10sp"
-                android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+                <!-- 减按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_time_minus"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="-"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+                <!-- 滑动条 -->
+                <SeekBar
+                    android:id="@+id/seekBar_time"
+                    android:layout_width="150dp"
+                    android:layout_height="wrap_content"
+                    android:layout_weight="1"
+                    android:max="10"
+                    android:progress="0"
+
+                    />
 
 
-            <TextView
-                android:id="@+id/tv_power"
-                android:text="0%"
-                android:textColor="#ffffff"
-                android:layout_width="40dp"
-                android:gravity="right"
-                android:layout_height="wrap_content"/>
+
+                <!-- 加按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_time_add"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="+"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+                <TextView
+                    android:textSize="10sp"
+                    android:id="@+id/tv_time"
+                    android:text="0秒"
+                    android:textColor="#ffffff"
+                    android:layout_width="40dp"
+                    android:gravity="right"
+                    android:layout_height="wrap_content"/>
+            </LinearLayout>
+
+            <!-- 持续时间控制区域 -->
+            <LinearLayout
+                android:layout_gravity="center_horizontal"
+                android:layout_marginLeft="16dp"
+                android:layout_marginRight="16dp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal"
+                android:gravity="center_vertical"
+                android:layout_marginBottom="24dp">
+
+                <TextView
+                    android:textSize="10sp"
+                    android:text="油门量:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+
+                <!-- 减按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_power_minus"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="-"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+                <!-- 滑动条 -->
+                <SeekBar
+                    android:id="@+id/seekBar_power"
+                    android:layout_width="150dp"
+                    android:layout_height="wrap_content"
+                    android:layout_weight="1"
+                    android:max="100"
+                    android:progress="0"
+
+                    />
+
+                <!-- 加按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_power_add"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="+"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+                <TextView
+                    android:textSize="10sp"
+                    android:id="@+id/tv_power"
+                    android:text="0%"
+                    android:textColor="#ffffff"
+                    android:layout_width="40dp"
+                    android:gravity="right"
+                    android:layout_height="wrap_content"/>
+            </LinearLayout>
+
         </LinearLayout>
 
-        <TextView
-            android:id="@+id/tv_all_test1"
-            android:textColor="#ffffff"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
-            android:padding="5dp"
-            android:gravity="center"
-            android:text="全部旋转"
-            android:layout_marginBottom="16dp"
-            android:layout_marginLeft="16dp"
-            android:layout_marginRight="16dp"
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"/>
 
-        <TextView
-            android:id="@+id/tv_all_test2"
-            android:textColor="#ffffff"
-            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
-            android:padding="5dp"
-            android:gravity="center"
-            android:text="顺序旋转"
-            android:layout_marginBottom="16dp"
-            android:layout_marginLeft="16dp"
-            android:layout_marginRight="16dp"
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"/>
+
+
 
     </LinearLayout>
 
-    <RelativeLayout
+    <LinearLayout
+        android:gravity="center_horizontal"
+        android:layout_margin="6dp"
         android:orientation="vertical"
         android:layout_weight="1"
         android:layout_width="0dp"
         android:layout_height="match_parent">
 
         <androidx.recyclerview.widget.RecyclerView
-            android:layout_alignParentRight="true"
+            android:layout_centerHorizontal="true"
             android:id="@+id/rv_data"
             android:layout_width="wrap_content"
-            android:layout_height="match_parent"
+            android:layout_height="0dp"
+            android:layout_weight="1"
             android:layout_margin="8dp"/>
 
+        <LinearLayout
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
 
-    </RelativeLayout>
+            <TextView
+                android:textSize="10sp"
+                android:id="@+id/tv_all_test1"
+                android:textColor="#ffffff"
+                android:background="@drawable/ff60b964_4round_1stroke_bg"
+                android:padding="5dp"
+                android:gravity="center"
+                android:text="全部旋转"
+                android:layout_marginBottom="16dp"
+                android:layout_marginLeft="16dp"
+                android:layout_marginRight="16dp"
+                android:layout_weight="1"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"/>
+
+            <TextView
+                android:textSize="10sp"
+                android:id="@+id/tv_all_test2"
+                android:textColor="#ffffff"
+                android:background="@drawable/ffdd635a_4round_1stroke_bg"
+                android:padding="5dp"
+                android:gravity="center"
+                android:text="顺序旋转"
+                android:layout_marginBottom="16dp"
+                android:layout_marginRight="16dp"
+                android:layout_weight="1"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"/>
+
+        </LinearLayout>
+
+
+    </LinearLayout>
 
 
 
diff --git a/app/src/main/res/layout/fragment_secure.xml b/app/src/main/res/layout/fragment_secure.xml
index 1166633..394a39c 100644
--- a/app/src/main/res/layout/fragment_secure.xml
+++ b/app/src/main/res/layout/fragment_secure.xml
@@ -3,24 +3,470 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:background="#555f75"
     android:orientation="vertical"
+    android:padding="6dp"
+    android:background="#112446"
     tools:context=".Main.Setting.Fragment.SecureFragment">
 
-    <com.google.android.material.tabs.TabLayout
-        android:layout_marginTop="8dp"
-        android:layout_marginLeft="8dp"
-        android:id="@+id/tab_layout"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:background="#555f75"
-        android:contentDescription="载荷选择" />
 
-    <androidx.viewpager2.widget.ViewPager2
-        android:layout_margin="10dp"
-        android:id="@+id/view_pager"
+    <LinearLayout
+        android:orientation="vertical"
         android:layout_width="match_parent"
-        android:layout_height="0dp"
-        android:layout_weight="1" />
+        android:layout_height="wrap_content">
+
+        <RelativeLayout
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <View
+                android:layout_centerVertical="true"
+                android:background="@drawable/ffffffff_4round_bg"
+                android:layout_width="match_parent"
+                android:layout_height="1.5dp"/>
+
+            <TextView
+                android:background="@drawable/ff112446_4round_bg"
+                android:gravity="center"
+                android:layout_centerInParent="true"
+                android:layout_margin="6dp"
+                android:textStyle="bold"
+                android:textColor="#ffffff"
+                android:textSize="14sp"
+                android:text="电池"
+                android:layout_width="60dp"
+                android:layout_height="wrap_content"/>
+
+        </RelativeLayout>
+
+
+
+        <LinearLayout
+            android:padding="12dp"
+            android:layout_marginTop="6dp"
+            android:layout_marginBottom="6dp"
+            android:orientation="vertical"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <!-- 一级电压 -->
+            <LinearLayout
+                android:layout_gravity="center_horizontal"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal"
+                android:gravity="center_vertical"
+                >
+
+                <TextView
+                    android:gravity="right"
+                    android:textSize="10sp"
+                    android:text="一级低电压:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+
+                <!-- 减按钮 -->
+                <TextView
+                    android:layout_marginLeft="30dp"
+                    android:gravity="center"
+                    android:id="@+id/tv_one_power_minus"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="-"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+                <!-- 滑动条 -->
+                <SeekBar
+                    android:layout_marginLeft="3dp"
+                    android:layout_marginRight="3dp"
+                    android:id="@+id/seekBar_one_power"
+                    android:layout_width="150dp"
+                    android:layout_height="wrap_content"
+                    android:max="100"
+                    android:progress="40"
+
+                    />
+
+                <!-- 加按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_one_power_add"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="+"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+                <TextView
+                    android:textSize="10sp"
+                    android:id="@+id/tv_one_power"
+                    android:text="20.0v"
+                    android:textColor="#ffffff"
+                    android:layout_width="40dp"
+                    android:gravity="right"
+                    android:layout_height="wrap_content"/>
+            </LinearLayout>
+
+
+            <LinearLayout
+                android:gravity="center_vertical"
+                android:layout_marginTop="12dp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content">
+
+                <TextView
+                    android:gravity="right"
+                    android:textSize="10sp"
+                    android:text="保护动作:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+                
+                <RelativeLayout
+                    android:layout_marginLeft="55dp"
+                    android:layout_width="80dp"
+                    android:layout_height="wrap_content">
+
+                    <RelativeLayout
+                        android:id="@+id/rl_one_power_protect"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content">
+
+                        <TextView
+                            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                            android:id="@+id/tv_one_power_protect"
+                            android:gravity="center"
+                            android:textColor="#ffffff"
+                            android:textSize="10sp"
+                            android:text="返航"
+                            android:layout_width="80dp"
+                            android:padding="5dp"
+                            android:layout_height="wrap_content"/>
+
+                        <ImageView
+                            android:layout_marginRight="5dp"
+                            android:layout_centerVertical="true"
+                            android:layout_alignParentRight="true"
+                            android:src="@mipmap/icon_spinner_dowm"
+                            android:layout_width="10dp"
+                            android:layout_height="10dp"/>
+
+
+                    </RelativeLayout>
+
+
+                    <Spinner
+                        android:layout_below="@+id/rl_one_power_protect"
+                        android:id="@+id/sp_one_power_protect"
+                        android:layout_width="80dp"
+                        android:layout_height="0dp" />
+
+                </RelativeLayout>
+
+
+
+
+            </LinearLayout>
+
+            <!-- 二级电压 -->
+            <LinearLayout
+                android:layout_marginTop="20dp"
+                android:layout_gravity="center_horizontal"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal"
+                android:gravity="center_vertical"
+                >
+
+                <TextView
+                    android:gravity="right"
+                    android:textSize="10sp"
+                    android:text="二级低电压:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+
+                <!-- 减按钮 -->
+                <TextView
+                    android:layout_marginLeft="30dp"
+                    android:gravity="center"
+                    android:id="@+id/tv_two_power_minus"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="-"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+                <!-- 滑动条 -->
+                <SeekBar
+                    android:layout_marginLeft="3dp"
+                    android:layout_marginRight="3dp"
+                    android:id="@+id/seekBar_two_power"
+                    android:layout_width="150dp"
+                    android:layout_height="wrap_content"
+                    android:max="100"
+                    android:progress="20"
+                    />
+
+                <!-- 加按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_two_power_add"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="+"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+                <TextView
+                    android:textSize="10sp"
+                    android:id="@+id/tv_two_power"
+                    android:text="10.0v"
+                    android:textColor="#ffffff"
+                    android:layout_width="40dp"
+                    android:gravity="right"
+                    android:layout_height="wrap_content"/>
+            </LinearLayout>
+
+            <LinearLayout
+                android:layout_marginTop="12dp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content">
+
+                <TextView
+                    android:gravity="right"
+                    android:textSize="10sp"
+                    android:text="保护动作:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+
+
+
+                <RelativeLayout
+                    android:layout_marginLeft="55dp"
+                    android:layout_width="80dp"
+                    android:layout_height="wrap_content">
+
+
+                    <RelativeLayout
+                        android:id="@+id/rl_two_power_protect"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content">
+
+                        <TextView
+                            android:id="@+id/tv_two_power_protect"
+                            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                            android:gravity="center"
+                            android:textColor="#ffffff"
+                            android:textSize="10sp"
+                            android:text="返航"
+                            android:layout_width="80dp"
+                            android:padding="5dp"
+                            android:layout_height="wrap_content"/>
+
+                        <ImageView
+                            android:layout_marginRight="5dp"
+                            android:layout_centerVertical="true"
+                            android:layout_alignParentRight="true"
+                            android:src="@mipmap/icon_spinner_dowm"
+                            android:layout_width="10dp"
+                            android:layout_height="10dp"/>
+
+
+                    </RelativeLayout>
+
+
+
+                    <Spinner
+                        android:id="@+id/sp_two_power_protect"
+                        android:layout_below="@+id/rl_two_power_protect"
+                        android:layout_width="80dp"
+                        android:layout_height="0dp"/>
+
+                </RelativeLayout>
+
+
+
+            </LinearLayout>
+
+
+        </LinearLayout>
+
+
+        <RelativeLayout
+            android:orientation="horizontal"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <View
+                android:layout_centerVertical="true"
+                android:background="@drawable/ffffffff_4round_bg"
+                android:layout_width="match_parent"
+                android:layout_height="1.5dp"/>
+
+            <TextView
+                android:background="@drawable/ff112446_4round_bg"
+                android:gravity="center"
+                android:layout_centerInParent="true"
+                android:layout_margin="6dp"
+                android:textStyle="bold"
+                android:textColor="#ffffff"
+                android:textSize="14sp"
+                android:text="链路保护"
+                android:layout_width="80dp"
+                android:layout_height="wrap_content"/>
+
+        </RelativeLayout>
+        <LinearLayout
+            android:padding="12dp"
+            android:layout_marginTop="6dp"
+            android:orientation="vertical"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <!-- 一级电压 -->
+            <LinearLayout
+                android:layout_gravity="center_horizontal"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:orientation="horizontal"
+                android:gravity="center_vertical"
+                >
+
+                <TextView
+                    android:gravity="right"
+                    android:textSize="10sp"
+                    android:text="通讯超时:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+
+                <!-- 减按钮 -->
+                <TextView
+                    android:layout_marginLeft="30dp"
+                    android:gravity="center"
+                    android:id="@+id/tv_link_minus"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="-"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+                <EditText
+                    android:id="@+id/et_link"
+                    android:inputType="number"
+                    android:gravity="center"
+                    android:padding="5dp"
+                    android:text="10"
+                    android:textColor="#909090"
+                    android:textSize="10sp"
+                    android:layout_marginLeft="10dp"
+                    android:layout_marginRight="10dp"
+                    android:background="@drawable/ffffffff_4round_bg"
+                    android:layout_width="100dp"
+                    android:layout_height="wrap_content"/>
+
+                <!-- 加按钮 -->
+                <TextView
+                    android:gravity="center"
+                    android:id="@+id/tv_link_add"
+                    android:layout_width="22dp"
+                    android:layout_height="22dp"
+                    android:text="+"
+                    android:textColor="#ffffff"
+                    android:textSize="10sp"
+                    android:background="@drawable/ff62a7f0_2round_1stroke_bg"/>
+
+
+                <TextView
+                    android:textSize="10sp"
+                    android:id="@+id/tv_link"
+                    android:text="秒"
+                    android:textColor="#ffffff"
+                    android:layout_width="40dp"
+                    android:gravity="right"
+                    android:layout_height="wrap_content"/>
+            </LinearLayout>
+
+
+            <LinearLayout
+                android:layout_marginTop="12dp"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content">
+
+                <TextView
+                    android:gravity="right"
+                    android:textSize="10sp"
+                    android:text="保护动作:"
+                    android:textColor="#ffffff"
+                    android:layout_width="60dp"
+                    android:layout_height="wrap_content"/>
+
+                <RelativeLayout
+                    android:layout_marginLeft="55dp"
+                    android:layout_width="80dp"
+                    android:layout_height="wrap_content">
+
+                    <RelativeLayout
+                        android:id="@+id/rl_link_protect"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content">
+
+                        <TextView
+                            android:id="@+id/tv_link_protect"
+                            android:background="@drawable/ff62a7f0_2round_1stroke_bg"
+                            android:gravity="center"
+                            android:textColor="#ffffff"
+                            android:textSize="10sp"
+                            android:text="返航"
+                            android:layout_width="80dp"
+                            android:padding="5dp"
+                            android:layout_height="wrap_content"/>
+
+                        <ImageView
+                            android:layout_marginRight="5dp"
+                            android:layout_centerVertical="true"
+                            android:layout_alignParentRight="true"
+                            android:src="@mipmap/icon_spinner_dowm"
+                            android:layout_width="10dp"
+                            android:layout_height="10dp"/>
+
+
+                    </RelativeLayout>
+
+
+
+
+                    <Spinner
+                        android:id="@+id/sp_link_protect"
+                        android:layout_below="@+id/rl_link_protect"
+                        android:layout_width="80dp"
+                        android:layout_height="0dp"/>
+
+                </RelativeLayout>
+
+            </LinearLayout>
+
+
+        </LinearLayout>
+
+
+
+
+
+
+    </LinearLayout>
+
+
 
 </LinearLayout>
diff --git a/app/src/main/res/mipmap-xhdpi/icon_ft60.png b/app/src/main/res/mipmap-xhdpi/icon_ft60.png
new file mode 100644
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diff --git a/app/src/main/res/mipmap-xhdpi/icon_ptz_down.png b/app/src/main/res/mipmap-xhdpi/icon_ptz_down.png
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diff --git a/app/src/main/res/mipmap-xhdpi/icon_ptz_left.png b/app/src/main/res/mipmap-xhdpi/icon_ptz_left.png
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diff --git a/app/src/main/res/mipmap-xhdpi/icon_ptz_one_bottom.png b/app/src/main/res/mipmap-xhdpi/icon_ptz_one_bottom.png
new file mode 100644
index 0000000000000000000000000000000000000000..c65f83b2beeb3fd919a40a089ce2a576bb941049
GIT binary patch
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literal 0
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diff --git a/app/src/main/res/mipmap-xhdpi/icon_ptz_reduce.png b/app/src/main/res/mipmap-xhdpi/icon_ptz_reduce.png
new file mode 100644
index 0000000000000000000000000000000000000000..52bd7df71e20a6e4cc2594d791330c7bec6dfdb7
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/app/src/main/res/mipmap-xhdpi/icon_ptz_right.png b/app/src/main/res/mipmap-xhdpi/icon_ptz_right.png
new file mode 100644
index 0000000000000000000000000000000000000000..69eb44ebb8fbebcd2c90237254c990dd4ef436b6
GIT binary patch
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literal 0
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diff --git a/app/src/main/res/mipmap-xhdpi/icon_ptz_top.png b/app/src/main/res/mipmap-xhdpi/icon_ptz_top.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ce5a1d19b1e54fc6346d74b084f3f1b46f9441c
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/app/src/main/res/mipmap-xhdpi/icon_save.png b/app/src/main/res/mipmap-xhdpi/icon_save.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b5510f3e166445980d1e6c46a68d38696a8fd28
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/app/src/main/res/mipmap-xhdpi/icon_spinner_dowm.png b/app/src/main/res/mipmap-xhdpi/icon_spinner_dowm.png
new file mode 100644
index 0000000000000000000000000000000000000000..48edc595feaf9f73c24d81c806ad6c035ca1b0e3
GIT binary patch
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literal 0
HcmV?d00001