fix: 修正實飛 Circle 高度爆衝與 Leader-Follower 卡點

1. mavlinkROS2Nodes: position_gnss topic 改發 relative_altitude 而非 AMSL，
   讓 drone_gps['alt'] 在實飛與 SITL 都代表「相對 home 高度」
2. mission_planner: Circle stage1.z 改用 final_z（不再用 current_z 做中點插值），
   避免實飛時 current_z 是 AMSL 而把過渡高度衝到海拔值的一半
3. mission_executor: 到達判定改為 hover-stable（radius * 1.5 hysteresis +
   穩定計時），預設 arrival_radius 2→4m，解決實飛 GPS 抖動永遠進不了
   2m radius 的卡死問題
4. mission_executor: 新增 progress log，每 3 秒印一行距離與穩定度，
   方便實飛 debug 卡點問題
5. mission_group + gui: 暴露 arrival_radius / hover_stable_sec 給 GUI 任務參數面板，
   每次 start 重讀以支援中途調整

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

README.md

@@ -2,9 +2,15 @@
 
 ===
 ## 功能簡介
-1. mavlink 多對多支援平台
-2. 不允許進到 ros 系統有相同 sysid
-3. 假設一台載具上所有 component 共用同一 socket
+1. mavlink 多對多串流與交換
+2. 支援 xbee 與 telemetry
+3. 支援 udp 管理
+4. ROS2 介面監控載具
+
+===
+使用限制
+1. 不允許進到 ros 系統有相同 sysid
+2. 假設一台載具上所有 component 共用同一 socket
 
 ===
 ## 運行環境

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
-            self.socket_id_counter += 1
-            return current_id
+            socket_id = 0
+            while socket_id in self.active_socket_ids:
+                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）
-        同一個原始 socket_id 會得到同一個分配的 ID
+        """ROS2 socket_id 映射。
+
+        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
-                self.socket_id_mapping[original_socket_id] = self.socket_id_counter
-                self.socket_id_counter += 1
+                try:
+                    preferred_socket_id = int(original_socket_id)
+                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] = 0
+                self.sys_to_socket_id[sys_id] = self.get_next_socket_id()
             
             subs_attr = f'drone_{sys_id}_subs'
             if not hasattr(self, subs_attr):
@@ -1065,6 +1190,39 @@ class DroneMonitor(Node):
             traceback.print_exc()
             return False
 
+    async def reboot_drone(self, drone_id):
+        """使用 CommandLongClient 執行飛控重啟。"""
+        try:
+            parts = drone_id.split('_')
+            if len(parts) < 2:
+                _log("ERROR", f"[REBOOT] 無效的 drone_id 格式: {drone_id}")
+                return False
+            sysid = int(parts[-1])
+
+            _log("INFO", f"[REBOOT] {drone_id} -> 飛控重啟")
+
+            client = self.get_or_create_client(drone_id)
+            if not client:
+                _log("ERROR", "[REBOOT] CommandLongClient 無法初始化")
+                return False
+
+            result = await client.reboot_autopilot_async(
+                target_sysid=sysid,
+                target_compid=0,
+                timeout_sec=5.0,
+            )
+
+            if result and result.success:
+                _log("INFO", f"[REBOOT] {drone_id} 重啟命令已送出")
+                return True
+
+            _log("ERROR", f"[REBOOT] 重啟失敗 (message={result.message if result else 'None'})")
+            return False
+        except Exception as e:
+            _log("ERROR", f"[REBOOT] 例外錯誤: {e}")
+            traceback.print_exc()
+            return False
+
     def send_setpoint(self, drone_id, x, y, z):
         """Send setpoint position command"""
         if drone_id not in self.setpoint_pubs:
@@ -1161,8 +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)
@@ -1328,7 +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

@@ -4,7 +4,8 @@ from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout
                             QWidget, QLabel, QSplitter, QScrollArea,
                             QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
                             QHeaderView, QPushButton, QCheckBox, QLineEdit,
-                            QComboBox, QDialog, QPlainTextEdit, QSlider)
+                            QComboBox, QDialog, QPlainTextEdit, QSlider,
+                            QMessageBox)
 from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QEvent, QPropertyAnimation, pyqtProperty, QEasingCurve
 from PyQt6.QtGui import QColor, QFont, QPainter, QPen
 import sys
@@ -147,7 +148,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.4.1'
+    VERSION = '2.6.0'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -219,23 +220,24 @@ class ControlStationUI(QMainWindow):
         self.socket_types = {}
         
         self.socket_colors = {
-            '0': '#00BFFF',  # 天藍色 (DeepSkyBlue)
-            '1': '#FFD700',  # 金色 (Gold)
-            '2': '#FF6969',  # 淺紅色 (Light Red)
-            '3': '#FF69B4',  # 熱粉紅 (HotPink)
-            '4': '#00FA9A',  # 中春綠 (MediumSpringGreen)
-            '5': '#9370DB',  # 中紫色 (MediumPurple) - 串口
-            '6': '#FFA500',  # 橙色 (Orange)
-            '7': '#20B2AA',  # 淺海綠 (LightSeaGreen)
-            '8': '#7CFC00',  # 草綠色 (LawnGreen)
-            '9': '#FF8C00',  # 深橙色 (DarkOrange)
-            'default': '#AAAAAA'  # 灰色
+            '0': '#00ACC1',  # Cyan
+            '1': "#FDD835",  # Yellow
+            '2': '#F8BBD0',  # Pink
+            '3': '#90EE90',  # Green
+            '4': '#FB8C00',  # Orange
+            '5': '#8E24AA',  # Purple
+            '6': '#1E88E5',  # Blue
+            '7': '#E53935',  # Red
+            '8': '#C0CA33',  # Lime
+            '9': '#6D4C41',  # Brown
+            '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()
@@ -378,7 +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)
 
@@ -1102,6 +1104,7 @@ class ControlStationUI(QMainWindow):
         panel.mode_change_requested.connect(self._handle_group_mode_change)
         panel.arm_requested.connect(self._handle_group_arm)
         panel.takeoff_requested.connect(self._handle_group_takeoff)
+        panel.reboot_requested.connect(self._handle_group_reboot)
         panel.box_select_requested.connect(self._handle_box_select)
         panel.select_all_requested.connect(self._handle_select_all_for_group)
         panel.clear_group_requested.connect(self._handle_clear_group)
@@ -1181,6 +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 = """
@@ -1270,6 +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:
@@ -1295,12 +1310,18 @@ class ControlStationUI(QMainWindow):
                 self.drone_map.set_mission_mode(mission_type)
 
     def _create_executor_for_group(self, group):
-        """為群組建立 MissionExecutor"""
+        """為群組建立 MissionExecutor，讀取 panel 上的執行參數"""
+        exec_params = {}
+        panel = self.group_panels.get(group.group_id)
+        if panel and hasattr(panel, 'get_execution_params'):
+            exec_params = panel.get_execution_params()
+
         executor = MissionExecutor(
             sender=self.command_sender,
             drone_gps=self.monitor.drone_gps,
             monitor=self.monitor,
-            arrival_radius=2.0,
+            arrival_radius=exec_params.get('arrival_radius', 4.0),
+            hover_stable_sec=exec_params.get('hover_stable_sec', 2.0),
             tick_rate_hz=2.0,
         )
         executor.drone_waypoint_reached.connect(self.on_drone_waypoint_reached)
@@ -1319,6 +1340,15 @@ class ControlStationUI(QMainWindow):
             return
         if group.executor is None:
             self._create_executor_for_group(group)
+        else:
+            # 已存在的 executor 也要重讀執行參數，讓使用者調整能生效
+            panel = self.group_panels.get(group_id)
+            if panel and hasattr(panel, 'get_execution_params'):
+                ep = panel.get_execution_params()
+                group.executor.arrival_radius = ep.get(
+                    'arrival_radius', group.executor.arrival_radius)
+                group.executor.hover_stable_sec = ep.get(
+                    'hover_stable_sec', group.executor.hover_stable_sec)
         group.executor.start(group.planned_waypoints)
         panel = self.group_panels.get(group_id)
         if panel:
@@ -1426,6 +1456,39 @@ class ControlStationUI(QMainWindow):
             future = self.monitor.takeoff_drone(drone_id, altitude)
             loop.create_task(self.handle_service_response(future, f"起飛 {drone_id} ({altitude}m)"))
 
+    def _handle_group_reboot(self, group_id):
+        """重啟群組內所有選中的飛控。"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            _log("WARN", f"找不到群組: {group_id}")
+            return
+
+        selected = list(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage(f"群組 {group_id} 中沒有無人機", 3000)
+            return
+
+        reply = QMessageBox.warning(
+            self,
+            "確認重啟飛控",
+            f"即將透過 command long 重啟 Group {group_id} 的 {len(selected)} 台飛控：\n"
+            f"{', '.join(selected)}\n\n"
+            "這會中斷飛控連線，請確認無人機已在安全狀態。",
+            QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No,
+            QMessageBox.StandardButton.No,
+        )
+        if reply != QMessageBox.StandardButton.Yes:
+            _log("WARN", f"Group {group_id} 飛控重啟已取消")
+            return
+
+        _log("INFO", f"Group {group_id} 批次重啟飛控: {', '.join(selected)}")
+        self.statusBar().showMessage(f"Group {group_id}: 正在送出重啟命令", 3000)
+
+        loop = asyncio.get_event_loop()
+        for drone_id in selected:
+            future = self.monitor.reboot_drone(drone_id)
+            loop.create_task(self.handle_service_response(future, f"重啟飛控 {drone_id}"))
+
     def _handle_box_select(self, group_id):
         """觸發地圖框選 → 框選完成後直接分配到該群組"""
         self._pending_box_assign = group_id
@@ -1457,6 +1520,8 @@ 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:
@@ -1493,6 +1558,8 @@ 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:
@@ -1517,6 +1584,8 @@ 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:
@@ -1563,6 +1632,7 @@ 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)
         
@@ -2279,17 +2349,30 @@ class ControlStationUI(QMainWindow):
                         self.queue_overview_update(drone_id, 'armed', arm_text)
                     
                     elif msg_type == 'battery':
-                        voltage = data.get('voltage', 16)
-                        cells = round(voltage / 3.95)
-                        percentage = (voltage / cells - 3.7) / 0.5 * 100 if cells > 0 else 0
+                        voltage = data.get('voltage')
+                        cells = round(voltage / 3.95) if voltage is not None else None
+                        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">
-                            <polygon points="15,0 30,30  15,25  0,30" fill="${color || '#FF0000'}" />
+                        <svg width="34" height="34" viewBox="0 0 34 34">
+                            <polygon
+                                points="17,3 31,31 17,26 3,31"
+                                fill="${color || '#FF0000'}"
+                                stroke="${outlineColor}"
+                                stroke-width="3"
+                                stroke-linejoin="round"
+                            />
                         </svg>
                     </div>
                     `,
-                    iconSize: [30, 30],
-                    iconAnchor: [15, 15]
+                    iconSize: [34, 34],
+                    iconAnchor: [17, 17]
                 });
                 }
 
                 function getColorBySocketId(id) {
-                    if (id.startsWith("s0_")) return "#00BFFF";
-                    if (id.startsWith("s1_")) return "#FFD700";
-                    if (id.startsWith("s2_")) return "#FF6969";
-                    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";
+                    const match = /^s([^_]+)_/.exec(id || '');
+                    const socketId = match ? match[1] : 'default';
+                    return socketColors[socketId] || socketColors.default || "#E0E0E0";
                 }
 
                 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);
@@ -369,6 +375,16 @@ class DroneMap:
                 var drawStartPoint = null;
                 var mapDragStarted = false;
                 var clickStartPos = null;
+                var lastManualMapMoveAt = 0;
+                var autoCenteringMap = false;
+
+                function markManualMapMove() {
+                    if (!autoCenteringMap) {
+                        lastManualMapMoveAt = Date.now();
+                    }
+                }
+
+                map.on('dragstart drag dragend zoomstart zoomend', markManualMapMove);
                 
                 // 路徑標記變量 (跟隨模式用)
                 var routePoints = [];
@@ -693,7 +709,7 @@ class DroneMap:
                             color: color,
                             weight: 3,
                             opacity: 0.7,
-                            smoothFactor: 1
+                            smoothFactor: 0.1
                         }).addTo(trajectoryGroup);
                     }
                 }
@@ -715,13 +731,20 @@ class DroneMap:
                     if (!markers[id]) return;
                     focusedId = id;
                     var latlng = markers[id].getLatLng();
+                    autoCenteringMap = true;
                     map.flyTo(latlng, map.getZoom());
+                    setTimeout(() => { autoCenteringMap = false; }, 500);
                 }
 
                 setInterval(() => {
                     if (focusedId && markers[focusedId]) {
+                        if (Date.now() - lastManualMapMoveAt < 1000) {
+                            return;
+                        }
                         var latlng = markers[focusedId].getLatLng();
+                        autoCenteringMap = true;
                         map.panTo(latlng);
+                        setTimeout(() => { autoCenteringMap = false; }, 300);
                     }
                 }, 1000);
 
@@ -729,7 +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);
                         }
                         
@@ -743,7 +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'
                         })
@@ -781,6 +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 => {
@@ -887,6 +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")
     
@@ -901,7 +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)
@@ -914,6 +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_executor.py

@@ -43,6 +43,7 @@ class DroneTask:
     __slots__ = (
         'drone_id', 'sysid', 'waypoints', 'wp_index', 'done',
         'sent_current_wp', 'fail_count', 'status', 'waiting_since',
+        'entered_radius_at', 'last_log_at',
     )
 
     def __init__(self, drone_id, sysid, waypoints):
@@ -55,6 +56,8 @@ class DroneTask:
         self.fail_count = 0
         self.status = TaskStatus.NORMAL
         self.waiting_since = 0.0  # monotonic time 進入 WAITING_AT_BARRIER 的瞬間
+        self.entered_radius_at = 0.0  # 進入 arrival_radius 的時間，0 = 尚未進入
+        self.last_log_at = 0.0  # 上次印 distance log 的時間
 
     @property
     def current_target(self):
@@ -89,14 +92,21 @@ class MissionExecutor(QObject):
     mission_completed = pyqtSignal()
 
     def __init__(self, sender, drone_gps, monitor=None,
-                 arrival_radius=2.0, tick_rate_hz=2.0,
-                 barrier_timeout_sec=20.0):
+                 arrival_radius=4.0, tick_rate_hz=2.0,
+                 barrier_timeout_sec=20.0,
+                 hover_stable_sec=2.0,
+                 progress_log_interval_sec=3.0):
         super().__init__()
         self.sender = sender
         self.drone_gps = drone_gps
         self.monitor = monitor  # 用於失敗 fallback 到 LOITER
         self.arrival_radius = arrival_radius
         self.barrier_timeout_sec = barrier_timeout_sec
+        # hover-stable 判定：進入 radius 後須穩定停留 hover_stable_sec 秒才算到達，
+        # 容忍 GPS 抖動跨越邊界（用 radius * 1.5 作 hysteresis）
+        self.hover_stable_sec = hover_stable_sec
+        self.hysteresis_factor = 1.5
+        self.progress_log_interval_sec = progress_log_interval_sec
         self.state = MissionState.IDLE
         self.tasks = {}
         self.rendezvous_indices = set()
@@ -140,7 +150,7 @@ class MissionExecutor(QObject):
             "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"到達半徑={self.arrival_radius}m (hover-stable {self.hover_stable_sec}s), "
             f"tick 週期={self._interval_ms}ms, "
             f"barrier timeout={self.barrier_timeout_sec}s, "
             f"{rv_info}",
@@ -177,7 +187,7 @@ class MissionExecutor(QObject):
         """
         now = time.monotonic()
 
-        # ---- Phase 1: 到達判定 ----
+        # ---- Phase 1: 到達判定（hover-stable） ----
         for task in self.tasks.values():
             if task.done or task.status == TaskStatus.FALLBACK_LOITER:
                 continue
@@ -195,10 +205,32 @@ class MissionExecutor(QObject):
 
             tgt_lat, tgt_lon, _ = target
             distance = _haversine(gps['lat'], gps['lon'], tgt_lat, tgt_lon)
-            if distance >= self.arrival_radius:
+
+            # hover-stable 判定：
+            #   - 首次進入 radius → 記錄時間
+            #   - 在 radius * hysteresis 內持續 → 保留計時
+            #   - 離開 hysteresis → 重置
+            #   - 在 radius 內穩定 hover_stable_sec 秒 → 視為到達
+            hysteresis_radius = self.arrival_radius * self.hysteresis_factor
+            if distance < self.arrival_radius:
+                if task.entered_radius_at == 0.0:
+                    task.entered_radius_at = now
+                stable_for = now - task.entered_radius_at
+                if stable_for < self.hover_stable_sec:
+                    self._maybe_log_progress(task, now, distance, stable_for)
+                    continue
+            elif distance < hysteresis_radius and task.entered_radius_at > 0.0:
+                # 還在 hysteresis 內，計時不重置（容忍 GPS 抖動跨越邊界）
+                self._maybe_log_progress(task, now, distance, now - task.entered_radius_at)
+                continue
+            else:
+                # 離開 hysteresis：重置計時，繼續等待到達
+                task.entered_radius_at = 0.0
+                self._maybe_log_progress(task, now, distance, 0.0)
                 continue
 
             # 到達當前 wp_index
+            task.entered_radius_at = 0.0  # 重置給下個 wp 用
             if (task.wp_index in self.rendezvous_indices
                     and task.wp_index < task.total_waypoints - 1):
                 # rendezvous 點 → 不推進，進入 barrier 等待
@@ -245,11 +277,28 @@ class MissionExecutor(QObject):
             self.mission_completed.emit()
             _log("INFO", "任務全部完成")
 
+    def _maybe_log_progress(self, task, now, distance, stable_for):
+        """週期性印出 drone 與當前 wp 的距離，方便實飛 debug 卡點問題。"""
+        if now - task.last_log_at < self.progress_log_interval_sec:
+            return
+        task.last_log_at = now
+        if stable_for > 0:
+            stable_info = f", 在內側 {stable_for:.1f}s/{self.hover_stable_sec:.1f}s"
+        else:
+            stable_info = ""
+        _log(
+            "INFO",
+            f"{task.drone_id} → WP {task.wp_index}: "
+            f"距離 {distance:.1f}m (半徑 {self.arrival_radius:.1f}m{stable_info})",
+        )
+
     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。"""
         task.wp_index += 1
         task.sent_current_wp = False
         task.fail_count = 0
+        task.entered_radius_at = 0.0
+        task.last_log_at = 0.0
         if task.wp_index >= task.total_waypoints:
             task.done = True
             self.drone_waypoint_reached.emit(

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
-    '#FF8C42',  # 橘
-    '#56C87A',  # 綠
-    '#E85D75',  # 紅
-    '#B07CED',  # 紫
-    '#F5C542',  # 黃
-    '#42C9C9',  # 青
-    '#FF6B9D',  # 粉
+    "#E53935",  # Deep Red
+    "#FB8C00",  # Deep Orange
+    "#FDD835",  # Deep Yellow
+    "#43A047",  # Deep Green
+    "#1E88E5",  # Deep Blue
+    "#8E24AA",  # Deep Purple
+    "#D81B60",  # Deep Pink
 ]
 
 DEFAULT_MISSION_PARAM_VALUES = {
@@ -33,9 +32,16 @@ DEFAULT_MISSION_PARAM_VALUES = {
     'lateral_offset': '3.0',
     'longitudinal_spacing': '5.0',
     'line_spacing': '5.0',
+    # 執行參數（所有任務類型共用）
+    'arrival_radius': '4.0',     # 到達半徑 (m)，實飛建議 3~5，SITL 可調小到 2
+    'hover_stable_sec': '2.0',   # 在 radius 內穩定停留多久才視為到達 (s)
 }
 
 
+# 執行參數的 key 集合（所有 mission type 共用，不隨類型切換）
+EXECUTION_PARAM_KEYS = ('arrival_radius', 'hover_stable_sec')
+
+
 class MissionGroup:
     """單一任務群組的資料"""
 
@@ -156,6 +162,7 @@ class GroupPanel(QWidget):
     mode_change_requested = pyqtSignal(str, str)       # group_id, mode
     arm_requested = pyqtSignal(str)                    # group_id
     takeoff_requested = pyqtSignal(str, float)         # group_id, altitude
+    reboot_requested = pyqtSignal(str)                 # group_id
     box_select_requested = pyqtSignal(str)             # group_id — 框選直接分配
     select_all_requested = pyqtSignal(str)             # group_id — 全選直接分配
     clear_group_requested = pyqtSignal(str)            # group_id — 清除分組
@@ -370,6 +377,23 @@ class GroupPanel(QWidget):
 
         right.addStretch()
 
+        # ============================
+        # 飛控操作
+        # ============================
+        reboot_col = QVBoxLayout()
+        reboot_col.setSpacing(3)
+
+        reboot_title = QLabel("飛控操作")
+        reboot_title.setStyleSheet(TITLE)
+        reboot_col.addWidget(reboot_title)
+
+        reboot_btn = QPushButton("重啟飛控")
+        reboot_btn.setStyleSheet(BTN.format(bg='#8A3A3A', fg='#FFF', hover='#A84646'))
+        reboot_btn.clicked.connect(
+            lambda: self.reboot_requested.emit(self.group.group_id))
+        reboot_col.addWidget(reboot_btn)
+        reboot_col.addStretch()
+
         # ============================
         # 第四欄：任務參數
         # ============================
@@ -407,6 +431,12 @@ class GroupPanel(QWidget):
             ],
         }
 
+        # 所有 mission type 共用的執行參數（不隨類型切換隱藏）
+        self._exec_param_defs = [
+            ('arrival_radius', '到達半徑 (m)', self.default_params['arrival_radius']),
+            ('hover_stable_sec', '停留判定 (s)', self.default_params['hover_stable_sec']),
+        ]
+
         # 建立所有參數列的 widget（先全部建好，切換時顯示/隱藏）
         self._param_widgets = {}  # key → (label_widget, input_widget)
         self._param_rows = []     # 所有 row layout 對應的 container widget
@@ -430,6 +460,23 @@ class GroupPanel(QWidget):
                 self._param_widgets[key] = (row_w, inp)
                 self._param_rows.append(row_w)
 
+        # 執行參數列（所有 mission type 共用，永遠顯示）
+        for key, label_text, default in self._exec_param_defs:
+            row_w = QWidget()
+            row_l = QHBoxLayout(row_w)
+            row_l.setContentsMargins(0, 0, 0, 0)
+            row_l.setSpacing(3)
+            lbl = QLabel(label_text)
+            lbl.setStyleSheet(LBL)
+            inp = QLineEdit(default)
+            inp.setStyleSheet(INPUT)
+            inp.setFixedWidth(50)
+            row_l.addWidget(lbl, 1)
+            row_l.addWidget(inp)
+            param_col.addWidget(row_w)
+            self._param_widgets[key] = (row_w, inp)
+            self._param_rows.append(row_w)
+
         # LEADER_FOLLOWER 專用：領隊下拉選單
         self._leader_row = QWidget()
         leader_layout = QHBoxLayout(self._leader_row)
@@ -453,7 +500,7 @@ class GroupPanel(QWidget):
         # 當任務類型切換時更新參數顯示
         self.type_combo.currentTextChanged.connect(self._update_param_visibility)
 
-        # ── 組裝四欄：控制指令 > 任務規劃 > 任務參數 > 選取與分組 ──
+        # ── 組裝欄位：控制指令 > 任務規劃 > 任務參數 > 選取與分組 > 飛控操作 ──
         # 使用伸展因子 0 讓列根據內容自動調整寬度，而不是均等分配
         cols.addLayout(left, 0)
         cols.addWidget(self._make_sep())
@@ -462,7 +509,9 @@ class GroupPanel(QWidget):
         cols.addLayout(param_col, 0)
         cols.addWidget(self._make_sep())
         cols.addLayout(right, 0)
-        cols.addStretch()  # 填充剩餘空間，使四列置左
+        cols.addWidget(self._make_sep())
+        cols.addLayout(reboot_col, 0)
+        cols.addStretch()  # 填充剩餘空間，使欄位置左
 
         layout.addLayout(cols)
 
@@ -527,15 +576,17 @@ class GroupPanel(QWidget):
         self.delete_group_btn.setEnabled(enabled)
 
     def _update_param_visibility(self, _=None):
-        """根據當前任務類型，顯示/隱藏對應的參數列"""
+        """根據當前任務類型，顯示/隱藏對應的參數列。執行參數永遠顯示。"""
         mission_type = self.type_combo.currentText()
-        visible_keys = {d[0] for d in self._param_defs.get(mission_type, [])}
+        mission_keys = {d[0] for d in self._param_defs.get(mission_type, [])}
+        exec_keys = {d[0] for d in self._exec_param_defs}
+        visible_keys = mission_keys | exec_keys
         for key, (row_w, _inp) in self._param_widgets.items():
             row_w.setVisible(key in visible_keys)
         self._leader_row.setVisible(mission_type == 'LEADER_FOLLOWER')
 
     def get_mission_params(self):
-        """讀取當前顯示的參數值，回傳 dict"""
+        """讀取當前任務類型的規劃參數，回傳 dict（不含執行參數）"""
         mission_type = self.type_combo.currentText()
         params = {}
         for key, _label, default in self._param_defs.get(mission_type, []):
@@ -547,6 +598,18 @@ class GroupPanel(QWidget):
                     params[key] = float(default)
         return params
 
+    def get_execution_params(self):
+        """讀取執行參數（arrival_radius, hover_stable_sec 等），回傳 dict"""
+        params = {}
+        for key, _label, default in self._exec_param_defs:
+            if key in self._param_widgets:
+                _row_w, inp = self._param_widgets[key]
+                try:
+                    params[key] = float(inp.text())
+                except ValueError:
+                    params[key] = float(default)
+        return params
+
     def set_param_value(self, key, value):
         """更新指定參數欄位的文字值。"""
         if key not in self._param_widgets:

src/GUI/mission_planner.py

@@ -193,11 +193,13 @@ class FormationPlanner:
             final_y = center_y + radius * math.sin(angle_rad)
             final_z = altitude
 
-            current_x, current_y, current_z = drone_positions[i]
+            current_x, current_y, _current_z = drone_positions[i]
+            # stage1 高度直接用 final_z：先爬升到目標高度再水平集合，
+            # 避免用 current_z 做中點插值（current_z 在實飛時可能是 AMSL 而非相對 home，會導致衝高）
             stage1_positions.append((
                 current_x + (final_x - current_x) * 0.5,
                 current_y + (final_y - current_y) * 0.5,
-                current_z + (final_z - current_z) * 0.5
+                final_z,
             ))
             stage2_positions.append((final_x, final_y, final_z))
 

src/fc_interfaces/CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(builtin_interfaces REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AttitudeRaw.msg"
   "msg/GnssRaw.msg"
+  "msg/ServiceAckResult.msg"
   "srv/MavPing.srv"
   "srv/MavCommandLong.srv"
   "srv/MavPositionTargetGlobalInt.srv"

src/fc_interfaces/msg/ServiceAckResult.msg

@@ -0,0 +1,43 @@
+# ServiceAckResult.msg
+# ACK code definition for command-like service responses.
+# 這邊只是定義常數的檔案
+#
+# Design:
+# - 0~10   : MAVLink MAV_RESULT compatible range (autopilot/firmware ACK) 大多不會用到 直接吃飛控回傳值
+# - 50~89  : System-level ACK codes (local bridge/orchestrator status)
+# - 90~99  : Unknown/reserved fallback
+#
+# Rule:
+# - If FC ACK is received, return MAV_RESULT_* code.
+# - If FC ACK is not reachable / local pipeline failed, return SYS_* code.
+
+# ---- MAVLink MAV_RESULT (standard) ---- 詳細請自行去網路找 mavlink MAV_RESULT 
+uint8 MAV_RESULT_ACCEPTED=0             # 封包正常接受並執行
+uint8 MAV_RESULT_TEMPORARILY_REJECTED=1 # 封包正常接受 但是飛控很忙 不執行 需要等待後重試
+uint8 MAV_RESULT_DENIED=2               # 封包不正常 參數可能給錯了
+uint8 MAV_RESULT_UNSUPPORTED=3          # 封包不正常 根本認不出是啥
+uint8 MAV_RESULT_FAILED=4               # 封包正常接受 但是載具的狀態異常 不執行
+uint8 MAV_RESULT_IN_PROGRESS=5
+uint8 MAV_RESULT_CANCELLED=6
+uint8 MAV_RESULT_COMMAND_LONG_ONLY=7
+uint8 MAV_RESULT_COMMAND_INT_ONLY=8
+uint8 MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME=9
+uint8 MAV_RESULT_NOT_IN_CONTROL=10
+
+# ---- System-level result codes (custom) ----
+# 50 : 有接到預期的封包 但是訊息建議再確認
+# 51 : some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair 
+# 
+# 52 : mavlink communication timeout 可能是通訊丟包了
+# 53 : there already has a command being execution for this sysid, try later
+# 54 : this sysid is not found
+
+uint8 FCSYS_GET_EXPECTED_FEEDBACK=50
+uint8 FCSYS_NO_EXPECTED_FEEDBACK=51
+uint8 FCSYS_MAVLINK_TIMEOUT=52
+uint8 FCSYS_BUSY=53
+uint8 FCSYS_DEVICE_NOT_FOUND=54
+
+
+# ---- Fallback ----
+uint8 FCSYS_UNKNOWN=90

src/fc_network_adapter/fc_network_adapter/ackEnum.py

@@ -1,31 +0,0 @@
-
-'''
-單獨出來定義回傳碼的意義
-若跟飛控韌體有正常的通訊 (無論是否被拒絕) 則以 mavlink 定義的結果回傳
-若跟飛控韌體無法通訊 才使用這邊的錯誤代碼
-所以要避開重疊的號碼
-
-這邊備註 Mavlink 的 MAV_RESULT 參數意義
-0 : 封包正常接受並執行
-1 : 封包正常接受 但是正在忙不執行 需要等待後重試
-4 : 封包正常接受 但是載具的狀態異常 不執行
-
-2 : 封包不正常 參數可能給錯了
-3 : 封包不正常 根本認不出是啥
-
-'''
-
-
-from enum import IntEnum
-
-class serviceAckResult(IntEnum):
-    MAVLINK_TIMEOUT = 51 # mavlink communication timeout
-
-    MAVLINK_SEND_BUT_NO_EXP_STEAM = 30 # some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair 
-
-    MAVLINK_BUSY = 53 # there already has a command being execution for this sysid, try later
-    MAVLINK_DEV_NOTFOUND = 54 # this sysid not fount
-
-    UNKNOWN = 90 # i did not capture this error, try read the logs
-
-

src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md

@@ -37,6 +37,7 @@
 - *self.bridge* 存放 mavlink_bridge 實例 
 - *self.plumber* 存放 serial_manager 實例
 - *self.vehicle_registry* 存放 vehicle_registry 實例
+- *self.fc_ros_manager* 存放 fc_ros_manager 實例 
 
 - *self.panel_thread* 面板的執行緒
 - *self.panelState* 暫存面板與調配者互動的資料流動區
@@ -240,8 +241,14 @@
 8. 基礎載具流量觀測
 9. 載具狀態收集與彙整
 10. a. ros2 topic 應用開發介面 (基礎框架)
+        - GNSS (alt lan fix_type epv eph)
+        - attitude position_ned (pitch yaw row local_position)
+        - battery
     b. ros2 service 應用開發介面 (基礎框架)
-11. RTCM 轉發 - 訂閱 RTCM topic 轉為 MAVLink GPS_RTCM_DATA 廣播給所有載具
+    c. RTCM 轉發 - 訂閱 RTCM topic 轉為 MAVLink GPS_RTCM_DATA 廣播給所有載具
+11. ros2 topic service rtcm Node 重啟功能
+12. 可以定義 ROS_DOMAIN_ID
+
 
 ### 待開發功能
 5-1. 建立 serial 連線 並可以對接收器下達AT指令

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
 from .utils.acquirePort import find_available_port
 
 logger = setup_logger(os.path.basename(__file__))
-PROJECT_VER = "v0.70"
+PROJECT_VER = "v1.10"
 
 class PanelState:
     def __init__(self):
@@ -177,11 +177,18 @@ class ControlPanel:
                     MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
                     MenuNode("ListAll", "顯示並管理已連線的 Serial", action = "LIST_SERIAL_LINKS"),
                 ]),
-                MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "INSPECT_VEHICLES"),
+                MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "SHOW_VEHICLES"),
                 MenuNode("Engineer Mode", "工程模式", children=[
-                    MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"),
+                    MenuNode("Stop Manager", "停止 Mavlink_Object 管理", "STOP_MANAGER"),
                     MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"),
-                    MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"),
+                    MenuNode("Stop Serial M.", "停止 Serial 端口", "STOP_SERIAL_MANAGER"),
+                    MenuNode("Edit ROS Nodes", "管理 ROS NODE", children=[
+                        MenuNode("Reboot Topics", "重建 ROS Topics", "REBOOT_ROS_TOPICS"),
+                        MenuNode("Reboot Services", "重建 ROS Services", "REBOOT_ROS_SERVICES"),
+                        MenuNode("Reboot RTCM", "重建 RTK RTCM", "REBOOT_ROS_RTCM"),
+                        MenuNode("Stop ROS Manager", "停止 ROS 功能", "STOP_ROS_MANAGER"),
+                        MenuNode("Start ROS Manager", "啟動 ROS 功能", "START_ROS_MANAGER"),
+                    ]),
                 ]),
                 MenuNode("Shutdown", "關閉整個系統", children=[
                     MenuNode("Return", "繼續運行", "BACK"),
@@ -384,6 +391,7 @@ class ControlPanel:
                         state.intoTERMINATION()
                         pre_panel_shutdown()
 
+                    # related with -> UDP mavlink Object 
                     elif selected.action == "TEXT_UDP_IP":
                         result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
                         if result is not None:
@@ -412,6 +420,8 @@ class ControlPanel:
                             # menu_stack.pop()
                             # idx_stack.pop()
 
+
+                    # related with -> Serial Connection
                     elif selected.action == "TEXT_BAUD_SERIAL":
                         result = ControlPanel.input_dialog(stdscr, "請輸入 Baud Rate (e.g., 9600, 115200): ")
                         if result is not None:
@@ -477,12 +487,7 @@ class ControlPanel:
                                 menu_stack.pop()
                                 idx_stack.pop()
 
-                    elif selected.action == "LIST_MAV_OBJECT":
-                        # 動態生成 mavlink_object 列表選單
-                        created_list_menu = self.create_object_list_menu(state, page=0)
-                        menu_stack.append(created_list_menu)
-                        idx_stack.append(0)
-
+                    # related with -> 列表選單
                     elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
                         if hasattr(selected, 'page'):
                             current_list_menu = menu_stack[-1]
@@ -507,6 +512,13 @@ class ControlPanel:
                             menu_stack.append(created_list_menu)
                             idx_stack.append(0)
 
+                    # related with -> mavlink object list
+                    elif selected.action == "LIST_MAV_OBJECT":
+                        # 動態生成 mavlink_object 列表選單
+                        created_list_menu = self.create_object_list_menu(state, page=0)
+                        menu_stack.append(created_list_menu)
+                        idx_stack.append(0)
+
                     elif selected.action == "INSPECT_MAV_OBJECT":
                         # 顯示物件詳細資訊
                         if hasattr(selected, 'socket_id'):
@@ -551,6 +563,7 @@ class ControlPanel:
                             if target_id is not None:
                                 cmd_q.put(("MAVOBJ_ADD_TARGET", selected.socket_id, target_id))
 
+                    # related with -> Engineer Mode
                     elif selected.action == "STOP_MANAGER":
                         if state.panel_status != "Engineer":
                             state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
@@ -569,7 +582,39 @@ class ControlPanel:
                             continue  # 只有在工程模式下才能操作
                         cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
                     
-                    elif selected.action == "INSPECT_VEHICLES":
+                    elif selected.action == "STOP_ROS_MANAGER":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("STOP_ROS_MANAGER")
+
+                    elif selected.action == "START_ROS_MANAGER":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("START_ROS_MANAGER")
+                        
+                    
+                    elif selected.action == "REBOOT_ROS_TOPICS":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put(("RESTART_ROS_NODE", "status_publisher")) # 參照一下 mavlinkROS2Nodes.NODE_KEYS
+                    
+                    elif selected.action == "REBOOT_ROS_SERVICES":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put(("RESTART_ROS_NODE", "command_service")) # 參照一下 mavlinkROS2Nodes.NODE_KEYS
+
+                    elif selected.action == "REBOOT_ROS_RTCM":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put(("RESTART_ROS_NODE", "rtcm_relay")) # 參照一下 mavlinkROS2Nodes.NODE_KEYS
+
+                    # related with -> 進 bridge 的設備 列表
+                    elif selected.action == "SHOW_VEHICLES":
                         # 進入載具檢視選單
                         cmd_q.put("UPDATE_VEHICLES_LIST")
                         created_list_menu = self.create_vehicles_list_menu(state, page=0)
@@ -1173,6 +1218,8 @@ class Orchestrator:
 
     def mainLoop(self):
         logger.info("Main orchestrator started <-")
+        self.ros2_retry_time = None
+        self.ros2_manual_stop = False
         try:
             # while not self.stop_evt.is_set():
             while self.panel_thread.is_alive():
@@ -1204,6 +1251,17 @@ class Orchestrator:
                 else:
                     self.panelState.ros2_manager_state = 'Stopped'
 
+                    # 這邊做一個簡易的重啟 掛掉要等待一秒再重啟 避免過度頻繁 # 算是高技術債的方式構建 但是未來有需要在還吧 (煙
+                    if not self.ros2_manual_stop:
+                        # logger.info(f"mark A {self.ros2_retry_time}")
+                        if self.ros2_retry_time:
+                            if (time.time() - self.ros2_retry_time) > 1:
+                                self.fc_ros_manager.start()
+                                self.fc_ros_manager.schedule_restart_node("command_service")
+                                self.ros2_retry_time = None
+                        else:
+                            self.ros2_retry_time = time.time()
+
                 # B. 更新載具列表（從 vehicle_registry 獲取）
                 self._update_vehicles_list()
 
@@ -1268,6 +1326,12 @@ class Orchestrator:
                         elif action == "UNREGISTER_VEHICLE":
                             sysid = cmd[1]
                             self.vehicle_registry.unregister(sysid)
+                        elif action == "RESTART_ROS_NODE":
+                            node_key = cmd[1]
+                            if not self.fc_ros_manager.schedule_restart_node(node_key):
+                                logger.warning(
+                                    f"RESTART_ROS_NODE failed: {node_key!r}"
+                                )
 
                     elif cmd == "CREATE_UDP_INBOUND":
                         self.panelState.udp_info_temp["direction"] = "inbound"
@@ -1277,12 +1341,19 @@ class Orchestrator:
                         self.create_udp_object()
                     elif cmd == "CREATE_SERIAL_PORT":
                         self.create_serial_port_object()
+
                     elif cmd == "SHUTDOWN_BRIDGE":
                         self.bridge.stop()
                     elif cmd == "SHUTDOWN_MANAGER":
                         self.manager.shutdown()
                     elif cmd == "SHUTDOWN_SERIAL_MANAGER":
                         self.plumber.shutdown()
+                    elif cmd == "STOP_ROS_MANAGER":
+                        self.fc_ros_manager.stop()
+                        self.ros2_manual_stop = True
+                    elif cmd == "START_ROS_MANAGER":
+                        self.fc_ros_manager.start()
+                        self.ros2_manual_stop = False
 
                 except queue.Empty:
                     pass
@@ -1571,7 +1642,7 @@ def main():
     if mo.MODULE_VER != "1.50":
         print("Module Version Error! : mavlinkObkect")
         version_check = False
-    if mros.MODULE_VER != "1.50":
+    if mros.MODULE_VER != "2.10":
         print("Module Version Error! : mavlinkROS2Nodes")
         version_check = False
     if mvv.MODULE_VER != "1.00":
@@ -1622,4 +1693,7 @@ if __name__ == "__main__":
 2025.04.13
 1. 加入各項模組的版本先驗 檢驗失敗就直接離開
 
+2025.05.28
+1. 工程模式 新增 Node 重啟的功能
+
 '''

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -37,7 +37,7 @@ import mavros_msgs.msg
 # ROS2 Service imports
 import fc_interfaces.srv as fcsrv
 import fc_interfaces.msg as fcmsg
-from .ackEnum import serviceAckResult
+from fc_interfaces.msg import ServiceAckResult
 
 # 自定義 imports
 from . import mavlinkVehicleView as mvv
@@ -45,7 +45,10 @@ from . import mavlinkObject as mo
 from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
-MODULE_VER = "1.50"
+MODULE_VER = "2.10"
+
+FC_ROS_DOMAIN_ID = "0"
+NODE_KEYS = ("status_publisher", "command_service", "rtcm_relay")
 
 # ============================================================================
 #                       VehicleStatusPublisher Node
@@ -227,7 +230,9 @@ class VehicleStatusPublisher(Node):
         msg.stamp = self.get_clock().now().to_msg()
         msg.latitude = float(pos.latitude)
         msg.longitude = float(pos.longitude)
-        msg.altitude = float(pos.altitude) if pos.altitude is not None else 0.0
+        # 發布「相對 home 高度」而非 AMSL：下游 GUI / mission planner 一律以相對高度做運算與指令，
+        # 若這裡發 AMSL（msg.alt）會在實飛時把海拔當成相對高度傳給飛控，造成 Circle 高度衝高的 bug
+        msg.altitude = float(pos.relative_altitude) if pos.relative_altitude is not None else 0.0
         
         # GPS 狀態資訊
         gps = status.gps
@@ -581,7 +586,7 @@ class MavlinkCommandService(Node):
             self.handle_set_position_target_global_int
         )
 
-        logger.info("MavlinkCommandService initialized")
+        # logger.info("MavlinkCommandService initialized")
 
     def _index(self, target_sysid, target_compid):
 
@@ -608,20 +613,19 @@ class MavlinkCommandService(Node):
         藉由 event.set() 解開 service 中的 block 
         '''
         return_tuple = mo.return_packet_ring.get()
-        # 確認 return_packet_ring 有資料
         if return_tuple == None: return
 
         socketid, timestamp, msg = return_tuple
         sysid = msg.get_srcSystem()
 
         _pending = self._pending_by_sysid.get(sysid)
-        # 確認是否有 service 在等待回應 若無直接 return 此封包也會被忽略
-        if _pending == None:
+        if _pending is None:
             return
 
         if _pending.match_fn(msg):
             _pending.result_mav_msg = msg
             _pending.event.set()
+        return
 
     # ═══════════════════════════════════════════════════════════════════════
     # Service Handler: 發送 TIMESYNC 可以作為模板
@@ -706,20 +710,20 @@ class MavlinkCommandService(Node):
         # 設定失效回應
         response.success = False
         response.message = "Unknown error"
-        response.ack_result = serviceAckResult.UNKNOWN
+        response.ack_result = ServiceAckResult.FCSYS_UNKNOWN
         timeout_sec = request.timeout_sec
 
         # 1) 確認是否已經有相同 sysid 的其他需求正在 pending
         if request.target_sysid in self._pending_by_sysid:
             response.message = f"sysid {request.target_sysid} already has pending request"
-            response.ack_result = serviceAckResult.MAVLINK_BUSY
+            response.ack_result = ServiceAckResult.FCSYS_BUSY
             return response
 
         # 2) 找到 socket 標地
         socketObject = self._index(request.target_sysid, request.target_compid)
         if socketObject is None:
             response.message = "This system id not found."
-            response.ack_result = serviceAckResult.MAVLINK_DEV_NOTFOUND
+            response.ack_result = ServiceAckResult.FCSYS_DEVICE_NOT_FOUND
             return response
 
         # 3) 接收封包系統 的設定
@@ -750,12 +754,13 @@ class MavlinkCommandService(Node):
         # 5) 等待回應封包
         if not evt.wait(timeout_sec):
             response.message = "mavlink timeout - CommLONG"
-            response.ack_result = serviceAckResult.MAVLINK_TIMEOUT
+            response.ack_result = ServiceAckResult.FCSYS_MAVLINK_TIMEOUT
             fail_skip = True
 
         # 6) 處理回應封包
         if not fail_skip:
             ack_msg = _pending.result_mav_msg
+            # response.success = ServiceAckResult.FCSYS_MAVLINK_BREAK # dev 故意觸發錯誤用的
             response.success = (ack_msg.result == 0) # mavutil.mavlink.MAV_RESULT_ACCEPTED
             response.message = "" # 沒有消息就是好消息
             response.ack_result = ack_msg.result
@@ -779,20 +784,20 @@ class MavlinkCommandService(Node):
         '''
         # 設定失效回應
         response.message = "Unknown error"
-        response.ack_result = serviceAckResult.UNKNOWN
+        response.ack_result = ServiceAckResult.FCSYS_UNKNOWN
         timeout_sec = request.timeout_sec
 
         # 1) 確認是否已經有相同 sysid 的其他需求正在 pending
         if request.target_sysid in self._pending_by_sysid:
             response.message = f"sysid {request.target_sysid} already has pending request"
-            response.ack_result = serviceAckResult.MAVLINK_BUSY
+            response.ack_result = ServiceAckResult.FCSYS_BUSY
             return response
 
         # 2) 找到 socket 標地
         socketObject = self._index(request.target_sysid, request.target_compid)
         if socketObject is None:
             response.message = "This system id not found."
-            response.ack_result = serviceAckResult.MAVLINK_DEV_NOTFOUND
+            response.ack_result = ServiceAckResult.FCSYS_DEVICE_NOT_FOUND
             return response
 
         # 3) 接收封包系統 的設定
@@ -827,7 +832,7 @@ class MavlinkCommandService(Node):
         # 5) 等待回應封包
         if not evt.wait(timeout_sec):
             response.message = "mavlink timeout - SET POSITION 86"
-            response.ack_result = MAVLINK_SEND_BUT_NO_EXP_STEAM
+            response.ack_result = ServiceAckResult.FCSYS_NO_EXPECTED_FEEDBACK
             fail_skip = True
 
         # 6) 處理回應封包
@@ -835,7 +840,7 @@ class MavlinkCommandService(Node):
             ack_msg = _pending.result_mav_msg
 
             response.message = ""
-            response.ack_result = 0
+            response.ack_result = ServiceAckResult.MAV_RESULT_ACCEPTED
             response.r_time_boot_ms = ack_msg.time_boot_ms 
             response.r_type_mask = ack_msg.type_mask
             response.r_lat_int = ack_msg.lat_int
@@ -952,11 +957,10 @@ class MavlinkCommandService(Node):
         return response
 
 
-
     def stop(self):
         """停止服務"""
         self.running = False
-        logger.info("MavlinkCommandService stopped")
+        # logger.info("MavlinkCommandService stopped")
 
 
 # ============================================================================
@@ -1025,7 +1029,7 @@ class RtcmRelay(Node):
             rtcm_qos,
         )
 
-        logger.info("RtcmRelay initialized")
+        # logger.info("RtcmRelay initialized")
 
     # ── callback ──────────────────────────────────────────────────────
 
@@ -1129,7 +1133,7 @@ class RtcmRelay(Node):
     def stop(self):
         """停止轉發"""
         self.running = False
-        logger.info("RtcmRelay stopped")
+        # logger.info("RtcmRelay stopped")
 
 
 # ============================================================================
@@ -1145,7 +1149,7 @@ class fc_ros_manager:
     stop 是停下止 ROS2 nodes 的運行，但不銷毀節點實例，允許後續再次 start。
     shutdown 是完全關閉 ROS2 並銷毀節點實例。
 
-    管理三個獨立的 ROS2 Node：
+    管理三個獨立的 ROS2 Node :
     - VehicleStatusPublisher
     - MavlinkCommandService
     - RtcmRelay
@@ -1156,6 +1160,9 @@ class fc_ros_manager:
     def __init__(self):
         self.initialized = False
         self.running = False
+        self._restarting = False
+        self._pending_restart: Optional[str] = None
+        self._restart_lock = threading.Lock()
         
         # node 實例
         self.status_publisher: Optional[VehicleStatusPublisher] = None
@@ -1173,7 +1180,7 @@ class fc_ros_manager:
             return False
         
         try:
-            # 初始化 ROS2
+            os.environ.setdefault("ROS_DOMAIN_ID", FC_ROS_DOMAIN_ID)
             if not rclpy.ok():
                 rclpy.init(args=None)
             
@@ -1209,6 +1216,10 @@ class fc_ros_manager:
         try:
             self.running = True
 
+            self.status_publisher.running = True
+            self.command_service.running = True
+            self.rtcm_relay.running = True
+            
             self.spin_thread = threading.Thread(
                 target=self._spin_executor,
                 daemon=True,
@@ -1224,21 +1235,102 @@ class fc_ros_manager:
             self.running = False
             return False
 
+    # 給 orchestrator 呼叫的函數
+    def schedule_restart_node(self, node_key: str) -> bool:
+        """由 orchestrator 排程單一 node 重啟（於 spin thread 下一輪執行）"""
+        if node_key not in NODE_KEYS:
+            logger.warning(f"schedule_restart_node: unknown key {node_key!r}")
+            return False
+        if not self.running:
+            logger.warning("schedule_restart_node: fc_ros_manager not running")
+            return False
+        if not self.spin_thread or not self.spin_thread.is_alive():
+            logger.warning("schedule_restart_node: spin thread not alive")
+            return False
+        with self._restart_lock:
+            self._pending_restart = node_key
+        logger.info(f"schedule_restart_node: queued {node_key}")
+        return True
+
     # 循環執行的地方
     def _spin_executor(self):
         """在 thread 中運行的 executor"""
         try:
-            # logger.info("ROS2 executor spinning...")
             while self.running:
                 self.executor.spin_once(timeout_sec=0.1)
+
+                pending = None
+                with self._restart_lock:
+                    if self._pending_restart:
+                        pending = self._pending_restart
+                        self._pending_restart = None
+
+                if pending:
+                    self._restart_node(pending)
+                elif self.command_service and not self._restarting:
                     self.command_service.return_router()
         except Exception as e:
             logger.error(f"fc_ros_manager error in spinning executor: {e}")
+        finally:
+            self.running = False
+
+    def _restart_node(self, node_key: str) -> bool:
+        """僅由 spin thread 呼叫 : destroy 並重建單一 node"""
+        old_node = getattr(self, node_key, None)
+        if old_node is None:
+            logger.error(f"_restart_node: {node_key} is None")
+            return False
+
+        # 重置前保留舊有或處理設定
+        saved_topic_intervals = None
+        if node_key == "status_publisher":
+            saved_topic_intervals = dict(old_node.rate_controller.topic_intervals)
+
+        # 如果是 command_service 清除所有等待的 pending 並且清除 return message 
+        if node_key == "command_service":
+            old_node._pending_by_sysid.clear()
+            for sockObj in mo.mavlink_object.mavlinkObjects.values():
+                sockObj.set_return_message_types([])
+
+        try:
+            self._restarting = True
+
+            # 停止運作 移出執行迴圈 銷毀資源
+            old_node.stop()
+            self.executor.remove_node(old_node)
+            old_node.destroy_node()
+
+            # 建立新的 node
+            if node_key == "status_publisher":
+                new_node = VehicleStatusPublisher()
+                if saved_topic_intervals is not None:
+                    new_node.rate_controller.topic_intervals = saved_topic_intervals
+            elif node_key == "command_service":
+                new_node = MavlinkCommandService()
+            elif node_key == "rtcm_relay":
+                new_node = RtcmRelay()
+            else:
+                return False
+
+            # 加回去管理系統中
+            setattr(self, node_key, new_node)
+            self.executor.add_node(new_node)
+            logger.info(f"_restart_node: {node_key} restarted")
+            return True
+        except Exception as e:
+            logger.error(f"_restart_node failed for {node_key}: {e}")
+            return False
+        finally:
+            self._restarting = False
 
     def stop(self):
         """停止 ROS2 nodes"""
-        if not self.running:
-            logger.warning("fc_ros_manager not running")
+        # if not self.running:
+        #     logger.warning("fc_ros_manager not running")
+        #     return False
+
+        if not self.spin_thread:
+            logger.warning("fc_ros_manager without thread to stop")
             return False
 
         try:            
@@ -1289,7 +1381,7 @@ class fc_ros_manager:
             except Exception as e:
                 logger.error(f"Error during shutdown: {e}")
     
-    def get_status(self) -> dict:
+    def get_status(self):
         return {
             'initialized': self.initialized,
             'running': self.running,
@@ -1299,6 +1391,12 @@ class fc_ros_manager:
         }
 
     
+
+
+        
+
+
+
 # ============================================================================
 #                              全域實例
 # ============================================================================
@@ -1331,8 +1429,13 @@ ros2_manager = fc_ros_manager()
 2. 實作過期丟棄(1s)、blake2s hash 去重、最短轉發間隔節流、分片(180 bytes/片)
 3. 接入 fc_ros_manager 的 initialize/start/stop/shutdown 生命週期
 
+2026.05.22
+1. initialize() 設定 ROS_DOMAIN_ID ( FC_ROS_DOMAIN_ID )
+2. schedule_restart_node / _restart_node : 手動重啟單一 node (spin thread 內執行）
+3. orchestrator cmd: ("RESTART_ROS_NODE", node_key), node_key 見 NODE_KEYS
+
 TODO 
 1. service 部分會需要跟 mavlinkobject 大量互動 也許需要考慮對方的生命週期
-2. 還沒測試 如果有失效狀態讓 fc_ros_manager 中斷了 如何恢復的問題
+
 '''
 

src/fc_network_apps/longCommand.py

@@ -14,6 +14,7 @@ from fc_interfaces.srv import MavCommandLong
 COMMAND_DO_SET_MODE = 176
 COMMAND_NAV_LAND = 21
 COMMAND_NAV_TAKEOFF = 22
+COMMAND_PREFLIGHT_REBOOT_SHUTDOWN = 246
 COMMAND_COMPONENT_ARM_DISARM = 400
 
 DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
@@ -191,6 +192,28 @@ class CommandLongClient(Node):
             timeout_sec=timeout_sec,
         )
 
+    def reboot_autopilot(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        return self._send_command_long(
+            target_sysid=target_sysid,
+            target_compid=target_compid,
+            command=COMMAND_PREFLIGHT_REBOOT_SHUTDOWN,
+            confirmation=0,
+            param1=1.0,
+            param2=0.0,
+            param3=0.0,
+            param4=0.0,
+            param5=0.0,
+            param6=0.0,
+            param7=0.0,
+            timeout_sec=timeout_sec,
+        )
+
     # ============================================================================
     # 【新增】非阻塞 async 包裝方法（用於 GUI 的非阻塞調用）
     # 這些方法在 ThreadPoolExecutor 中運行同步版本，以避免阻塞事件循環
@@ -353,6 +376,29 @@ class CommandLongClient(Node):
             timeout_sec=timeout_sec,
         )
 
+    async def reboot_autopilot_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 autopilot reboot."""
+        return await self._send_command_long_async(
+            target_sysid=target_sysid,
+            target_compid=target_compid,
+            command=COMMAND_PREFLIGHT_REBOOT_SHUTDOWN,
+            confirmation=0,
+            param1=1.0,
+            param2=0.0,
+            param3=0.0,
+            param4=0.0,
+            param5=0.0,
+            param6=0.0,
+            param7=0.0,
+            timeout_sec=timeout_sec,
+        )
+
     async def land_async(
         self,
         *,

src/unitdev02/unitdev02/devnote.txt

@@ -1,32 +1,25 @@
 備選需要的功能
- - serail 對於 telemetry 的支援
  - serial_manager.serial_object.transport 這些變數可能不需要
 
 不用動
  - mavlink_object 的 send_message 確認一下 mavlink_bridge 的 _send_to_socket 是不是應該做成 async
- - 不同 socket 上面有重複的 sysid 分開儲存 (不做 不允許sysid重複) 
 
 這一步
- 希望 ackEnum 可以擺到正確的位置
- node 增加 GNSS 訊息 (2d fix 3d fix rtk float...)
  RTK
-   跟 RTK2go 抓取列表
-   從特定 mount point 得到數據
-   做一個 ros2 service(action?) 接到數據並包裝
+   跟 RTK2go 抓取列表 Done
+   從特定 mount point 得到數據 Done
+   做一個 ros2 service 接到數據並包裝 
  
 
 下一步
-  NODE 重啟
-  可以 refresh node topic
+  重啟做好了 但是還沒自動化
 
 下下一步
- 
+  整合 xbee api-api 功能 
 
 後面
- rssi 資訊提取s
 
 
-mavlink timeout - CommLONG 這個是 mavlink bus 沒有回應 可能是丟包了
 
 
 自己的常用指令
@@ -39,8 +32,18 @@ python -m someotherpkg.src.example_change_mode
 
 python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p mountpoint:=No1bio_02 -p username:=chiyu1468@hotmail.com
 
+python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p host:=210.241.63.193 -p port:=81 -p mountpoint:=2020_GNSS -p username:=uavlab6061 -p password:=iamsupersmart
+
+export ROS_DOMAIN_ID=13
+ros2 daemon stop
+ros2 daemon start
+
 ros2 topic list
 ros2 topic echo /fc_network/vehicle/sys3/battery
+ros2 topic echo hz /fc_network/vehicle/sys3/battery
+
+ros2 topic bw /fc_network/vehicle/sys3/attitude
+ros2 topic hz /fc_network/vehicle/sys3/attitude
 
 
 /home/picars/ardupilot/build/sitl/bin/arducopter -S --model + --speedup 1 --slave 0 --defaults /home/picars/ardupilot/Tools/autotest/default_params/copter.parm --sim-address=127.0.0.1 -I3 --sysid 7
@@ -51,7 +54,7 @@ ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5
 ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
 
 ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, param3: 0,param4: 0,param5: 0,param6: 0,param7: 0, timeout_sec: 2}"
-ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, timeout_sec: 2}"
+ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 10, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, timeout_sec: 2}"
 
 ros2 service call /fc_network/vehicle/pos_global_int fc_interfaces/srv/MavPositionTargetGlobalInt "{target_sysid: 3, target_compid: 1, coordinate_frame: 6, type_mask: 3576, lat_int: -35376655, lon_int: 149157011, alt: 20.0, timeout_sec: 5.0}"
 
@@ -60,10 +63,4 @@ sudo tcpdump -i lo 'udp dst port 14561' -X
 sudo tcpdump -i lo 'udp dst port 14550' -X -vv
 sudo tcpdump -i lo -X udp port 14550
 
-幾個要討論的
-1. 專案文件中 .mat 檔案是幹嘛的?
-2. GUI 的 print [Panel/Map Update] 11 Hz 希望關閉
-3. readme 那串文字來源? 用途?
-4. GUI介面 加一下海拔高 跟 相對高 速度跟位置 變更為 XY速度 XY位置
-5. pitch yaw roll 出來了 弄一下
-6.
+