diff --git a/src/GUI/command_sender.py b/src/GUI/command_sender.py
index a0ddd12..0136bfe 100644
--- a/src/GUI/command_sender.py
+++ b/src/GUI/command_sender.py
@@ -16,6 +16,10 @@ from PyQt6.QtCore import QObject, pyqtSignal
 from pymavlink import mavutil
 
 
+def _log(level, message):
+    print(f"[{level}] {message}")
+
+
 class CommandSender(ABC):
     """指令發送抽象介面"""
 
@@ -63,7 +67,7 @@ class MavlinkSender(CommandSender):
         """
         self.connection_string = connection_string
         self.mav = mavutil.mavlink_connection(connection_string)
-        print(f"MavlinkSender 已建立連線: {connection_string}")
+        _log("INFO", f"MavlinkSender 已建立連線: {connection_string}")
 
     def send_position_global(self, drone_id, sysid, lat, lon, alt):
         """發送 SET_POSITION_TARGET_GLOBAL_INT。drone_id 未使用，保留為介面相容。"""
@@ -86,7 +90,7 @@ class MavlinkSender(CommandSender):
         if self.mav:
             self.mav.close()
             self.mav = None
-            print("MavlinkSender 已關閉")
+            _log("INFO", "MavlinkSender 已關閉")
 
 
 class Ros2CommandSender(QObject):
@@ -162,4 +166,4 @@ class Ros2CommandSender(QObject):
             if not task.done():
                 task.cancel()
         self._pending.clear()
-        print("Ros2CommandSender 已關閉")
\ No newline at end of file
+        _log("INFO", "Ros2CommandSender 已關閉")
diff --git a/src/GUI/communication.py b/src/GUI/communication.py
index 3e83df5..c2298a8 100644
--- a/src/GUI/communication.py
+++ b/src/GUI/communication.py
@@ -20,6 +20,11 @@ from mavros_msgs.msg import State, VfrHud
 from nav_msgs.msg import Odometry
 from mavros_msgs.srv import CommandBool, CommandTOL
 
+
+def _log(level, message):
+    print(f"[{level}] {message}")
+
+
 # 確保 src 目錄在 Python 路徑中（用於 fc_network_apps 導入）
 _src_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 if _src_path not in sys.path:
@@ -30,10 +35,9 @@ try:
     from fc_network_apps.longCommand import CommandLongClient
 except ImportError as e:
     import traceback
-    print(f"⚠️  警告: 無法導入 CommandLongClient")
-    print(f"   错误: {e}")
-    print(f"   这通常表示 ROS2 的 fc_interfaces 包未被编译或未正确安装")
-    print(f"   完整堆栈跟踪:")
+    _log("WARN", "無法導入 CommandLongClient")
+    _log("ERROR", f"錯誤: {e}")
+    _log("WARN", "這通常表示 ROS2 的 fc_interfaces 套件尚未編譯或安裝不完整")
     traceback.print_exc()
     CommandLongClient = None
 
@@ -42,11 +46,18 @@ try:
     from fc_network_apps.navigation import PositionTargetGlobalIntClient
 except ImportError as e:
     import traceback
-    print(f"⚠️  警告: 無法導入 PositionTargetGlobalIntClient")
-    print(f"   错误: {e}")
+    _log("WARN", "無法導入 PositionTargetGlobalIntClient")
+    _log("ERROR", f"錯誤: {e}")
     traceback.print_exc()
     PositionTargetGlobalIntClient = None
 
+try:
+    from fc_interfaces.msg import AttitudeRaw
+except ImportError as e:
+    _log("WARN", "無法導入 AttitudeRaw")
+    _log("ERROR", f"錯誤: {e}")
+    AttitudeRaw = None
+
 class DroneSignals(QObject):
     update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)
 
@@ -528,25 +539,25 @@ class DroneMonitor(Node):
                     unique_name = f"cmd_long_client_{drone_id}_{self.client_counter}"
                     client = CommandLongClient(node_name=unique_name)
                     self.command_long_clients[drone_id] = client
-                    print(f"   ✓ 為 {drone_id} 創建新的 CommandLongClient (node={unique_name})")
+                    _log("INFO", f"已為 {drone_id} 建立 CommandLongClient (node={unique_name})")
                     
                     # 將新 client 添加到主執行器（這樣它的回調才能被處理）
                     if self.executor:
                         self.executor.add_node(client)
-                        print(f"   ✓ 將 {drone_id} 的 client 添加到主執行器")
+                        _log("INFO", f"已將 {drone_id} 的 CommandLongClient 加入主執行器")
                     
                 except TypeError:
                     # 舊版 CommandLongClient 不支持 node_name 參數，使用預設
                     client = CommandLongClient()
                     self.command_long_clients[drone_id] = client
-                    print(f"   ✓ 為 {drone_id} 創建新的 CommandLongClient (使用預設名稱)")
+                    _log("INFO", f"已為 {drone_id} 建立 CommandLongClient (使用預設名稱)")
                     
                     if self.executor:
                         self.executor.add_node(client)
-                        print(f"   ✓ 將 {drone_id} 的 client 添加到主執行器")
+                        _log("INFO", f"已將 {drone_id} 的 CommandLongClient 加入主執行器")
                         
                 except Exception as e:
-                    print(f"⚠️  無法為 {drone_id} 創建 CommandLongClient: {e}")
+                    _log("WARN", f"無法為 {drone_id} 建立 CommandLongClient: {e}")
                     return None
             return self.command_long_clients[drone_id]
 
@@ -561,12 +572,12 @@ class DroneMonitor(Node):
                     unique_name = f"pos_target_client_{drone_id}_{self.pos_client_counter}"
                     client = PositionTargetGlobalIntClient(node_name=unique_name)
                     self.position_target_clients[drone_id] = client
-                    print(f"   ✓ 為 {drone_id} 創建新的 PositionTargetGlobalIntClient (node={unique_name})")
+                    _log("INFO", f"已為 {drone_id} 建立 PositionTargetGlobalIntClient (node={unique_name})")
                     if self.executor:
                         self.executor.add_node(client)
-                        print(f"   ✓ 將 {drone_id} 的 position client 添加到主執行器")
+                        _log("INFO", f"已將 {drone_id} 的 PositionTargetGlobalIntClient 加入主執行器")
                 except Exception as e:
-                    print(f"⚠️  無法為 {drone_id} 創建 PositionTargetGlobalIntClient: {e}")
+                    _log("WARN", f"無法為 {drone_id} 建立 PositionTargetGlobalIntClient: {e}")
                     return None
             return self.position_target_clients[drone_id]
 
@@ -593,7 +604,7 @@ class DroneMonitor(Node):
             if not hasattr(self, subs_attr):
                 self.setup_drone(sys_id)
             else:
-                # 檢查既有訂閱是否包含 position_ned，如果不包含就添加（兼容舊訂閱）
+                # 檢查既有訂閱是否包含 position_ned / attitude，如果不包含就添加（兼容舊訂閱）
                 subs = getattr(self, subs_attr, {})
                 if isinstance(subs, dict) and 'position_ned' not in subs:
                     base_topic = f'/fc_network/vehicle/{sys_id}'
@@ -608,6 +619,19 @@ class DroneMonitor(Node):
                         setattr(self, subs_attr, subs)  # 明確保存更新後的字典
                     except Exception as e:
                         pass
+                if isinstance(subs, dict) and 'attitude' not in subs and AttitudeRaw is not None:
+                    base_topic = f'/fc_network/vehicle/{sys_id}'
+                    try:
+                        attitude_sub = self.create_subscription(
+                            AttitudeRaw,
+                            f'{base_topic}/attitude',
+                            lambda msg, sid=sys_id: self.attitude_callback(sid, msg),
+                            10
+                        )
+                        subs['attitude'] = attitude_sub
+                        setattr(self, subs_attr, subs)
+                    except Exception:
+                        pass
     
     def setup_drone(self, sys_id):
         # sys_id 格式： sys11, sys12, ...
@@ -662,6 +686,14 @@ class DroneMonitor(Node):
                 10
             )
         }
+
+        if AttitudeRaw is not None:
+            subs['attitude'] = self.create_subscription(
+                AttitudeRaw,
+                f'{base_topic}/attitude',
+                lambda msg, sid=sys_id: self.attitude_callback(sid, msg),
+                10
+            )
         
         setattr(self, f'drone_{sys_id}_subs', subs)
 
@@ -699,22 +731,22 @@ class DroneMonitor(Node):
             # 解析 drone_id 提取 sysid
             parts = drone_id.split('_')
             if len(parts) < 2:
-                print(f"❌ [SET_MODE] 無效的 drone_id 格式: {drone_id}")
+                _log("ERROR", f"[SET_MODE] 無效的 drone_id 格式: {drone_id}")
                 return False
             sysid = int(parts[-1])
             
             # 獲取模式對應的 custom_mode 值
             custom_mode = self.MODE_MAPPING.get(mode_name)
             if custom_mode is None:
-                print(f"❌ [SET_MODE] 未知模式: {mode_name}")
+                _log("ERROR", f"[SET_MODE] 未知模式: {mode_name}")
                 return False
             
-            print(f"\n📢 [SET_MODE] {drone_id} → {mode_name} (custom_mode={custom_mode})")
+            _log("INFO", f"[SET_MODE] {drone_id} -> {mode_name} (custom_mode={custom_mode})")
             
             # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
             client = self.get_or_create_client(drone_id)
             if not client:
-                print(f"❌ [SET_MODE] CommandLongClient 無法初始化")
+                _log("ERROR", "[SET_MODE] CommandLongClient 無法初始化")
                 return False
             
             # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
@@ -727,13 +759,13 @@ class DroneMonitor(Node):
             )
             
             if result and result.success:
-                print(f"✅ [SET_MODE] 模式切換成功")
+                _log("INFO", f"[SET_MODE] {drone_id} 模式切換成功")
                 return True
             else:
-                print(f"❌ [SET_MODE] 模式切換失敗 (message={result.message if result else 'None'})")
+                _log("ERROR", f"[SET_MODE] 模式切換失敗 (message={result.message if result else 'None'})")
                 return False
         except Exception as e:
-            print(f"❌ [SET_MODE] 例外錯誤: {e}")
+            _log("ERROR", f"[SET_MODE] 例外錯誤: {e}")
             traceback.print_exc()
             return False
 
@@ -743,17 +775,17 @@ class DroneMonitor(Node):
             # 解析 drone_id 提取 sysid
             parts = drone_id.split('_')
             if len(parts) < 2:
-                print(f"❌ [ARM] 無效的 drone_id 格式: {drone_id}")
+                _log("ERROR", f"[ARM] 無效的 drone_id 格式: {drone_id}")
                 return False
             sysid = int(parts[-1])
             
             action_name = "解鎖" if arm else "上鎖"
-            print(f"\n📢 [ARM] {drone_id} → {action_name}")
+            _log("INFO", f"[ARM] {drone_id} -> {action_name}")
             
             # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
             client = self.get_or_create_client(drone_id)
             if not client:
-                print(f"❌ [ARM] CommandLongClient 無法初始化")
+                _log("ERROR", "[ARM] CommandLongClient 無法初始化")
                 return False
             
             # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
@@ -765,13 +797,13 @@ class DroneMonitor(Node):
             )
             
             if result and result.success:
-                print(f"✅ [ARM] {action_name}成功")
+                _log("INFO", f"[ARM] {drone_id} {action_name}成功")
                 return True
             else:
-                print(f"❌ [ARM] {action_name}失敗 (message={result.message if result else 'None'})")
+                _log("ERROR", f"[ARM] {drone_id} {action_name}失敗 (message={result.message if result else 'None'})")
                 return False
         except Exception as e:
-            print(f"❌ [ARM] 例外錯誤: {e}")
+            _log("ERROR", f"[ARM] 例外錯誤: {e}")
             traceback.print_exc()
             return False
 
@@ -781,16 +813,16 @@ class DroneMonitor(Node):
             # 解析 drone_id 提取 sysid
             parts = drone_id.split('_')
             if len(parts) < 2:
-                print(f"❌ [TAKEOFF] 無效的 drone_id 格式: {drone_id}")
+                _log("ERROR", f"[TAKEOFF] 無效的 drone_id 格式: {drone_id}")
                 return False
             sysid = int(parts[-1])
             
-            print(f"\n📢 [TAKEOFF] {drone_id} → 起飛 (高度={altitude}m)")
+            _log("INFO", f"[TAKEOFF] {drone_id} -> 起飛 (高度={altitude}m)")
             
             # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
             client = self.get_or_create_client(drone_id)
             if not client:
-                print(f"❌ [TAKEOFF] CommandLongClient 無法初始化")
+                _log("ERROR", "[TAKEOFF] CommandLongClient 無法初始化")
                 return False
             
             # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
@@ -802,13 +834,13 @@ class DroneMonitor(Node):
             )
             
             if result and result.success:
-                print(f"✅ [TAKEOFF] 起飛成功")
+                _log("INFO", f"[TAKEOFF] {drone_id} 起飛成功")
                 return True
             else:
-                print(f"❌ [TAKEOFF] 起飛失敗 (message={result.message if result else 'None'})")
+                _log("ERROR", f"[TAKEOFF] 起飛失敗 (message={result.message if result else 'None'})")
                 return False
         except Exception as e:
-            print(f"❌ [TAKEOFF] 例外錯誤: {e}")
+            _log("ERROR", f"[TAKEOFF] 例外錯誤: {e}")
             traceback.print_exc()
             return False
 
@@ -840,17 +872,42 @@ class DroneMonitor(Node):
         return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)
 
     # callbacks
-    def attitude_callback(self, drone_id, msg):
-        if hasattr(msg, 'orientation'):
-            roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
-            self.latest_data[(drone_id, 'attitude')] = {
-                'roll': roll,
-                'pitch': pitch,
-                'yaw': yaw,
-                'rates': (msg.angular_velocity.x, 
-                         msg.angular_velocity.y,
-                         msg.angular_velocity.z)
-            }
+    def attitude_callback(self, sys_id, msg):
+        """處理姿態 topic，支援 AttitudeRaw 與 IMU 四元數格式。"""
+        actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
+        if actual_drone_id is None:
+            return
+
+        try:
+            if hasattr(msg, 'roll') and hasattr(msg, 'pitch') and hasattr(msg, 'yaw'):
+                data = {
+                    'roll': math.degrees(msg.roll),
+                    'pitch': math.degrees(msg.pitch),
+                    'yaw': math.degrees(msg.yaw),
+                    'rates': (
+                        getattr(msg, 'rollspeed', 0.0),
+                        getattr(msg, 'pitchspeed', 0.0),
+                        getattr(msg, 'yawspeed', 0.0),
+                    )
+                }
+            elif hasattr(msg, 'orientation'):
+                roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
+                data = {
+                    'roll': roll,
+                    'pitch': pitch,
+                    'yaw': yaw,
+                    'rates': (
+                        msg.angular_velocity.x,
+                        msg.angular_velocity.y,
+                        msg.angular_velocity.z,
+                    )
+                }
+            else:
+                return
+
+            self.latest_data[(actual_drone_id, 'attitude')] = data
+        except Exception as e:
+            print(f"Error parsing attitude msg for {sys_id}: {e}")
 
     def battery_callback(self, sys_id, msg):
         # 使用映射獲取實際的 drone_id
@@ -903,7 +960,7 @@ class DroneMonitor(Node):
                 sys_num = sys_id.replace('sys', '')
                 actual_drone_id = f's{assigned_socket_id}_{sys_num}'
                 self.sys_to_actual_id[sys_id] = actual_drone_id
-                print(f"[DEBUG] summary_callback: 已創建映射 {sys_id} -> {actual_drone_id} (使用 sys_num)")
+                _log("INFO", f"summary_callback 已建立映射 {sys_id} -> {actual_drone_id} (使用 sys_num)")
             
             # 先發送連接類型資訊
             self.signals.update_signal.emit('connection_type', actual_drone_id, {
@@ -1003,6 +1060,9 @@ class DroneMonitor(Node):
             x = msg.pose.pose.position.y  # NED 座標系中交換 x/y（與 local_pose 對齐）
             y = msg.pose.pose.position.x
             z = -msg.pose.pose.position.z  # 將向下的 NED z 轉換為向上的高度（z 為負表示向下）
+            vx = msg.twist.twist.linear.y
+            vy = msg.twist.twist.linear.x
+            vz = -msg.twist.twist.linear.z
             
             # 儲存高度信息
             self.latest_data[(actual_drone_id, 'altitude')] = {
@@ -1015,6 +1075,13 @@ class DroneMonitor(Node):
                 'y': y,
                 'z': z
             }
+
+            # 儲存速度資訊，供總覽頁「XY速度」欄位顯示
+            self.latest_data[(actual_drone_id, 'velocity')] = {
+                'vx': vx,
+                'vy': vy,
+                'vz': vz
+            }
             
             # 發送信號給 GUI 更新高度顯示
             self.signals.update_signal.emit('altitude', actual_drone_id, {
@@ -1039,5 +1106,5 @@ class DroneMonitor(Node):
         receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self)
         receiver.start()
         self.serial_receivers.append(receiver)
-        print(f"Started serial connection on {port} at {baudrate} baud")
-        return receiver
\ No newline at end of file
+        _log("INFO", f"已啟動 Serial 連線: {port} @ {baudrate} baud")
+        return receiver
diff --git a/src/GUI/gui.py b/src/GUI/gui.py
index a332ed3..fc63e9d 100644
--- a/src/GUI/gui.py
+++ b/src/GUI/gui.py
@@ -4,8 +4,8 @@ from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout
                             QWidget, QLabel, QSplitter, QScrollArea,
                             QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
                             QHeaderView, QPushButton, QCheckBox, QLineEdit,
-                            QComboBox, QDialog)
-from PyQt6.QtCore import Qt, QTimer
+                            QComboBox, QDialog, QPlainTextEdit)
+from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal
 from PyQt6.QtGui import QColor
 import sys
 import asyncio
@@ -14,6 +14,11 @@ import subprocess
 import time
 import traceback
 
+
+def _log(level, message):
+    print(f"[{level}] {message}", flush=True)
+
+
 # 導入分離的類別
 from communication import DroneMonitor, UDPMavlinkReceiver, WebSocketMavlinkReceiver
 from map_layout import DroneMap
@@ -32,8 +37,41 @@ from mission_group import (
 )
 # ================================================================================
 
+
+class StreamRedirector(QObject):
+    """將 stdout/stderr 同步轉發到 Qt UI。"""
+    text_written = pyqtSignal(str)
+
+    def __init__(self, original_stream=None, parent=None):
+        super().__init__(parent)
+        self.original_stream = original_stream
+        self._buffer = ""
+
+    def write(self, text):
+        if self.original_stream:
+            self.original_stream.write(text)
+
+        if not text:
+            return
+
+        self._buffer += text
+        while "\n" in self._buffer:
+            line, self._buffer = self._buffer.split("\n", 1)
+            line = line.strip()
+            if line:
+                self.text_written.emit(line)
+
+    def flush(self):
+        if self.original_stream:
+            self.original_stream.flush()
+
+        line = self._buffer.strip()
+        if line:
+            self.text_written.emit(line)
+        self._buffer = ""
+
 class ControlStationUI(QMainWindow):
-    VERSION = '2.0.8'
+    VERSION = '2.1.0'
     
     def __init__(self):
         super().__init__()
@@ -78,6 +116,8 @@ class ControlStationUI(QMainWindow):
         
         # 快取消息數據，以便在沒有新消息時使用上一次的值
         self._message_cache = {}
+        self.message_history = []
+        self.max_message_history = 500
         
         # 初始化UI
         self.drones = {}
@@ -137,6 +177,7 @@ class ControlStationUI(QMainWindow):
         # ================================================================================
         
         self.init_ui()
+        self._setup_stream_redirector()
 
     def init_ui(self):
         main_splitter = QSplitter(Qt.Orientation.Horizontal)
@@ -160,7 +201,11 @@ class ControlStationUI(QMainWindow):
         self.overview_table = OverviewTable()
         self.left_tab.addTab(self.overview_table, "總覽")
 
-        # — 分頁 3：通訊設定
+        # — 分頁 3：訊息歷史
+        self.message_history_tab = self._create_message_history_tab()
+        self.left_tab.addTab(self.message_history_tab, "紀錄")
+
+        # — 分頁 4：通訊設定
         self.comm_panel = CommPanel()
         self.comm_panel.udp_connection_added.connect(self.handle_udp_connection_added)
         self.comm_panel.ws_connection_added.connect(self.handle_ws_connection_added)
@@ -259,6 +304,95 @@ class ControlStationUI(QMainWindow):
         main_splitter.setSizes([400, 1000])
         
         self.setCentralWidget(main_splitter)
+        self.statusBar().messageChanged.connect(self._on_status_bar_message_changed)
+
+    def _create_message_history_tab(self):
+        """建立左側訊息歷史分頁。"""
+        widget = QWidget()
+        layout = QVBoxLayout(widget)
+        layout.setContentsMargins(10, 10, 10, 10)
+        layout.setSpacing(8)
+
+        header_layout = QHBoxLayout()
+        title = QLabel("操作與訊息歷史")
+        title.setStyleSheet("color: #DDD; font-size: 14px; font-weight: bold;")
+        header_layout.addWidget(title)
+        header_layout.addStretch()
+
+        clear_btn = QPushButton("清空")
+        clear_btn.setStyleSheet("""
+            QPushButton { background-color: #555; color: white; border: none;
+                padding: 5px 10px; border-radius: 4px; font-size: 12px; }
+            QPushButton:hover { background-color: #666; }
+        """)
+        clear_btn.clicked.connect(self._clear_message_history)
+        header_layout.addWidget(clear_btn)
+        layout.addLayout(header_layout)
+
+        self.message_history_view = QPlainTextEdit()
+        self.message_history_view.setReadOnly(True)
+        self.message_history_view.setStyleSheet("""
+            QPlainTextEdit {
+                background-color: #1E1E1E;
+                color: #DDD;
+                border: 1px solid #444;
+                border-radius: 6px;
+                padding: 6px;
+                font-family: monospace;
+                font-size: 12px;
+            }
+        """)
+        self.message_history_view.setPlaceholderText("左下角狀態訊息會顯示在這裡...")
+        layout.addWidget(self.message_history_view)
+
+        return widget
+
+    def _clear_message_history(self):
+        """清空訊息歷史。"""
+        self.message_history.clear()
+        if hasattr(self, 'message_history_view'):
+            self.message_history_view.clear()
+
+    def _on_status_bar_message_changed(self, message):
+        """同步狀態列訊息到歷史紀錄。"""
+        if not message:
+            return
+        timestamp = time.strftime("%H:%M:%S")
+        entry = f"[{timestamp}] {message}"
+        self.message_history.append(entry)
+        if len(self.message_history) > self.max_message_history:
+            self.message_history = self.message_history[-self.max_message_history:]
+
+        if hasattr(self, 'message_history_view'):
+            self.message_history_view.setPlainText("\n".join(self.message_history))
+            scrollbar = self.message_history_view.verticalScrollBar()
+            scrollbar.setValue(scrollbar.maximum())
+
+    def _setup_stream_redirector(self):
+        """將 stdout/stderr 同步到左下角狀態列與訊息紀錄。"""
+        self._original_stdout = sys.stdout
+        self._original_stderr = sys.stderr
+
+        self.stdout_redirector = StreamRedirector(self._original_stdout, self)
+        self.stderr_redirector = StreamRedirector(self._original_stderr, self)
+        self.stdout_redirector.text_written.connect(self.show_in_bottom_left)
+        self.stderr_redirector.text_written.connect(self.show_in_bottom_left)
+
+        sys.stdout = self.stdout_redirector
+        sys.stderr = self.stderr_redirector
+
+    def _restore_stream_redirector(self):
+        """還原 stdout/stderr，避免關閉視窗後仍寫入 UI。"""
+        if getattr(self, '_original_stdout', None) is not None:
+            sys.stdout = self._original_stdout
+        if getattr(self, '_original_stderr', None) is not None:
+            sys.stderr = self._original_stderr
+
+    def show_in_bottom_left(self, text):
+        """將重導向的輸出顯示在左下角狀態列。"""
+        if not text:
+            return
+        self.statusBar().showMessage(text, 5000)
     
 
     # ================================================================================
@@ -384,7 +518,7 @@ class ControlStationUI(QMainWindow):
                 status_label.setToolTip("運行中")
                 self.statusBar().showMessage(f"已啟動 Serial 連接: {conn['port']}", 3000)
             except Exception as e:
-                print(f"❌ Serial 連接啟動失敗: {str(e)}")
+                _log("ERROR", f"Serial 連接啟動失敗: {str(e)}")
                 traceback.print_exc()
                 self.statusBar().showMessage(f"啟動 Serial 連接失敗: {str(e)}", 5000)
     
@@ -410,39 +544,25 @@ class ControlStationUI(QMainWindow):
     # ================================================================================
 
     def handle_mode_change(self, drone_id):
-        print(f"\n📢 [GUI] handle_mode_change 被调用")
-        print(f"   drone_id: {drone_id}")
-        
         # 從 active group 的 mode_combo 讀取模式
         group = self._get_active_group()
         if group:
             panel = self.group_panels.get(group.group_id)
             mode = panel.mode_combo.currentText() if panel else "GUIDED"
-            print(f"   从群组读取模式: {mode}")
         else:
             mode = "GUIDED"
-            print(f"   没有活跃群组，使用默认模式: {mode}")
-        
+        _log("INFO", f"切換模式請求: drone={drone_id}, mode={mode}")
         loop = asyncio.get_event_loop()
         future = self.monitor.set_mode(drone_id, mode)
         loop.create_task(self.handle_service_response(future, f"切換模式 {mode} {drone_id}"))
 
     def handle_arm(self, drone_id):
-        print(f"\n📢 [GUI] handle_arm 被調用")
-        print(f"   drone_id: {drone_id}")
         loop = asyncio.get_event_loop()
-        print(f"   獲得事件循環: {loop}")
         arm_state = not self.monitor.get_arm_state(drone_id)
-        print(f"   當前鎖定狀態: {not arm_state}, 目標狀態: {arm_state}")
-        print(f"   準備調用 arm_drone(drone_id={drone_id}, arm={arm_state})")
         coro = self.monitor.arm_drone(drone_id, arm_state)
-        print(f"   arm_drone() 返回類型: {type(coro)}")
-        print(f"   coroutine 對象: {coro}")
         action_text = f"{'解鎖' if arm_state else '上鎖'} {drone_id}"
-        print(f"   準備提交到事件循環: {action_text}")
-        task = loop.create_task(self.handle_service_response(coro, action_text))
-        print(f"   task 已創建: {task}")
-        print(f"   已提交到事件循環\n")
+        _log("INFO", f"{action_text} 請求已送出")
+        loop.create_task(self.handle_service_response(coro, action_text))
 
     def handle_takeoff(self, drone_id):
         loop = asyncio.get_event_loop()
@@ -453,7 +573,7 @@ class ControlStationUI(QMainWindow):
         """發送位置命令到 active group 的所有選中無人機"""
         group = self._get_active_group()
         if not group:
-            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            self.statusBar().showMessage("請先建立任務群組", 3000)
             return
         
         try:
@@ -481,34 +601,18 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage("座標格式錯誤", 3000)
 
     async def handle_service_response(self, future, action):
-        print(f"\n📥 [GUI] handle_service_response 開始處理: {action}")
-        print(f"   Future/Coroutine 類型: {type(future)}")
-        print(f"   Future/Coroutine 對象: {future}")
         try:
-            print(f"   ├─ 等待 future/coroutine 完成...")
-            print(f"   └─ (這是一個阻塞等待，直到服務返回)\n")
             result = await future
-            print(f"\n   ✓ Future/Coroutine 完成，接收到返回值！")
-            print(f"   ├─ 返回值類型: {type(result)}")
-            print(f"   ├─ 返回值內容: {result}")
-            print(f"   ├─ 返回值 == True: {result == True}")
-            print(f"   ├─ 返回值 is True: {result is True}")
-            print(f"   └─ bool(返回值): {bool(result)}")
-            
-            # 詳細檢查 result 結構（用於調試 fc_network 回傳值）
-            if hasattr(result, '__dict__'):
-                print(f"   └─ 返回值屬性: {result.__dict__}")
-            
             if result:
-                print(f"\n✅ {action} 成功 (result={result})")
+                _log("INFO", f"{action} 成功")
                 self.statusBar().showMessage(f"{action} 成功", 3000)
             else:
-                print(f"\n❌ {action} 失敗 (result={result})")
+                _log("WARN", f"{action} 失敗")
                 self.statusBar().showMessage(f"{action} 失敗", 3000)
         except asyncio.CancelledError:
-            print(f"⚠️  {action} 被取消")
+            _log("WARN", f"{action} 已取消")
         except Exception as e:
-            print(f"❌ {action} 錯誤: {str(e)}")
+            _log("ERROR", f"{action} 錯誤: {str(e)}")
             traceback.print_exc()
             self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000)
 
@@ -516,38 +620,33 @@ class ControlStationUI(QMainWindow):
         """解鎖 active group 的所有選中無人機"""
         group = self._get_active_group()
         if not group:
-            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            self.statusBar().showMessage("請先建立任務群組", 3000)
             return
         
         selected = list(group.selected_drone_ids)
         if not selected:
-            self.statusBar().showMessage("⚠ 尚未選擇任何無人機", 3000)
+            self.statusBar().showMessage("尚未選擇任何無人機", 3000)
             return
-        
-        print(f"\n📢 [GUI] handle_arm_selected 被調用")
-        print(f"   已選擇的無人機: {selected}")
+        _log("INFO", f"批次解鎖請求: {', '.join(selected)}")
         loop = asyncio.get_event_loop()
         for drone_id in selected:
-            print(f"   準備批次解鎖: {drone_id}")
             coro = self.monitor.arm_drone(drone_id, True)
-            print(f"   arm_drone 返回: {coro}")
             # 使用 run_coroutine_threadsafe() 正確地在事件循環中運行
             asyncio.run_coroutine_threadsafe(
                 self.handle_service_response(coro, f"批次解鎖 {drone_id}"),
                 loop
             )
-        print(f"   handle_arm_selected 完成\n")
 
     def handle_takeoff_selected(self):
         """起飛 active group 的所有選中無人機"""
         group = self._get_active_group()
         if not group:
-            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            self.statusBar().showMessage("請先建立任務群組", 3000)
             return
         
         selected = list(group.selected_drone_ids)
         if not selected:
-            self.statusBar().showMessage("⚠ 尚未選擇任何無人機", 3000)
+            self.statusBar().showMessage("尚未選擇任何無人機", 3000)
             return
         
         loop = asyncio.get_event_loop()
@@ -774,7 +873,7 @@ class ControlStationUI(QMainWindow):
 
             if blocked:
                 self.statusBar().showMessage(
-                    f"⚠ Group {group_id}: {len(blocked)} 台已被其他 group 勾選，未加入", 4000
+                    f"Group {group_id}: {len(blocked)} 台已被其他 group 勾選，未加入", 4000
                 )
             else:
                 self.statusBar().showMessage(
@@ -811,7 +910,7 @@ class ControlStationUI(QMainWindow):
         if not group:
             return
         if group.planned_waypoints is None:
-            self.statusBar().showMessage(f"⚠ Group {group_id}: 請先規劃任務", 3000)
+            self.statusBar().showMessage(f"Group {group_id}: 請先規劃任務", 3000)
             return
         if group.executor is None:
             self._create_executor_for_group(group)
@@ -819,7 +918,7 @@ class ControlStationUI(QMainWindow):
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
-        self.statusBar().showMessage(f"🚀 Group {group_id}: 任務已啟動", 3000)
+        self.statusBar().showMessage(f"Group {group_id}: 任務已啟動", 3000)
 
     def _handle_group_pause(self, group_id):
         """暫停/恢復群組任務"""
@@ -828,10 +927,10 @@ class ControlStationUI(QMainWindow):
             return
         if group.executor.state == MissionState.RUNNING:
             group.executor.pause()
-            self.statusBar().showMessage(f"⏸ Group {group_id}: 任務已暫停", 3000)
+            self.statusBar().showMessage(f"Group {group_id}: 任務已暫停", 3000)
         elif group.executor.state == MissionState.PAUSED:
             group.executor.resume()
-            self.statusBar().showMessage(f"▶ Group {group_id}: 任務已恢復", 3000)
+            self.statusBar().showMessage(f"Group {group_id}: 任務已恢復", 3000)
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -849,54 +948,44 @@ class ControlStationUI(QMainWindow):
         if panel:
             panel.update_status()
             panel.clear_mission_info()
-        self.statusBar().showMessage(f"■ Group {group_id}: 任務已停止", 3000)
+        self.statusBar().showMessage(f"Group {group_id}: 任務已停止", 3000)
 
     def _handle_group_mode_change(self, group_id, mode):
         """切換群組內所有無人機的飛行模式"""
-        print(f"\n📢 [GUI] _handle_group_mode_change 被调用", flush=True)
-        print(f"   group_id: {group_id}, mode: {mode}", flush=True)
-        
         group = self.mission_groups.get(group_id)
         if not group:
-            print(f"❌ 找不到群組: {group_id}", flush=True)
+            _log("ERROR", f"找不到群組: {group_id}")
             return
         
         if not group.selected_drone_ids:
-            print(f"⚠️  群組中沒有無人機", flush=True)
+            _log("WARN", f"Group {group_id} 中沒有無人機")
             self.statusBar().showMessage(f"群組 {group_id} 中沒有無人機", 3000)
             return
-        
-        print(f"   準備為 {len(group.selected_drone_ids)} 台無人機切換模式...", flush=True)
-        self.statusBar().showMessage(f"正在切換模式...", 1000)
+        _log("INFO", f"Group {group_id} 準備切換模式為 {mode}")
+        self.statusBar().showMessage("正在切換模式", 1000)
         
         # 使用 asyncio 執行（通過事件循環）
         async def do_mode_changes_async():
-            print(f"\n   【異步任務】開始執行模式切換", flush=True)
-            
             for drone_id in group.selected_drone_ids:
-                print(f"\n   【切換】{drone_id} → {mode}", flush=True)
                 try:
                     result = await self.monitor.set_mode(drone_id, mode)
                     
                     if result:
-                        msg = f"✅ {drone_id} 切換成功"
-                        print(f"   {msg}", flush=True)
+                        msg = f"{drone_id} 切換成功"
+                        _log("INFO", msg)
                         self.message_queue.put((msg, 2000))
                     else:
-                        msg = f"❌ {drone_id} 切換失敗"
-                        print(f"   {msg}", flush=True)
+                        msg = f"{drone_id} 切換失敗"
+                        _log("WARN", msg)
                         self.message_queue.put((msg, 2000))
                 
                 except Exception as e:
-                    msg = f"❌ {drone_id} 錯誤: {str(e)}"
-                    print(f"   {msg}", flush=True)
+                    msg = f"{drone_id} 錯誤: {str(e)}"
+                    _log("ERROR", msg)
                     traceback.print_exc()
                     self.message_queue.put((msg, 2000))
-            
-            print(f"\n   【完成】模式切換任務結束\n", flush=True)
         
         # 通過事件循環提交異步任務
-        print(f"   【排隊】將任務提交至事件循環", flush=True)
         loop = asyncio.get_event_loop()
         asyncio.run_coroutine_threadsafe(
             do_mode_changes_async(),
@@ -905,34 +994,22 @@ class ControlStationUI(QMainWindow):
 
     def _handle_group_arm(self, group_id):
         """解鎖群組內所有無人機"""
-        print(f"\n📢 [GUI] _handle_group_arm 被調用")
-        print(f"   群組 ID: {group_id}")
         group = self.mission_groups.get(group_id)
-        print(f"   群組存在: {group is not None}")
         if not group:
-            print(f"   ⚠️ 群組不存在，返回\n")
+            _log("WARN", f"找不到群組: {group_id}")
             return
-        print(f"   群組內無人機: {group.selected_drone_ids}")
         loop = asyncio.get_event_loop()
-        print(f"   事件循環: {loop}")
+        _log("INFO", f"Group {group_id} 批次解鎖 {len(group.selected_drone_ids)} 台無人機")
         
         for drone_id in group.selected_drone_ids:
-            print(f"\n   ┌─ 處理無人機: {drone_id}")
-            print(f"   ├─ 準備調用 arm_drone(drone_id={drone_id}, arm=True)")
             coro = self.monitor.arm_drone(drone_id, True)
-            print(f"   ├─ arm_drone 返回類型: {type(coro)}")
             action_text = f"解鎖 {drone_id}"
-            print(f"   ├─ 準備提交到事件循環: {action_text}")
             # 使用 run_coroutine_threadsafe() 正確地在事件循環中運行 coroutine
             # 這是 Qt + asyncio 整合的正確方式
-            future = asyncio.run_coroutine_threadsafe(
+            asyncio.run_coroutine_threadsafe(
                 self.handle_service_response(coro, action_text),
                 loop
             )
-            print(f"   ├─ Future 已創建: {future}")
-            print(f"   └─ Future 將在事件循環中執行")
-        
-        print(f"\n   _handle_group_arm 完成（coroutine 已提交至事件循環）\n")
 
     def _handle_group_takeoff(self, group_id, altitude):
         """群組內所有無人機起飛"""
@@ -983,7 +1060,7 @@ class ControlStationUI(QMainWindow):
 
         if blocked:
             self.statusBar().showMessage(
-                f"⚠ Group {group_id}: 部分 drone 已被其他 group 勾選，僅加入 {len(allowed)} 台", 4000
+                f"Group {group_id}: 部分 drone 已被其他 group 勾選，僅加入 {len(allowed)} 台", 4000
             )
         else:
             self.statusBar().showMessage(
@@ -1049,7 +1126,7 @@ class ControlStationUI(QMainWindow):
         """刪除一個任務群組"""
         # 檢查是否只有一個群組，如果是就禁止刪除
         if len(self.mission_groups) <= 1:
-            self.statusBar().showMessage("⚠️ 至少需要保留一個群組！", 3000)
+            self.statusBar().showMessage("至少需要保留一個群組", 3000)
             return
         
         if group_id not in self.mission_groups:
@@ -1100,7 +1177,7 @@ class ControlStationUI(QMainWindow):
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
-        self.statusBar().showMessage(f"✅ Group {group_id}: 所有無人機已完成任務", 5000)
+        self.statusBar().showMessage(f"Group {group_id}: 所有無人機已完成任務", 5000)
 
     # ================================================================================
     # UI 更新
@@ -1152,7 +1229,7 @@ class ControlStationUI(QMainWindow):
         if not selectable:
             if blocked:
                 self.statusBar().showMessage(
-                    f"⚠ Socket {socket_id} 的 drone 已被其他 group 勾選，無法操作", 4000
+                    f"Socket {socket_id} 的 drone 已被其他 group 勾選，無法操作", 4000
                 )
             self.refresh_selection_ui()
             return
@@ -1165,7 +1242,7 @@ class ControlStationUI(QMainWindow):
             group.selected_drone_ids.update(selectable)
             if blocked:
                 self.statusBar().showMessage(
-                    f"⚠ 以下 drone 已被其他 group 勾選，略過: {', '.join(blocked)}", 4000
+                    f"以下 drone 已被其他 group 勾選，略過: {', '.join(blocked)}", 4000
                 )
 
         self.refresh_selection_ui()
@@ -1217,7 +1294,7 @@ class ControlStationUI(QMainWindow):
         if is_checked:
             if self._is_drone_selected_by_other_group(drone_id, group.group_id):
                 self.statusBar().showMessage(
-                    f"⚠ {drone_id} 已被其他 group 勾選，無法加入 Group {group.group_id}", 3000
+                    f"{drone_id} 已被其他 group 勾選，無法加入 Group {group.group_id}", 3000
                 )
                 self.refresh_selection_ui()
                 return
@@ -1239,7 +1316,7 @@ class ControlStationUI(QMainWindow):
             # 嘗試勾選前先檢查是否被其他 group 使用
             if self._is_drone_selected_by_other_group(drone_id, group.group_id):
                 self.statusBar().showMessage(
-                    f"⚠ {drone_id} 已被其他 group 勾選，無法加入 Group {group.group_id}", 3000
+                    f"{drone_id} 已被其他 group 勾選，無法加入 Group {group.group_id}", 3000
                 )
                 self.refresh_selection_ui()
                 return
@@ -1285,7 +1362,7 @@ class ControlStationUI(QMainWindow):
         """處理地圖點擊事件 — 根據 active group 的任務類型規劃"""
         group = self._get_active_group()
         if not group:
-            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            self.statusBar().showMessage("請先建立任務群組", 3000)
             return
 
         mode_map = {
@@ -1298,16 +1375,16 @@ class ControlStationUI(QMainWindow):
 
         selected_drones = self._get_group_drones(group)
         if len(selected_drones) == 0:
-            self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
+            self.statusBar().showMessage(f"Group {group.group_id}: 請先分配無人機", 3000)
             return
 
-        print(f"地圖點擊: {lat:.6f}, {lon:.6f} → Group {group.group_id} ({group.mission_type})")
+        _log("INFO", f"地圖點擊: {lat:.6f}, {lon:.6f} -> Group {group.group_id} ({group.mission_type})")
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
         base_alt = params.get('base_altitude', params.get('altitude', 10.0))
         target_gps = (lat, lon, base_alt)
         self.statusBar().showMessage(
-            f"⏳ Group {group.group_id}: 正在規劃 {group.mission_type} ({len(selected_drones)} 台) ...", 2000)
+            f"Group {group.group_id}: 正在規劃 {group.mission_type} ({len(selected_drones)} 台)", 2000)
 
         try:
             drone_gps_positions = self._collect_drone_gps(selected_drones, base_alt)
@@ -1344,10 +1421,10 @@ class ControlStationUI(QMainWindow):
 
             total_wps = sum(len(wps) for wps in waypoints_per_drone)
             self.statusBar().showMessage(
-                f"✓ Group {group.group_id}: {group.mission_type} 規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
+                f"Group {group.group_id}: {group.mission_type} 規劃完成，{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
             )
         except Exception as e:
-            self.statusBar().showMessage(f"❌ Group {group.group_id}: 規劃失敗: {str(e)}", 5000)
+            self.statusBar().showMessage(f"Group {group.group_id}: 規劃失敗: {str(e)}", 5000)
             traceback.print_exc()
 
     # ================================================================================
@@ -1357,28 +1434,28 @@ class ControlStationUI(QMainWindow):
     def handle_rectangle_selected(self, points_json):
         group = self._get_active_group()
         if not group:
-            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            self.statusBar().showMessage("請先建立任務群組", 3000)
             return
         if group.mission_type != 'GRID_SWEEP':
             return  # 非 Grid Sweep 模式不處理矩形選取
 
         selected_drones = self._get_group_drones(group)
         if len(selected_drones) == 0:
-            self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
+            self.statusBar().showMessage(f"Group {group.group_id}: 請先分配無人機", 3000)
             return
 
-        print(f"矩形選取 → Group {group.group_id}: {points_json}")
+        _log("INFO", f"矩形選取 -> Group {group.group_id}: {points_json}")
         try:
             rect_corners = [(p[0], p[1]) for p in json.loads(points_json)]
         except (json.JSONDecodeError, IndexError):
-            self.statusBar().showMessage("❌ 矩形座標解析失敗", 3000)
+            self.statusBar().showMessage("矩形座標解析失敗", 3000)
             return
 
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
         base_alt = params.get('altitude', 10.0)
         self.statusBar().showMessage(
-            f"⏳ Group {group.group_id}: 正在規劃 Grid Sweep ({len(selected_drones)} 台) ...", 2000)
+            f"Group {group.group_id}: 正在規劃 Grid Sweep ({len(selected_drones)} 台)", 2000)
         try:
             drone_gps_positions = self._collect_drone_gps(selected_drones, base_alt)
             if drone_gps_positions is None:
@@ -1419,10 +1496,10 @@ class ControlStationUI(QMainWindow):
 
             total_wps = sum(len(wps) for wps in waypoints_per_drone)
             self.statusBar().showMessage(
-                f"✓ Group {group.group_id}: Grid Sweep 規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
+                f"Group {group.group_id}: Grid Sweep 規劃完成，{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
             )
         except Exception as e:
-            self.statusBar().showMessage(f"❌ Group {group.group_id}: Grid Sweep 規劃失敗: {str(e)}", 5000)
+            self.statusBar().showMessage(f"Group {group.group_id}: Grid Sweep 規劃失敗: {str(e)}", 5000)
             traceback.print_exc()
 
     # ================================================================================
@@ -1432,14 +1509,14 @@ class ControlStationUI(QMainWindow):
     def handle_route_confirmed(self, points_json):
         group = self._get_active_group()
         if not group:
-            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            self.statusBar().showMessage("請先建立任務群組", 3000)
             return
         if group.mission_type != 'LEADER_FOLLOWER':
             return
 
         selected_drones = self._get_group_drones(group)
         if len(selected_drones) == 0:
-            self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
+            self.statusBar().showMessage(f"Group {group.group_id}: 請先分配無人機", 3000)
             return
 
         # LEADER_FOLLOWER：把指定的領隊放到 rank 0
@@ -1447,23 +1524,23 @@ class ControlStationUI(QMainWindow):
         if leader and leader in selected_drones:
             selected_drones = [leader] + [d for d in selected_drones if d != leader]
 
-        print(f"路徑確認 → Group {group.group_id}: {points_json}")
+        _log("INFO", f"路徑確認 -> Group {group.group_id}: {points_json}")
         try:
             route_points = json.loads(points_json)
             route_waypoints = [(p[0], p[1]) for p in route_points]
         except (json.JSONDecodeError, IndexError):
-            self.statusBar().showMessage("❌ 路徑座標解析失敗", 3000)
+            self.statusBar().showMessage("路徑座標解析失敗", 3000)
             return
 
         if len(route_waypoints) < 2:
-            self.statusBar().showMessage("⚠ 至少需要 2 個路徑點", 3000)
+            self.statusBar().showMessage("至少需要 2 個路徑點", 3000)
             return
 
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
         base_alt = params.get('altitude', 10.0)
         self.statusBar().showMessage(
-            f"⏳ Group {group.group_id}: 正在規劃跟隨模式 ({len(selected_drones)} 台) ...", 2000)
+            f"Group {group.group_id}: 正在規劃跟隨模式 ({len(selected_drones)} 台)", 2000)
 
         try:
             drone_gps_positions = self._collect_drone_gps(selected_drones, base_alt)
@@ -1507,10 +1584,10 @@ class ControlStationUI(QMainWindow):
 
             total_wps = sum(len(wps) for wps in waypoints_per_drone)
             self.statusBar().showMessage(
-                f"✓ Group {group.group_id}: 跟隨模式規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
+                f"Group {group.group_id}: 跟隨模式規劃完成，{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
             )
         except Exception as e:
-            self.statusBar().showMessage(f"❌ Group {group.group_id}: 跟隨模式規劃失敗: {str(e)}", 5000)
+            self.statusBar().showMessage(f"Group {group.group_id}: 跟隨模式規劃失敗: {str(e)}", 5000)
             traceback.print_exc()
 
     # ================================================================================
@@ -1519,20 +1596,20 @@ class ControlStationUI(QMainWindow):
 
     def on_drone_waypoint_reached(self, drone_id, wp_index, total):
         if wp_index >= total:
-            self.statusBar().showMessage(f"📍 {drone_id} 完成所有航點", 3000)
+            self.statusBar().showMessage(f"{drone_id} 已完成所有航點", 3000)
         else:
-            self.statusBar().showMessage(f"📍 {drone_id} → WP {wp_index}/{total}", 2000)
+            self.statusBar().showMessage(f"{drone_id} 到達 WP {wp_index}/{total}", 2000)
 
     def _on_task_status_changed(self, drone_id, status, message):
         """MissionExecutor.task_status_changed slot：把 goto 失敗/重試/fallback/barrier 丟到 status bar"""
         if status == "retrying":
-            self.statusBar().showMessage(f"⚠ {drone_id} {message}", 4000)
+            self.statusBar().showMessage(f"{drone_id} {message}", 4000)
         elif status == "fallback_loiter":
-            self.statusBar().showMessage(f"❌ {drone_id} {message}", 8000)
+            self.statusBar().showMessage(f"{drone_id} {message}", 8000)
         elif status == "waiting_at_barrier":
-            self.statusBar().showMessage(f"⏸ {drone_id} {message}", 3000)
+            self.statusBar().showMessage(f"{drone_id} {message}", 3000)
         elif status == "normal":
-            self.statusBar().showMessage(f"▶ {drone_id} {message or '已恢復'}", 2000)
+            self.statusBar().showMessage(f"{drone_id} {message or '已恢復'}", 2000)
 
     # ================================================================================
     # 輔助方法
@@ -1551,7 +1628,7 @@ class ControlStationUI(QMainWindow):
                 alt_drone = pos[2] if len(pos) > 2 else base_alt
                 drone_gps_positions.append((lat_drone, lon_drone, alt_drone))
             else:
-                self.statusBar().showMessage(f"⚠ 找不到 {drone_id} 的位置資料", 3000)
+                self.statusBar().showMessage(f"找不到 {drone_id} 的位置資料", 3000)
                 return None
         return drone_gps_positions
 
@@ -1580,7 +1657,7 @@ class ControlStationUI(QMainWindow):
 
         script_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'validation', 'verify_waypoints.py')
         subprocess.Popen([sys.executable, script_path, '--file', json_path])
-        print(f"驗證視窗已啟動: {json_path}")
+        _log("INFO", f"驗證視窗已啟動: {json_path}")
     
     def show_planned_waypoints(self, group=None):
         pw = group.planned_waypoints if group else None
@@ -1739,7 +1816,7 @@ class ControlStationUI(QMainWindow):
                         panel._last_roll = roll
                         panel._last_pitch = pitch
                         if hasattr(panel, 'update_attitude'):
-                            heading = self.drone_headings.get(drone_id, 0)
+                            heading = self.drone_headings.get(drone_id, yaw)
                             panel.update_attitude(heading, roll, pitch)
                     
                     elif msg_type == 'gps':
@@ -1780,7 +1857,7 @@ class ControlStationUI(QMainWindow):
             
             elapsed = (time.time() - start_time) * 1000
             if elapsed > 33:
-                print(f"[WARNING] UI update took {elapsed:.1f}ms (target: <33ms)")
+                _log("WARN", f"UI 更新耗時 {elapsed:.1f}ms (目標 <33ms)")
         
         finally:
             # ✅ 步驟 3: 恢復表格重繪（所有資料已填好，一次性重繪）
@@ -1800,7 +1877,7 @@ class ControlStationUI(QMainWindow):
                 except:
                     break
         except Exception as e:
-            print(f"❌ 消息隊列處理錯誤: {e}", flush=True)
+            _log("ERROR", f"訊息佇列處理錯誤: {e}")
             traceback.print_exc()
 
     def _spin_asyncio(self):
@@ -1831,15 +1908,16 @@ class ControlStationUI(QMainWindow):
         except RuntimeError as e:
             # ROS2 context 被破坏或不可用
             if "Context" in str(e) or "context" in str(e).lower():
-                print(f"⚠️ ROS2 context 錯誤（忽略）: {e}", flush=True)
+                _log("WARN", f"ROS2 context 錯誤（已忽略）: {e}")
             else:
-                print(f"ROS spin error: {e}", flush=True)
+                _log("ERROR", f"ROS spin error: {e}")
                 traceback.print_exc()
         except Exception as e:
-            print(f"ROS spin error: {e}", flush=True)
+            _log("ERROR", f"ROS spin error: {e}")
             traceback.print_exc()
 
     def closeEvent(self, event):
+        self._restore_stream_redirector()
         try:
             for group in self.mission_groups.values():
                 if group.executor:
@@ -1867,7 +1945,7 @@ class ControlStationUI(QMainWindow):
             self.monitor.destroy_node()
             self.executor.shutdown()
         except Exception as e:
-            print(f"⚠️ 清理資源時出錯: {e}", flush=True)
+            _log("WARN", f"清理資源時發生錯誤: {e}")
             traceback.print_exc()
         
         # 安全地 shutdown ROS2
@@ -1875,7 +1953,7 @@ class ControlStationUI(QMainWindow):
             if rclpy.ok():
                 rclpy.shutdown()
         except RuntimeError as e:
-            print(f"⚠️ ROS2 shutdown 錯誤: {e}", flush=True)
+            _log("WARN", f"ROS2 shutdown 錯誤: {e}")
             traceback.print_exc()
         
         event.accept()
@@ -1894,36 +1972,36 @@ def main():
     """
     # 第一步：在最外層只初始化一次 ROS2（終極防護）
     # 添加 rclpy.ok() 檢查，防止重複初始化導致 "Context.init() must only be called once" 錯誤
-    print("🚀 [GUI 主程式] 檢查 ROS2 初始化狀態...", flush=True)
+    _log("INFO", "GUI 主程式檢查 ROS2 初始化狀態")
     if not rclpy.ok():
-        print("🚀 [GUI 主程式] ROS2 未初始化，開始初始化...", flush=True)
+        _log("INFO", "ROS2 尚未初始化，開始初始化")
         rclpy.init()
-        print("✅ [GUI 主程式] ROS2 已全局初始化（由 GUI 主程式霸佔）", flush=True)
+        _log("INFO", "ROS2 已完成全域初始化")
     else:
-        print("ℹ️ [GUI 主程式] ROS2 已初始化，跳過重複初始化", flush=True)
+        _log("INFO", "ROS2 已初始化，略過重複初始化")
     
     try:
         # 第二步：啟動 Qt 應用程式
-        print("🚀 [GUI 主程式] 啟動 Qt 應用程式...", flush=True)
+        _log("INFO", "啟動 Qt 應用程式")
         app = QApplication(sys.argv)
         station = ControlStationUI()
         station.show()
-        print("✓ [GUI 主程式] 應用程式已啟動", flush=True)
+        _log("INFO", "應用程式已啟動")
         
         # 第三步：進入 Qt 事件循環（阻塞直到用戶關閉應用）
-        print("🎯 [GUI 主程式] 進入主事件循環，等待用戶操作...", flush=True)
+        _log("INFO", "進入主事件循環")
         sys.exit(app.exec())
         
     finally:
         # 第四步：只有當 GUI 視窗被關閉時，才做 ROS2 cleanup（終極防護）
         # 這裡確保 ROS2 被正確且安全地關閉
-        print("\n🛑 [GUI 主程式] 應用程式關閉，正在清理 ROS2 資源...", flush=True)
+        _log("INFO", "應用程式關閉，開始清理 ROS2 資源")
         if rclpy.ok():
             rclpy.shutdown()
-            print("✓ [GUI 主程式] ROS2 已安全關閉", flush=True)
+            _log("INFO", "ROS2 已安全關閉")
         else:
-            print("ℹ️ [GUI 主程式] ROS2 已關閉或不可用，無需重複 shutdown", flush=True)
-        print("✓ [GUI 主程式] 應用程式完全退出", flush=True)
+            _log("INFO", "ROS2 已關閉或不可用，無需重複 shutdown")
+        _log("INFO", "應用程式已完全退出")
 
 
 if __name__ == '__main__':
diff --git a/src/GUI/map_layout.py b/src/GUI/map_layout.py
index 2be9cb9..4f36017 100644
--- a/src/GUI/map_layout.py
+++ b/src/GUI/map_layout.py
@@ -3,6 +3,11 @@ from PyQt6.QtWebEngineWidgets import QWebEngineView
 from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
 from PyQt6.QtWebChannel import QWebChannel
 
+
+def _log(level, message):
+    print(f"[{level}] {message}")
+
+
 class DroneMap:
     """無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
     
@@ -874,7 +879,7 @@ class DroneMap:
         if ok:
             self.map_loaded = True
         else:
-            print("⚠️ 地圖加載失敗")
+            _log("ERROR", "地圖載入失敗")
     
     def update_drone_position(self, drone_id, lat, lon, heading):
         """更新無人機位置（加入待處理隊列）"""
@@ -924,20 +929,24 @@ class DroneMap:
                 f"{target_lat:.6f}, {target_lon:.6f});"
             )
             self.map_view.page().runJavaScript(js_code)
-            print(f"📍 地圖已繪製 Group {group_id} 任務規劃: "
-                  f"C({center_lat:.6f}, {center_lon:.6f}) -> T({target_lat:.6f}, {target_lon:.6f})")
+            _log(
+                "INFO",
+                f"地圖已繪製 Group {group_id} 任務規劃: "
+                f"C({center_lat:.6f}, {center_lon:.6f}) -> "
+                f"T({target_lat:.6f}, {target_lon:.6f})",
+            )
 
     def clear_mission_plan(self):
         """清除地圖上所有任務規劃標記"""
         if self.map_loaded:
             self.map_view.page().runJavaScript("clearAllMissionPlans();")
-            print("🗑️ 地圖已清除所有任務規劃")
+            _log("INFO", "地圖已清除所有任務規劃")
 
     def clear_mission_plan_for_group(self, group_id):
         """清除指定群組的任務規劃標記"""
         if self.map_loaded:
             self.map_view.page().runJavaScript(f"clearMissionPlanForGroup('{group_id}');")
-            print(f"🗑️ 地圖已清除 Group {group_id} 任務規劃")
+            _log("INFO", f"地圖已清除 Group {group_id} 任務規劃")
 
     def set_mission_mode(self, mode):
         """從 Python 端切換地圖的任務模式（觸發框選/路徑標記等）"""
@@ -1033,52 +1042,56 @@ class MapBridge(QObject):
     def clearAllDroneSelection(self):
         """供 JavaScript 調用的方法 - 清除所有無人機選擇"""
         self.clear_all_drone_selection.emit()
-        print("🗑️ 清除所有無人機選擇")
+        _log("INFO", "已清除所有無人機選擇")
     
     @pyqtSlot()
     def toggleSelectAllDrones(self):
         """供 JavaScript 調用的方法 - 切換全選/取消全選所有無人機"""
         self.select_all_drones.emit()
-        print("🔄 切換全選無人機")
+        _log("INFO", "已切換全選無人機")
     
     @pyqtSlot(float, float, float, float)
     def startMissionSignal(self, center_lat, center_lon, target_lat, target_lon):
         """供 JavaScript 調用的方法 - 開始任務"""
         self.start_mission_signal.emit(center_lat, center_lon, target_lat, target_lon)
-        print(f"🚀 開始任務信號已發出: C({center_lat}, {center_lon}) -> T({target_lat}, {target_lon})")
+        _log(
+            "INFO",
+            f"已發出開始任務信號: "
+            f"C({center_lat}, {center_lon}) -> T({target_lat}, {target_lon})",
+        )
     
     @pyqtSlot()
     def pauseMissionSignal(self):
         """供 JavaScript 調用的方法 - 暫停任務"""
         self.pause_mission_signal.emit()
-        print("⏸️ 暫停任務信號已發出")
+        _log("INFO", "已發出暫停任務信號")
     
     @pyqtSlot(str)
     def rectangleSelected(self, points_json):
         """供 JavaScript 調用的方法 - 矩形選擇完成"""
         self.rectangle_selected.emit(points_json)
-        print(f"📦 矩形區域已選擇: {points_json}")
+        _log("INFO", f"矩形區域已選擇: {points_json}")
     
     @pyqtSlot(str)
     def polygonSelected(self, points_json):
         """供 JavaScript 調用的方法 - 多邊形選擇完成"""
         self.polygon_selected.emit(points_json)
-        print(f"🔷 多邊形區域已選擇: {points_json}")
+        _log("INFO", f"多邊形區域已選擇: {points_json}")
     
     @pyqtSlot(str)
     def missionModeChanged(self, mode):
         """供 JavaScript 調用的方法 - 任務模式切換"""
         self.mission_mode_changed.emit(mode)
-        print(f"🔄 任務模式切換: {mode}")
+        _log("INFO", f"任務模式已切換: {mode}")
     
     @pyqtSlot(str)
     def routeConfirmed(self, points_json):
         """供 JavaScript 調用的方法 - 路徑確認"""
         self.route_confirmed.emit(points_json)
-        print(f"📍 路徑已確認: {points_json}")
+        _log("INFO", f"路徑已確認: {points_json}")
 
     @pyqtSlot(str)
     def droneBoxSelected(self, drone_ids_json):
         """供 JavaScript 調用的方法 - 框選無人機完成"""
         self.drone_box_selected.emit(drone_ids_json)
-        print(f"📦 框選無人機: {drone_ids_json}")
\ No newline at end of file
+        _log("INFO", f"框選無人機完成: {drone_ids_json}")
diff --git a/src/GUI/mission_executor.py b/src/GUI/mission_executor.py
index e5bd11f..e086362 100644
--- a/src/GUI/mission_executor.py
+++ b/src/GUI/mission_executor.py
@@ -19,6 +19,10 @@ from enum import Enum
 from PyQt6.QtCore import QObject, QTimer, pyqtSignal
 
 
+def _log(level, message):
+    print(f"[{level}] {message}")
+
+
 class MissionState(Enum):
     """整體任務狀態"""
     IDLE = "idle"
@@ -109,7 +113,7 @@ class MissionExecutor(QObject):
 
     def start(self, planned_waypoints):
         if self.state == MissionState.RUNNING:
-            print("任務已在執行中")
+            _log("WARN", "任務已在執行中")
             return
 
         self.tasks.clear()
@@ -132,31 +136,34 @@ class MissionExecutor(QObject):
             f"rendezvous WP={sorted(self.rendezvous_indices)}"
             if self.rendezvous_indices else "無 rendezvous (各自跑)"
         )
-        print(f"任務啟動: {len(self.tasks)} 架無人機, "
-              f"共 {total_wps} 個航點, "
-              f"到達半徑={self.arrival_radius}m, "
-              f"tick 週期={self._interval_ms}ms, "
-              f"barrier timeout={self.barrier_timeout_sec}s, "
-              f"{rv_info}")
+        _log(
+            "INFO",
+            f"任務已啟動: {len(self.tasks)} 架無人機, "
+            f"共 {total_wps} 個航點, "
+            f"到達半徑={self.arrival_radius}m, "
+            f"tick 週期={self._interval_ms}ms, "
+            f"barrier timeout={self.barrier_timeout_sec}s, "
+            f"{rv_info}",
+        )
 
     def pause(self):
         if self.state == MissionState.RUNNING:
             self._timer.stop()
             self.state = MissionState.PAUSED
-            print("任務暫停")
+            _log("INFO", "任務已暫停")
 
     def resume(self):
         if self.state == MissionState.PAUSED:
             self._timer.start(self._interval_ms)
             self.state = MissionState.RUNNING
-            print("任務恢復")
+            _log("INFO", "任務已恢復")
 
     def stop(self):
         self._timer.stop()
         self.tasks.clear()
         self.rendezvous_indices = set()
         self.state = MissionState.IDLE
-        print("任務停止")
+        _log("INFO", "任務已停止")
 
     # ------------------------------------------------------------------ 控制迴圈
 
@@ -197,7 +204,7 @@ class MissionExecutor(QObject):
                 # rendezvous 點 → 不推進，進入 barrier 等待
                 task.status = TaskStatus.WAITING_AT_BARRIER
                 task.waiting_since = now
-                print(f"  {task.drone_id} → 抵達 barrier WP {task.wp_index}，等待同伴")
+                _log("INFO", f"{task.drone_id} 抵達 barrier WP {task.wp_index}，等待同伴")
                 self.task_status_changed.emit(
                     task.drone_id, task.status.value,
                     f"waiting at WP {task.wp_index}"
@@ -236,7 +243,7 @@ class MissionExecutor(QObject):
             self._timer.stop()
             self.state = MissionState.IDLE
             self.mission_completed.emit()
-            print("===== 任務全部完成 =====")
+            _log("INFO", "任務全部完成")
 
     def _advance_waypoint(self, task, arrived_distance):
         """把 task 推進一個航點，重置發送旗標。不處理 barrier 邏輯。"""
@@ -248,14 +255,20 @@ class MissionExecutor(QObject):
             self.drone_waypoint_reached.emit(
                 task.drone_id, task.wp_index, task.total_waypoints
             )
-            print(f"  {task.drone_id} → DONE "
-                  f"({task.total_waypoints}/{task.total_waypoints})")
+            _log(
+                "INFO",
+                f"{task.drone_id} 已完成所有航點 "
+                f"({task.total_waypoints}/{task.total_waypoints})",
+            )
             return
         self.drone_waypoint_reached.emit(
             task.drone_id, task.wp_index, task.total_waypoints
         )
-        print(f"  {task.drone_id} → WP {task.wp_index}/{task.total_waypoints} "
-              f"(到達距離: {arrived_distance:.1f}m)")
+        _log(
+            "INFO",
+            f"{task.drone_id} 前往 WP {task.wp_index}/{task.total_waypoints} "
+            f"(到達距離: {arrived_distance:.1f}m)",
+        )
 
     def _check_barriers(self, now):
         """檢查每個有人在等的 barrier 能不能釋放。"""
@@ -289,14 +302,13 @@ class MissionExecutor(QObject):
                 oldest_wait = min(t.waiting_since for t in waiting_tasks)
                 if now - oldest_wait >= self.barrier_timeout_sec:
                     force_reason = f"timeout {self.barrier_timeout_sec:.0f}s"
-                    print(f"⚠️  barrier WP {barrier_idx} {force_reason}，強制放行")
+                    _log("WARN", f"barrier WP {barrier_idx} {force_reason}，強制放行")
                 else:
                     continue  # 還沒到齊、也還沒 timeout → 繼續等
 
             # 釋放：把所有在此 barrier 等待的機一起推進
             tag = "全員到齊" if force_reason is None else force_reason
-            print(f"✅ barrier WP {barrier_idx} 釋放 ({tag})，"
-                  f"推進 {len(waiting_tasks)} 架")
+            _log("INFO", f"barrier WP {barrier_idx} 已釋放 ({tag})，推進 {len(waiting_tasks)} 架")
             for task in waiting_tasks:
                 task.status = TaskStatus.NORMAL
                 msg = f"barrier WP {barrier_idx} released ({tag})"
@@ -324,7 +336,7 @@ class MissionExecutor(QObject):
             return
 
         task.fail_count += 1
-        print(f"⚠️  {drone_id} 發送失敗 {task.fail_count}/{self.MAX_RETRY}: {message}")
+        _log("WARN", f"{drone_id} 發送失敗 {task.fail_count}/{self.MAX_RETRY}: {message}")
 
         if task.fail_count < self.MAX_RETRY:
             task.status = TaskStatus.RETRYING
@@ -339,13 +351,13 @@ class MissionExecutor(QObject):
                 drone_id, task.status.value,
                 f"fallback LOITER after {self.MAX_RETRY} fails: {message}"
             )
-            print(f"❌ {drone_id} 連續失敗 {self.MAX_RETRY} 次 → 切換 LOITER")
+            _log("ERROR", f"{drone_id} 連續失敗 {self.MAX_RETRY} 次，切換至 LOITER")
             self._fallback_to_loiter(drone_id)
 
     def _fallback_to_loiter(self, drone_id):
         """用 monitor.set_mode 切 LOITER。set_mode 是 coroutine，透過 event loop 派送。"""
         if self.monitor is None:
-            print(f"⚠️  無 monitor，無法將 {drone_id} 切到 LOITER")
+            _log("WARN", f"無 monitor，無法將 {drone_id} 切換至 LOITER")
             return
         try:
             loop = asyncio.get_event_loop()