Update GUI 2.6.0: trajectory, color, window, serial JSON

src/GUI/comm_panel.py

@@ -247,7 +247,7 @@ class CommPanel(QWidget):
         
         self.serial_baudrate_combo = QComboBox()
         self.serial_baudrate_combo.addItems(['9600', '19200', '38400', '57600', '115200'])
-        self.serial_baudrate_combo.setCurrentText('57600')
+        self.serial_baudrate_combo.setCurrentText('115200')
         self.serial_baudrate_combo.setFixedWidth(100)
         _set_scaled_stylesheet(self.serial_baudrate_combo, """
             QComboBox {

src/GUI/communication.py

@@ -83,7 +83,10 @@ class JsonTelemetryProcessor:
         "position": {"lat": 24.0, "lon": 120.0},
         "heading": 90
     }
-    Serial JSON uses this same shape; only the transport/framing differs.
+    Serial JSON also accepts the compact UAV.py shape:
+    {"s": 1, "m": "GUIDED", "a": 1, "b": 85, "h": 10.0,
+     "v": 4.2, "p": [24.0, 120.0], "ypr": [90.0, 0.0, 0.0],
+     "g": 3, "d": [0.8, 1.2]}
     """
 
     def _emit_json_connection_type(self, drone_id):
@@ -103,19 +106,21 @@ class JsonTelemetryProcessor:
             if not isinstance(data, dict):
                 return
 
-            system_id = data.get('system_id', data.get('sysid'))
+            system_id = data.get('system_id', data.get('sysid', data.get('s')))
             if system_id is None:
                 return
 
             drone_id = f"s{self.socket_id}_{system_id}"
             self._emit_json_connection_type(drone_id)
 
-            mode = data.get('mode', data.get('mode_name'))
+            mode = data.get('mode', data.get('mode_name', data.get('m')))
             state = {}
             if mode is not None:
                 state['mode'] = mode
             if 'armed' in data:
                 state['armed'] = data.get('armed')
+            elif 'a' in data:
+                state['armed'] = bool(data.get('a'))
             if state:
                 self.signals.update_signal.emit('state', drone_id, state)
 
@@ -144,6 +149,10 @@ class JsonTelemetryProcessor:
                 if 'battery_voltage' in data:
                     battery_data['voltage'] = data.get('battery_voltage')
                 self.signals.update_signal.emit('battery', drone_id, battery_data)
+            elif 'b' in data:
+                self.signals.update_signal.emit('battery', drone_id, {
+                    'percentage': data.get('b')
+                })
 
             pos = data.get('position')
             if isinstance(pos, dict):
@@ -159,6 +168,22 @@ class JsonTelemetryProcessor:
                     'lon': data.get('lon', data.get('longitude', 0)),
                     'alt': data.get('alt', data.get('altitude', 0))
                 })
+            elif isinstance(data.get('p'), (list, tuple)) and len(data.get('p')) >= 2:
+                dop = data.get('d') if isinstance(data.get('d'), (list, tuple)) else []
+                gps_data = {
+                    'lat': data['p'][0],
+                    'lon': data['p'][1],
+                    'alt': data.get('h', 0)
+                }
+                if 'g' in data:
+                    gps_data['fix_type'] = data.get('g')
+                if len(dop) >= 1:
+                    gps_data['eph'] = dop[0]
+                    gps_data['hdop'] = dop[0]
+                if len(dop) >= 2:
+                    gps_data['epv'] = dop[1]
+                    gps_data['vdop'] = dop[1]
+                self.signals.update_signal.emit('gps', drone_id, gps_data)
 
             local = data.get('local_position', data.get('local_pose', data.get('local')))
             if isinstance(local, dict):
@@ -183,6 +208,29 @@ class JsonTelemetryProcessor:
                 self.signals.update_signal.emit('altitude', drone_id, {
                     'altitude': alt
                 })
+            elif 'h' in data:
+                height = data.get('h', 0.0)
+                self.signals.update_signal.emit('local_pose', drone_id, {
+                    'x': 0.0,
+                    'y': 0.0,
+                    'z': height
+                })
+                self.signals.update_signal.emit('altitude', drone_id, {
+                    'altitude': height
+                })
+            elif (
+                isinstance(data.get('p'), (list, tuple))
+                or 'lat' in data
+                or 'latitude' in data
+            ):
+                self.signals.update_signal.emit('local_pose', drone_id, {
+                    'x': 0.0,
+                    'y': 0.0,
+                    'z': 0.0
+                })
+                self.signals.update_signal.emit('altitude', drone_id, {
+                    'altitude': 0.0
+                })
 
             velocity = data.get('velocity')
             if isinstance(velocity, dict):
@@ -191,6 +239,12 @@ class JsonTelemetryProcessor:
                     'vy': velocity.get('vy', velocity.get('y', 0.0)),
                     'vz': velocity.get('vz', velocity.get('z', 0.0))
                 })
+            elif 'v' in data:
+                self.signals.update_signal.emit('velocity', drone_id, {
+                    'vx': data.get('v', 0.0),
+                    'vy': 0.0,
+                    'vz': 0.0
+                })
 
             attitude = data.get('attitude')
             if isinstance(attitude, dict):
@@ -200,12 +254,28 @@ class JsonTelemetryProcessor:
                     'yaw': attitude.get('yaw', 0.0),
                     'rates': attitude.get('rates', (0.0, 0.0, 0.0))
                 })
+            elif isinstance(data.get('ypr'), (list, tuple)) and len(data.get('ypr')) >= 3:
+                yaw, pitch, roll = data['ypr'][0], data['ypr'][1], data['ypr'][2]
+                self.signals.update_signal.emit('attitude', drone_id, {
+                    'roll': roll,
+                    'pitch': pitch,
+                    'yaw': yaw,
+                    'rates': (0.0, 0.0, 0.0)
+                })
 
             hud = data.get('hud', {})
             if not isinstance(hud, dict):
                 hud = {}
             if 'heading' in data:
                 hud['heading'] = data.get('heading')
+            elif 'y' in data:
+                hud['heading'] = data.get('y')
+            elif isinstance(data.get('ypr'), (list, tuple)) and len(data.get('ypr')) >= 1:
+                hud['heading'] = data['ypr'][0]
+            if 'v' in data and 'groundspeed' not in hud:
+                hud['groundspeed'] = data.get('v')
+            if 'h' in data and 'alt' not in hud and 'altitude' not in hud:
+                hud['alt'] = data.get('h')
             if hud:
                 self.signals.update_signal.emit('hud', drone_id, {
                     'heading': hud.get('heading', 0.0),
@@ -229,6 +299,7 @@ class UDPMavlinkReceiver(threading.Thread):
         self.connection_name = connection_name
         self.monitor = monitor  # 保存 monitor 引用
         self.socket_id = monitor.get_next_socket_id() if monitor else 0
+        self._socket_id_released = False
         self.running = False
         self.sock = None
         
@@ -258,6 +329,7 @@ class UDPMavlinkReceiver(threading.Thread):
         finally:
             if self.sock:
                 self.sock.close()
+            self._release_socket_id()
                 
     def process_mavlink_message(self, msg):
         """處理 MAVLink 訊息"""
@@ -343,6 +415,12 @@ class UDPMavlinkReceiver(threading.Thread):
     def stop(self):
         """停止接收器"""
         self.running = False
+        self._release_socket_id()
+
+    def _release_socket_id(self):
+        if self.monitor and not self._socket_id_released:
+            self.monitor.release_socket_id(self.socket_id)
+            self._socket_id_released = True
 
 class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
     """串口遙測接收器，可自動處理 MAVLink 或 WebSocket 格式 JSON。"""
@@ -354,6 +432,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.connection_name = connection_name
         self.monitor = monitor  # 保存 monitor 引用
         self.socket_id = monitor.get_next_socket_id() if monitor else 0
+        self._socket_id_released = False
         self.source_type = 'Serial'
         self.running = False
         self.serial_conn = None
@@ -402,6 +481,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
                     self.serial_conn.close()
                 except Exception:
                     pass
+            self._release_socket_id()
 
     def _process_mavlink_byte(self, byte):
         try:
@@ -562,6 +642,12 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
                 self.serial_conn.close()
             except Exception:
                 pass
+        self._release_socket_id()
+
+    def _release_socket_id(self):
+        if self.monitor and not self._socket_id_released:
+            self.monitor.release_socket_id(self.socket_id)
+            self._socket_id_released = True
 
 class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
     """WebSocket MAVLink 接收器"""
@@ -572,6 +658,7 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.connection_name = connection_name
         self.monitor = monitor  # 保存 monitor 引用
         self.socket_id = monitor.get_next_socket_id() if monitor else 0  # 一次性分配 socket_id
+        self._socket_id_released = False
         self.source_type = 'WS'
         self.running = False
         self.max_retries = 5
@@ -629,6 +716,7 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
                     break
         
         print(f"WebSocket client {self.connection_name} stopped")
+        self._release_socket_id()
     
     def process_websocket_message(self, data):
         """處理 WebSocket 訊息"""
@@ -637,6 +725,12 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
     def stop(self):
         """停止接收器"""
         self.running = False
+        self._release_socket_id()
+
+    def _release_socket_id(self):
+        if self.monitor and not self._socket_id_released:
+            self.monitor.release_socket_id(self.socket_id)
+            self._socket_id_released = True
 
 class DroneMonitor(Node):
     # Subscribe to drone ROS2 topics
@@ -675,7 +769,7 @@ class DroneMonitor(Node):
         # 【新增】Socket ID 重新分配機制 (從 0 開始)
         # ================================================================================
         self.socket_id_mapping = {}  # {原始socket_id: 重新分配的socket_id}
-        self.socket_id_counter = 0   # 當前分配到的最大socket_id
+        self.active_socket_ids = set()  # 目前通訊連線使用中的 socket_id
         self.socket_id_lock = Lock()  # 線程安全鎖
         # ================================================================================
         
@@ -708,23 +802,55 @@ class DroneMonitor(Node):
         self.create_timer(1.0, self.scan_topics)
     
     def get_next_socket_id(self):
-        """获取下一个可用的 socket_id（从 0 开始连续分配）"""
+        """取得目前最小的未使用 socket_id（從 0 開始）。"""
         with self.socket_id_lock:
-            current_id = self.socket_id_counter
+            socket_id = 0
-            self.socket_id_counter += 1
+            while socket_id in self.active_socket_ids:
-            return current_id
+                socket_id += 1
+            self.active_socket_ids.add(socket_id)
+            return socket_id
+
+    def release_socket_id(self, socket_id):
+        """釋放通訊連線使用的 socket_id，讓後續連線可重用最小空缺。"""
+        try:
+            socket_id = int(socket_id)
+        except (TypeError, ValueError):
+            return
+
+        with self.socket_id_lock:
+            if socket_id in getattr(self, 'socket_id_mapping', {}).values():
+                return
+            if socket_id in getattr(self, 'sys_to_socket_id', {}).values():
+                return
+            self.active_socket_ids.discard(socket_id)
     
     def get_or_assign_socket_id(self, original_socket_id):
-        """根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配）
+        """ROS2 socket_id 映射。
-        同一個原始 socket_id 會得到同一個分配的 ID
+
+        有原始 socket_id=N 時優先使用 N；若 N 已被其他通訊占用，
+        才改用目前最小未使用 ID。同一個原始 socket_id 會得到同一個映射。
         """
         original_socket_id = str(original_socket_id)
         
         with self.socket_id_lock:
             if original_socket_id not in self.socket_id_mapping:
-                # 分配新的 socket_id
+                try:
-                self.socket_id_mapping[original_socket_id] = self.socket_id_counter
+                    preferred_socket_id = int(original_socket_id)
-                self.socket_id_counter += 1
+                except (TypeError, ValueError):
+                    preferred_socket_id = None
+
+                if (
+                    preferred_socket_id is not None
+                    and preferred_socket_id >= 0
+                    and preferred_socket_id not in self.active_socket_ids
+                ):
+                    socket_id = preferred_socket_id
+                else:
+                    socket_id = 0
+                    while socket_id in self.active_socket_ids:
+                        socket_id += 1
+                self.active_socket_ids.add(socket_id)
+                self.socket_id_mapping[original_socket_id] = socket_id
             
             return self.socket_id_mapping[original_socket_id]
        
@@ -796,8 +922,7 @@ class DroneMonitor(Node):
             # 为每个 sys_id 分配 socket_id（如果还没有分配）
             # 注意：如果后续 summary 提供了 socket_id，会使用 summary 的映射覆盖
             if sys_id not in self.sys_to_socket_id:
-                # 暂时所有 ROS2 topic 共享同一个 socket_id = 0
+                self.sys_to_socket_id[sys_id] = self.get_next_socket_id()
-                self.sys_to_socket_id[sys_id] = 0
             
             subs_attr = f'drone_{sys_id}_subs'
             if not hasattr(self, subs_attr):
@@ -1194,8 +1319,12 @@ class DroneMonitor(Node):
             # 從 summary 獲取原始 socket_id，並映射到分配的 socket_id
             original_socket_id = data.get('socket_id')
             if original_socket_id is not None:
+                fallback_socket_id = self.sys_to_socket_id.pop(sys_id, None)
+                if fallback_socket_id is not None:
+                    self.release_socket_id(fallback_socket_id)
                 # 使用原始 socket_id 獲取或分配統一的 socket_id
                 assigned_socket_id = self.get_or_assign_socket_id(original_socket_id)
+                self.sys_to_socket_id[sys_id] = assigned_socket_id
             else:
                 # 如果沒有 socket_id，使用 sys_to_socket_id 映射
                 assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0)
@@ -1361,7 +1490,7 @@ class DroneMonitor(Node):
             'ping': msg.data
         }
 
-    def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600):
+    def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=115200):
         """啟動串口遙測連接（自動辨識 MAVLink / JSON）"""
         connection_name = f"Serial_{port.replace('/', '_')}"
         receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self)

src/GUI/drone_panel.py

@@ -290,6 +290,7 @@ class DronePanel(QWidget):
 
         # 分隔符
         separator1 = QLabel(" - ")
+        separator1.setObjectName(f"{self.drone_id}_battery_sep1")
         _set_scaled_stylesheet(separator1, "color: #DDD;")
 
         # 顯示電壓
@@ -299,6 +300,7 @@ class DronePanel(QWidget):
 
         # 分隔符
         separator2 = QLabel(" - ")
+        separator2.setObjectName(f"{self.drone_id}_battery_sep2")
         _set_scaled_stylesheet(separator2, "color: #DDD;")
 
         # 顯示電池節數 (S count)

src/GUI/gui.py

@@ -148,7 +148,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.5.0'
+    VERSION = '2.6.0'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -220,23 +220,24 @@ class ControlStationUI(QMainWindow):
         self.socket_types = {}
         
         self.socket_colors = {
-            '0': '#00BFFF',  # 天藍色 (DeepSkyBlue)
+            '0': '#00ACC1',  # Cyan
-            '1': '#FFD700',  # 金色 (Gold)
+            '1': "#FDD835",  # Yellow
-            '2': '#FF6969',  # 淺紅色 (Light Red)
+            '2': '#F8BBD0',  # Pink
-            '3': '#FF69B4',  # 熱粉紅 (HotPink)
+            '3': '#90EE90',  # Green
-            '4': '#00FA9A',  # 中春綠 (MediumSpringGreen)
+            '4': '#FB8C00',  # Orange
-            '5': '#9370DB',  # 中紫色 (MediumPurple) - 串口
+            '5': '#8E24AA',  # Purple
-            '6': '#FFA500',  # 橙色 (Orange)
+            '6': '#1E88E5',  # Blue
-            '7': '#20B2AA',  # 淺海綠 (LightSeaGreen)
+            '7': '#E53935',  # Red
-            '8': '#7CFC00',  # 草綠色 (LawnGreen)
+            '8': '#C0CA33',  # Lime
-            '9': '#FF8C00',  # 深橙色 (DarkOrange)
+            '9': '#6D4C41',  # Brown
-            'default': '#AAAAAA'  # 灰色
+            'default': '#E0E0E0'  # Light gray
         }
 
         self.drone_positions = {}
         self.drone_headings = {}
         # 初始化地圖
         self.drone_map = DroneMap()
+        self.drone_map.set_socket_colors(self.socket_colors)
 
         # 地圖更新獨立節流（10Hz），避免 WebEngine / JS map 拖慢 panel 更新
         self.map_timer = QTimer()
@@ -379,7 +380,7 @@ class ControlStationUI(QMainWindow):
 
         verify_label = QLabel("模擬驗證")
         verify_label.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.verify_toggle = ToggleSwitch(checked=True)
+        self.verify_toggle = ToggleSwitch(checked=False)
         group_header.addWidget(verify_label)
         group_header.addWidget(self.verify_toggle)
 
@@ -1183,6 +1184,16 @@ class ControlStationUI(QMainWindow):
                 panel.update_drone_list()
                 panel.update_status()
 
+        self._sync_map_group_colors()
+
+    def _sync_map_group_colors(self):
+        """同步每台 drone 的 group 顏色到地圖箭頭外框。"""
+        drone_group_colors = {}
+        for group in self.mission_groups.values():
+            for drone_id in group.selected_drone_ids:
+                drone_group_colors[drone_id] = group.color
+        self.drone_map.set_drone_group_colors(drone_group_colors)
+
     def _get_drone_checkbox_style(self, blocked=False):
         """回傳 drone checkbox 樣式；被其他 group 佔用時顯示紅色填滿。"""
         blocked_style = """
@@ -1272,6 +1283,8 @@ class ControlStationUI(QMainWindow):
             # 只有當操作目標組是 active 組時，才更新 UI
             if group_id == self.active_group_id:
                 self.refresh_selection_ui()
+            else:
+                self._sync_map_group_colors()
 
             panel = self.group_panels.get(group_id)
             if panel:
@@ -1492,6 +1505,8 @@ class ControlStationUI(QMainWindow):
 
         if group_id == self.active_group_id:
             self.refresh_selection_ui()
+        else:
+            self._sync_map_group_colors()
 
         panel = self.group_panels.get(group_id)
         if panel:
@@ -1528,6 +1543,8 @@ class ControlStationUI(QMainWindow):
         # 只有當操作目標組是 active 組時，才更新 UI
         if group_id == self.active_group_id:
             self.refresh_selection_ui()
+        else:
+            self._sync_map_group_colors()
 
         panel = self.group_panels.get(group_id)
         if panel:
@@ -1552,6 +1569,8 @@ class ControlStationUI(QMainWindow):
         # 只有當操作目標組是 active 組時，才更新 UI
         if group_id == self.active_group_id:
             self.refresh_selection_ui()
+        else:
+            self._sync_map_group_colors()
 
         panel = self.group_panels.get(group_id)
         if panel:
@@ -1598,6 +1617,7 @@ class ControlStationUI(QMainWindow):
             if self.group_tab_widget.count() > 0:
                 self.group_tab_widget.setCurrentIndex(0)
             # _on_group_tab_changed 會自動設定新的 active group
+        self._sync_map_group_colors()
         
         self.statusBar().showMessage(f"已刪除 Group {group_id}", 3000)
         
@@ -2314,17 +2334,30 @@ class ControlStationUI(QMainWindow):
                         self.queue_overview_update(drone_id, 'armed', arm_text)
                     
                     elif msg_type == 'battery':
-                        voltage = data.get('voltage', 16)
+                        voltage = data.get('voltage')
-                        cells = round(voltage / 3.95)
+                        cells = round(voltage / 3.95) if voltage is not None else None
-                        percentage = (voltage / cells - 3.7) / 0.5 * 100 if cells > 0 else 0
+                        percentage = (
+                            (voltage / cells - 3.7) / 0.5 * 100
+                            if voltage is not None and cells and cells > 0
+                            else data.get('percentage', 0)
+                        )
                         if percentage < 20: voltage_color = '#FF6464'
                         elif percentage < 50: voltage_color = '#FFA500'
                         else: voltage_color = '#FFFFFF'
                         percentage = data.get('percentage', percentage)
                         self.update_field(panel, drone_id, 'battery_pct', f"{percentage:.0f}%", voltage_color)
+                        if voltage is not None:
+                            self.update_field(panel, drone_id, 'battery_sep1', " - ")
                             self.update_field(panel, drone_id, 'battery_vol', f"{voltage:.2f}V")
+                            self.update_field(panel, drone_id, 'battery_sep2', " - ")
                             self.update_field(panel, drone_id, 'battery_cells', f"{cells}S")
                             self.queue_overview_update(drone_id, 'battery', f"{voltage:.2f}V")
+                        else:
+                            self.update_field(panel, drone_id, 'battery_sep1', "")
+                            self.update_field(panel, drone_id, 'battery_vol', "")
+                            self.update_field(panel, drone_id, 'battery_sep2', "")
+                            self.update_field(panel, drone_id, 'battery_cells', "")
+                            self.queue_overview_update(drone_id, 'battery', f"{percentage:.0f}%")
                     
                     elif msg_type == 'altitude':
                         altitude = data.get('altitude', 0)

src/GUI/map_layout.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import json
+
 from PyQt6.QtWebEngineWidgets import QWebEngineView
 from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
 from PyQt6.QtWebChannel import QWebChannel
@@ -17,6 +19,8 @@ class DroneMap:
         self.map_loaded = False
         self.pending_map_updates = {}
         self.font_scale = 1.0
+        self.socket_colors = {}
+        self.drone_group_colors = {}
         
         # 創建橋接對象
         self.bridge = MapBridge()
@@ -281,38 +285,37 @@ class DroneMap:
                     }, 100);
                 });
 
-                function createArrowIcon(color) {
+                function createArrowIcon(color, groupColor) {
+                const outlineColor = groupColor || 'transparent';
                 return L.divIcon({
                     className: 'drone-arrow',
                     html: `
                     <div style="
-                        width: 30px; height: 30px;
+                        width: 34px; height: 34px;
                         display: flex;
                         align-items: center;
                         justify-content: center;
                     ">
-                        <svg width="30" height="30" viewBox="0 0 30 30">
+                        <svg width="34" height="34" viewBox="0 0 34 34">
-                            <polygon points="15,0 30,30  15,25  0,30" fill="${color || '#FF0000'}" />
+                            <polygon
+                                points="17,3 31,31 17,26 3,31"
+                                fill="${color || '#FF0000'}"
+                                stroke="${outlineColor}"
+                                stroke-width="3"
+                                stroke-linejoin="round"
+                            />
                         </svg>
                     </div>
                     `,
-                    iconSize: [30, 30],
+                    iconSize: [34, 34],
-                    iconAnchor: [15, 15]
+                    iconAnchor: [17, 17]
                 });
                 }
 
                 function getColorBySocketId(id) {
-                    if (id.startsWith("s0_")) return "#00BFFF";
+                    const match = /^s([^_]+)_/.exec(id || '');
-                    if (id.startsWith("s1_")) return "#FFD700";
+                    const socketId = match ? match[1] : 'default';
-                    if (id.startsWith("s2_")) return "#FF6969";
+                    return socketColors[socketId] || socketColors.default || "#E0E0E0";
-                    if (id.startsWith("s3_")) return "#FF69B4";
-                    if (id.startsWith("s4_")) return "#00FA9A";
-                    if (id.startsWith("s5_")) return "#9370DB";
-                    if (id.startsWith("s6_")) return "#FFA500";
-                    if (id.startsWith("s7_")) return "#20B2AA";
-                    if (id.startsWith("s8_")) return "#7CFC00";
-                    if (id.startsWith("s9_")) return "#FF8C00";
-                    return "#AAAAAA";
                 }
 
                 function createIdIcon(id) {
@@ -340,8 +343,11 @@ class DroneMap:
                 var markers = {};
                 var idLabels = {};
                 var trajectories = {};
-                const maxTrajectoryPoints = 300;
+                const maxTrajectoryPoints = 2000;
+                const trajectoryMinDistanceMeters = 0.05;
                 var trajectoryLines = {};
+                var socketColors = {};
+                var droneGroupColors = {};
                 var focusedId = null;
                 var initialized = false;
                 var trajectoryGroup = L.layerGroup().addTo(map);
@@ -703,7 +709,7 @@ class DroneMap:
                             color: color,
                             weight: 3,
                             opacity: 0.7,
-                            smoothFactor: 1
+                            smoothFactor: 0.1
                         }).addTo(trajectoryGroup);
                     }
                 }
@@ -746,7 +752,7 @@ class DroneMap:
                     if (markers[id]) {
                         const lastPos = markers[id].getLatLng();
                         const distance = lastPos.distanceTo([lat, lon]);
-                        if (distance > 1) {
+                        if (distance >= trajectoryMinDistanceMeters) {
                             addTrajectoryPoint(id, lat, lon);
                         }
                         
@@ -760,7 +766,7 @@ class DroneMap:
                         
                         const color = getColorBySocketId(id);
                         markers[id] = L.marker([lat, lon], {
-                            icon: createArrowIcon(color),
+                            icon: createArrowIcon(color, droneGroupColors[id]),
                             rotationAngle: heading,
                             rotationOrigin: 'center'
                         })
@@ -798,6 +804,33 @@ class DroneMap:
                     }
                 }
 
+                function setDroneGroupColors(groupColors) {
+                    droneGroupColors = groupColors || {};
+                    Object.keys(markers).forEach(id => {
+                        markers[id].setIcon(
+                            createArrowIcon(getColorBySocketId(id), droneGroupColors[id])
+                        );
+                        if (typeof markers[id].setRotationAngle === 'function') {
+                            markers[id].setRotationAngle(markers[id].options.rotationAngle || 0);
+                        }
+                    });
+                }
+
+                function setSocketColors(colors) {
+                    socketColors = colors || {};
+                    Object.keys(markers).forEach(id => {
+                        markers[id].setIcon(
+                            createArrowIcon(getColorBySocketId(id), droneGroupColors[id])
+                        );
+                        if (typeof markers[id].setRotationAngle === 'function') {
+                            markers[id].setRotationAngle(markers[id].options.rotationAngle || 0);
+                        }
+                    });
+                    Object.keys(trajectoryLines).forEach(id => {
+                        trajectoryLines[id].setStyle({ color: getColorBySocketId(id) });
+                    });
+                }
+
                 function clearAllTrajectories() {
                     trajectories = {};
                     Object.values(trajectoryLines).forEach(line => {
@@ -904,6 +937,8 @@ class DroneMap:
         if ok:
             self.map_loaded = True
             self.set_font_scale(self.font_scale)
+            self.set_socket_colors(self.socket_colors)
+            self.set_drone_group_colors(self.drone_group_colors)
         else:
             _log("ERROR", "地圖載入失敗")
     
@@ -918,7 +953,7 @@ class DroneMap:
         
         js_commands = []
         for drone_id, (lat, lon, heading) in self.pending_map_updates.items():
-            js_commands.append(f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});")
+            js_commands.append(f"updateDrone({lat:.8f}, {lon:.8f}, '{drone_id}', {heading:.1f});")
         
         if js_commands:
             combined_js = "\n".join(js_commands)
@@ -931,6 +966,20 @@ class DroneMap:
         if self.map_loaded:
             self.map_view.page().runJavaScript("clearAllTrajectories();")
 
+    def set_drone_group_colors(self, drone_group_colors):
+        """設定每台無人機的 group 外框顏色；未分組者不傳入即為透明。"""
+        self.drone_group_colors = dict(drone_group_colors or {})
+        if self.map_loaded:
+            payload = json.dumps(self.drone_group_colors)
+            self.map_view.page().runJavaScript(f"setDroneGroupColors({payload});")
+
+    def set_socket_colors(self, socket_colors):
+        """設定 socket 顏色，供地圖箭頭本體與軌跡線使用。"""
+        self.socket_colors = dict(socket_colors or {})
+        if self.map_loaded:
+            payload = json.dumps(self.socket_colors)
+            self.map_view.page().runJavaScript(f"setSocketColors({payload});")
+    
     def focus_on_drone(self, drone_id):
         """聚焦到指定無人機"""
         if self.map_loaded:

src/GUI/mission_group.py

@@ -13,14 +13,13 @@ from mission_executor import MissionExecutor, MissionState
 
 # 群組顏色（循環使用）
 GROUP_COLORS = [
-    '#4A9EFF',  # 藍
+    "#E53935",  # Deep Red
-    '#FF8C42',  # 橘
+    "#FB8C00",  # Deep Orange
-    '#56C87A',  # 綠
+    "#FDD835",  # Deep Yellow
-    '#E85D75',  # 紅
+    "#43A047",  # Deep Green
-    '#B07CED',  # 紫
+    "#1E88E5",  # Deep Blue
-    '#F5C542',  # 黃
+    "#8E24AA",  # Deep Purple
-    '#42C9C9',  # 青
+    "#D81B60",  # Deep Pink
-    '#FF6B9D',  # 粉
 ]
 
 DEFAULT_MISSION_PARAM_VALUES = {