2.9.1: new mission_orch

src/GUI/communication.py

@@ -11,6 +11,7 @@ import json
 import socket
 import sys
 import os
+import time
 import traceback
 try:
     import serial
@@ -29,6 +30,28 @@ def _log(level, message):
     print(f"[{level}] {message}")
 
 
+def build_xbee_json_command(system_id, command, position=None):
+    """Build the shared newline-free XBee command used by Serial and WebSocket."""
+    if isinstance(system_id, bool) or not isinstance(system_id, int):
+        raise ValueError("XBee system_id 必須為整數")
+    if not isinstance(command, str):
+        raise ValueError("XBee 指令必須為大寫字串")
+    if command not in {'START', 'STOP', 'GOTO'}:
+        raise ValueError(f"XBee 指令必須為大寫 START、STOP 或 GOTO: {command}")
+
+    payload_data = {
+        's': system_id,
+        'c': command,
+    }
+    if command == 'GOTO':
+        if not isinstance(position, (list, tuple)) or len(position) < 2:
+            raise ValueError("GOTO 缺少有效的經緯度")
+        payload_data['p'] = [float(position[0]), float(position[1])]
+
+    return json.dumps(
+        payload_data, ensure_ascii=False, separators=(',', ':'))
+
+
 # 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:
@@ -95,7 +118,9 @@ class JsonTelemetryProcessor:
         "position": {"lat": 24.0, "lon": 120.0},
         "heading": 90
     }
-    Serial JSON also accepts the compact UAV.py shape:
+    Serial and WebSocket JSON also accept compact UAV status shapes:
+    {"s": 1, "m": "GUIDED", "b": 85, "p": [24.0, 120.0], "y": 90.0}
+    or the full 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]}
@@ -118,6 +143,20 @@ class JsonTelemetryProcessor:
             if not isinstance(data, dict):
                 return
 
+            # XBee command acknowledgement does not carry a UAV system id.
+            # Route it to the GUI log/status area instead of silently dropping it.
+            if all(key in data for key in ('result', 'command', 'message')):
+                self.signals.update_signal.emit(
+                    'xbee_ack',
+                    self.connection_name,
+                    {
+                        'result': data.get('result'),
+                        'command': data.get('command'),
+                        'message': data.get('message'),
+                    }
+                )
+                return
+
             system_id = data.get('system_id', data.get('sysid', data.get('s')))
             if system_id is None:
                 return
@@ -125,6 +164,13 @@ class JsonTelemetryProcessor:
             drone_id = f"s{self.socket_id}_{system_id}"
             self._emit_json_connection_type(drone_id)
 
+            # Compact XBee/UAV packets are complete snapshots. Emit every field
+            # group, using None for omitted values, so the GUI can show '-'
+            # instead of inventing zero-valued telemetry or retaining stale data.
+            if 's' in data and 'c' not in data:
+                self._process_compact_uav_telemetry(data, drone_id)
+                return
+
             mode = data.get('mode', data.get('mode_name', data.get('m')))
             state = {}
             if mode is not None:
@@ -169,23 +215,23 @@ class JsonTelemetryProcessor:
             pos = data.get('position')
             if isinstance(pos, dict):
                 gps_data = {
-                    'lat': pos.get('lat', pos.get('latitude', 0)),
-                    'lon': pos.get('lon', pos.get('longitude', 0)),
-                    'alt': pos.get('alt', pos.get('altitude', 0))
+                    'lat': pos.get('lat', pos.get('latitude')),
+                    'lon': pos.get('lon', pos.get('longitude')),
+                    'alt': pos.get('alt', pos.get('altitude'))
                 }
                 self.signals.update_signal.emit('gps', drone_id, gps_data)
             elif 'lat' in data or 'latitude' in data:
                 self.signals.update_signal.emit('gps', drone_id, {
-                    'lat': data.get('lat', data.get('latitude', 0)),
-                    'lon': data.get('lon', data.get('longitude', 0)),
-                    'alt': data.get('alt', data.get('altitude', 0))
+                    'lat': data.get('lat', data.get('latitude')),
+                    'lon': data.get('lon', data.get('longitude')),
+                    'alt': data.get('alt', data.get('altitude'))
                 })
             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)
+                    'alt': data.get('h')
                 }
                 if 'g' in data:
                     gps_data['fix_type'] = data.get('g')
@@ -301,6 +347,82 @@ class JsonTelemetryProcessor:
         except Exception as e:
             print(f"{self.source_type} JSON telemetry processing error: {e}")
 
+    def _process_compact_uav_telemetry(self, data, drone_id):
+        """Convert one compact XBee UAV snapshot into existing GUI events."""
+        snapshot = {'_snapshot': True}
+
+        self.signals.update_signal.emit('state', drone_id, {
+            **snapshot,
+            'mode': data.get('m'),
+            'armed': bool(data.get('a')) if data.get('a') is not None else None,
+        })
+        self.signals.update_signal.emit('battery', drone_id, {
+            **snapshot,
+            'percentage': data.get('b'),
+            'voltage': None,
+        })
+
+        position = data.get('p')
+        has_position = isinstance(position, (list, tuple)) and len(position) >= 2
+        dop = data.get('d')
+        has_dop = isinstance(dop, (list, tuple))
+        ypr = data.get('ypr')
+        has_ypr = isinstance(ypr, (list, tuple)) and len(ypr) >= 3
+        has_yaw = data.get('y') is not None
+        # In the legacy compact shape, a lone 'h' is heading. In the newer
+        # y/ypr shapes it is height, matching the original ground-station parser.
+        height = data.get('h') if has_ypr or has_yaw else None
+        yaw = ypr[0] if has_ypr else data.get('y', data.get('h'))
+        pitch = ypr[1] if has_ypr else None
+        roll = ypr[2] if has_ypr else None
+
+        self.signals.update_signal.emit('gps', drone_id, {
+            **snapshot,
+            'lat': position[0] if has_position else None,
+            'lon': position[1] if has_position else None,
+            'alt': height,
+            'fix_type': data.get('g'),
+            'eph': dop[0] if has_dop and len(dop) >= 1 else None,
+            'epv': dop[1] if has_dop and len(dop) >= 2 else None,
+            'satellites_visible': None,
+        })
+
+        self.signals.update_signal.emit('altitude', drone_id, {
+            **snapshot,
+            'altitude': height,
+        })
+        self.signals.update_signal.emit('local_pose', drone_id, {
+            **snapshot,
+            'x': None,
+            'y': None,
+            'z': height,
+        })
+
+        # Compact 'v' is scalar ground speed, not an XY velocity vector.
+        self.signals.update_signal.emit('velocity', drone_id, {
+            **snapshot,
+            'vx': None,
+            'vy': None,
+            'vz': None,
+        })
+
+        self.signals.update_signal.emit('attitude', drone_id, {
+            **snapshot,
+            'roll': roll,
+            'pitch': pitch,
+            'yaw': yaw,
+            'rates': None,
+        })
+        self.signals.update_signal.emit('hud', drone_id, {
+            **snapshot,
+            'heading': yaw,
+            'groundspeed': data.get('v'),
+            'airspeed': None,
+            'throttle': None,
+            'alt': height,
+            'climb': None,
+        })
+
 class UDPMavlinkReceiver(threading.Thread):
     """UDP MAVLink 接收器"""
     def __init__(self, ip, port, signals, connection_name, monitor=None):
@@ -448,6 +570,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.source_type = 'Serial'
         self.running = False
         self.serial_conn = None
+        self.serial_write_lock = Lock()
         self.mav_parser = mavutil.mavlink.MAVLink(None)
         self.mav_parser.robust_parsing = True
         self.json_buffer = []
@@ -490,11 +613,24 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         finally:
             if self.serial_conn:
                 try:
+                    with self.serial_write_lock:
                         self.serial_conn.close()
                 except Exception:
                     pass
             self._release_socket_id()
 
+    def send_json_command(self, system_id, command, position=None):
+        """Send one newline-delimited XBee JSON command on this serial link."""
+        payload = build_xbee_json_command(system_id, command, position) + '\n'
+        with self.serial_write_lock:
+            if not self.running or self.serial_conn is None:
+                raise RuntimeError("Serial 連線尚未啟動")
+            if hasattr(self.serial_conn, 'is_open') and not self.serial_conn.is_open:
+                raise RuntimeError("Serial 連線已關閉")
+            self.serial_conn.write(payload.encode('utf-8'))
+            self.serial_conn.flush()
+        return payload.strip()
+
     def _process_mavlink_byte(self, byte):
         try:
             msg = self.mav_parser.parse_char(byte)
@@ -651,6 +787,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.running = False
         if self.serial_conn:
             try:
+                with self.serial_write_lock:
                     self.serial_conn.close()
             except Exception:
                 pass
@@ -675,12 +812,19 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.running = False
         self.max_retries = 5
         self.base_delay = 1.0
+        self.loop = None
+        self.websocket = None
+        self.websocket_lock = Lock()
         
     def run(self):
         """執行 WebSocket 接收循環"""
         self.running = True
-        asyncio.set_event_loop(asyncio.new_event_loop())
-        asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
+        self.loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(self.loop)
+        try:
+            self.loop.run_until_complete(self.ws_client_loop())
+        finally:
+            self.loop.close()
     
     async def ws_client_loop(self):
         """WebSocket 連接的主循環"""
@@ -691,9 +835,11 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         while self.running and retry_count < self.max_retries:
             try:
                 async with websockets.connect(self.url) as websocket:
+                    with self.websocket_lock:
+                        self.websocket = websocket
                     print(f"WebSocket {self.connection_name} connected to {self.url}")
                     retry_count = 0  # 重置重試計數
-                    
+                    try:
                         async for message in websocket:
                             if not self.running:
                                 break
@@ -707,6 +853,10 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
                                 print(f"WebSocket {self.connection_name} JSON decode error: {e}")
                             except Exception as e:
                                 print(f"WebSocket {self.connection_name} message processing error: {e}")
+                    finally:
+                        with self.websocket_lock:
+                            if self.websocket is websocket:
+                                self.websocket = None
                             
             except websockets.exceptions.ConnectionClosedError:
                 print(f"WebSocket {self.connection_name} connection closed")
@@ -730,6 +880,37 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         print(f"WebSocket client {self.connection_name} stopped")
         self._release_socket_id()
 
+    def send_json_command(self, system_id, command, position=None):
+        """Schedule an XBee JSON command on this receiver's WebSocket loop."""
+        payload = build_xbee_json_command(system_id, command, position)
+        with self.websocket_lock:
+            loop = self.loop
+            websocket = self.websocket
+
+        if not self.running or loop is None or not loop.is_running():
+            raise RuntimeError("WebSocket 連線尚未啟動")
+        if websocket is None:
+            raise RuntimeError("WebSocket 尚未連線")
+
+        async def _send_on_current_connection():
+            with self.websocket_lock:
+                if self.websocket is not websocket:
+                    raise RuntimeError("WebSocket 連線已變更")
+            await websocket.send(payload)
+
+        future = asyncio.run_coroutine_threadsafe(
+            _send_on_current_connection(), loop)
+
+        def _report_send_error(done_future):
+            try:
+                done_future.result()
+            except Exception as e:
+                print(
+                    f"WebSocket {self.connection_name} command send error: {e}")
+
+        future.add_done_callback(_report_send_error)
+        return payload
+    
     def process_websocket_message(self, data):
         """處理 WebSocket 訊息"""
         self.process_json_telemetry_message(data)
@@ -737,6 +918,11 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
     def stop(self):
         """停止接收器"""
         self.running = False
+        with self.websocket_lock:
+            loop = self.loop
+            websocket = self.websocket
+        if loop is not None and loop.is_running() and websocket is not None:
+            asyncio.run_coroutine_threadsafe(websocket.close(), loop)
         self._release_socket_id()
 
     def _release_socket_id(self):
@@ -750,7 +936,6 @@ class DroneMonitor(Node):
     
     def __init__(self):
         # Use a unique node name with timestamp to avoid conflicts on restart
-        import time
         node_name = f'drone_monitor_{int(time.time() * 1000) % 100000}'
         super().__init__(node_name)
         self.signals = DroneSignals()
@@ -775,6 +960,9 @@ class DroneMonitor(Node):
         # 【新增】儲存 GPS 資料的字典
         # ================================================================================
         self.drone_gps = {}  # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}}
+        # GnssRaw.altitude 是 AMSL；交戰/航點指令的 alt 則是相對 Home 高度。
+        self.drone_relative_alt = {}
+        self.drone_relative_alt_updated_at = {}
         # ================================================================================
         
         # ================================================================================
@@ -822,6 +1010,35 @@ class DroneMonitor(Node):
                 200
             )
 
+    def get_drone_gps_snapshot(self):
+        """回傳執行緒安全的定位快照。"""
+        with self.lock:
+            return {
+                drone_id: dict(position)
+                for drone_id, position in self.drone_gps.items()
+                if isinstance(position, dict)
+            }
+
+    def record_relative_gps(self, drone_id, gps_data, updated_at=None):
+        """記錄已知以 Home 為基準的 GPS/高度（UDP、Serial、WebSocket）。"""
+        now = time.monotonic() if updated_at is None else float(updated_at)
+        stored = dict(gps_data)
+        stored['_gps_updated_at'] = now
+        alt = stored.get('alt')
+        if isinstance(alt, (int, float)) and math.isfinite(float(alt)):
+            stored['alt'] = float(alt)
+            stored['_relative_alt_updated_at'] = now
+            stored['_altitude_reference'] = 'relative_home'
+        else:
+            stored['alt'] = None
+
+        with self.lock:
+            if stored.get('_altitude_reference') == 'relative_home':
+                self.drone_relative_alt[drone_id] = stored['alt']
+                self.drone_relative_alt_updated_at[drone_id] = now
+            self.drone_gps[drone_id] = stored
+        return stored
+    
     def get_next_socket_id(self):
         """取得目前最小的未使用 socket_id（從 0 開始）。"""
         with self.socket_id_lock:
@@ -1555,10 +1772,15 @@ class DroneMonitor(Node):
         if actual_drone_id is None:
             return
 
+        # GnssRaw.altitude 是 GLOBAL_POSITION_INT.alt（AMSL）。交戰航點使用
+        # GLOBAL_RELATIVE_ALT_INT，因此 alt 僅能使用 position_ned 的相對高度。
+        now = time.monotonic()
         gps_data = {
             'lat': msg.latitude,
             'lon': msg.longitude,
-            'alt': msg.altitude
+            'alt': None,
+            'amsl_alt': msg.altitude,
+            '_gps_updated_at': now,
         }
 
         if hasattr(msg, 'fix_type'):
@@ -1570,12 +1792,20 @@ class DroneMonitor(Node):
         if hasattr(msg, 'epv'):
             gps_data['epv'] = msg.epv
         
-        self.latest_data[(actual_drone_id, 'gps')] = gps_data
-        
         # ================================================================================
         # 【新增】儲存 GPS 資料到 drone_gps 字典
         # ================================================================================
+        with self.lock:
+            relative_alt = self.drone_relative_alt.get(actual_drone_id)
+            relative_alt_updated_at = self.drone_relative_alt_updated_at.get(
+                actual_drone_id
+            )
+            if relative_alt_updated_at is not None:
+                gps_data['alt'] = relative_alt
+                gps_data['_relative_alt_updated_at'] = relative_alt_updated_at
+                gps_data['_altitude_reference'] = 'relative_home'
             self.drone_gps[actual_drone_id] = gps_data.copy()
+        self.latest_data[(actual_drone_id, 'gps')] = gps_data
         # ================================================================================
 
     def local_vel_callback(self, drone_id, msg):
@@ -1636,6 +1866,18 @@ class DroneMonitor(Node):
             vy = msg.twist.twist.linear.x
             vz = -msg.twist.twist.linear.z
 
+            now = time.monotonic()
+            with self.lock:
+                self.drone_relative_alt[actual_drone_id] = z
+                self.drone_relative_alt_updated_at[actual_drone_id] = now
+                current_gps = self.drone_gps.get(actual_drone_id)
+                if isinstance(current_gps, dict):
+                    current_gps = dict(current_gps)
+                    current_gps['alt'] = z
+                    current_gps['_relative_alt_updated_at'] = now
+                    current_gps['_altitude_reference'] = 'relative_home'
+                    self.drone_gps[actual_drone_id] = current_gps
+            
             # 儲存高度信息
             self.latest_data[(actual_drone_id, 'altitude')] = {
                 'altitude': z

src/GUI/drone_panel.py

@@ -222,11 +222,11 @@ class DronePanel(QWidget):
         status_title = QLabel("狀態：")
         _set_scaled_stylesheet(status_title, "color: #888; min-width: 50px;")
         
-        self.mode_label = QLabel("--")
+        self.mode_label = QLabel("-")
         self.mode_label.setObjectName(f"{self.drone_id}_mode")
         _set_scaled_stylesheet(self.mode_label, "color: #DDD;")
         
-        self.armed_label = QLabel("--")
+        self.armed_label = QLabel("-")
         self.armed_label.setObjectName(f"{self.drone_id}_armed")
         _set_scaled_stylesheet(self.armed_label, "color: #DDD;")
         
@@ -284,7 +284,7 @@ class DronePanel(QWidget):
         battery_title = QLabel("電池：")
         _set_scaled_stylesheet(battery_title, "color: #888; min-width: 50px;")
 
-        self.battery_pct_label = QLabel("--")
+        self.battery_pct_label = QLabel("-")
         self.battery_pct_label.setObjectName(f"{self.drone_id}_battery_pct")
         _set_scaled_stylesheet(self.battery_pct_label, "color: #DDD;")
 
@@ -294,7 +294,7 @@ class DronePanel(QWidget):
         _set_scaled_stylesheet(separator1, "color: #DDD;")
 
         # 顯示電壓
-        self.battery_vol_label = QLabel("--")
+        self.battery_vol_label = QLabel("-")
         self.battery_vol_label.setObjectName(f"{self.drone_id}_battery_vol")
         _set_scaled_stylesheet(self.battery_vol_label, "color: #DDD;")
 
@@ -304,7 +304,7 @@ class DronePanel(QWidget):
         _set_scaled_stylesheet(separator2, "color: #DDD;")
 
         # 顯示電池節數 (S count)
-        self.battery_cells_label = QLabel("--")
+        self.battery_cells_label = QLabel("-")
         self.battery_cells_label.setObjectName(f"{self.drone_id}_battery_cells")
         _set_scaled_stylesheet(self.battery_cells_label, "color: #DDD;")
 
@@ -327,14 +327,14 @@ class DronePanel(QWidget):
         altitude_title = QLabel("高度：")
         _set_scaled_stylesheet(altitude_title, "color: #888; min-width: 50px;")
         
-        self.altitude_label = QLabel("--")
+        self.altitude_label = QLabel("-")
         self.altitude_label.setObjectName(f"{self.drone_id}_altitude")
         _set_scaled_stylesheet(self.altitude_label, "color: #DDD;")
         
         speed_title = QLabel("速度：")
         _set_scaled_stylesheet(speed_title, "color: #888; margin-left: 10px;")
         
-        self.speed_label = QLabel("--")
+        self.speed_label = QLabel("-")
         self.speed_label.setObjectName(f"{self.drone_id}_speed")
         _set_scaled_stylesheet(self.speed_label, "color: #DDD;")
         
@@ -355,14 +355,14 @@ class DronePanel(QWidget):
         fix_title = QLabel("定位：")
         _set_scaled_stylesheet(fix_title, "color: #888; min-width: 50px;")
 
-        self.fix_type_label = QLabel("--")
+        self.fix_type_label = QLabel("-")
         self.fix_type_label.setObjectName(f"{self.drone_id}_fix_type_label")
         _set_scaled_stylesheet(self.fix_type_label, "color: #DDD;")
 
         error_title = QLabel("誤差(H/V)：")
         _set_scaled_stylesheet(error_title, "color: #888; margin-left: 8px;")
 
-        self.gnss_error_label = QLabel("--")
+        self.gnss_error_label = QLabel("-")
         self.gnss_error_label.setObjectName(f"{self.drone_id}_gnss_error")
         _set_scaled_stylesheet(self.gnss_error_label, "color: #DDD;")
 

src/GUI/gui.py

@@ -147,10 +147,11 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.7.1'
+    VERSION = '2.9.1'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
+    ENGAGEMENT_TELEMETRY_TIMEOUT_SEC = 5.0
 
     def __init__(self):
         super().__init__()
@@ -246,6 +247,7 @@ class ControlStationUI(QMainWindow):
 
         self.drone_positions = {}
         self.drone_headings = {}
+        self.drone_heading_updated_at = {}
         # 初始化地圖
         self.drone_map = DroneMap()
         self.drone_map.set_socket_colors(self.socket_colors)
@@ -277,7 +279,7 @@ class ControlStationUI(QMainWindow):
         # ================================================================================
         self.mission_planner = FormationPlanner(
             spacing=5.0,           # 5 公尺間距
-            base_altitude=10.0,    # 基準高度 10 公尺
+            base_altitude=30.0,    # 基準高度 30 公尺
             altitude_diff=2.0      # 高低差 2 公尺
         )
         # ================================================================================
@@ -297,6 +299,7 @@ class ControlStationUI(QMainWindow):
         self.active_group_id = None     # 當前 active 的 group
         self._group_counter = 0         # 用來產生 group_id
         self._pending_box_assign = None # 框選後直接分配到的 group_id
+        self._auto_engagement_setup_applied = False
         # ================================================================================
         self.global_mission_defaults = dict(DEFAULT_MISSION_PARAM_VALUES)
         self.font_scale = self.FONT_SCALE_DEFAULT / 100.0
@@ -449,7 +452,7 @@ class ControlStationUI(QMainWindow):
         self.right_vertical_splitter.setChildrenCollapsible(False)
         self.right_vertical_splitter.setStretchFactor(0, 0)
         self.right_vertical_splitter.setStretchFactor(1, 1)
-        self.right_vertical_splitter.setSizes([180, 640])
+        self.right_vertical_splitter.setSizes([210, 640])
         right_layout.addWidget(self.right_vertical_splitter)
 
         # 添加地圖
@@ -873,6 +876,16 @@ class ControlStationUI(QMainWindow):
             'drone', f"/fc_network/vehicle/{sys_id}/status_text "
                      f"[{label}] {data.get('text', '')}")
 
+    def _record_xbee_ack(self, connection_name, data):
+        """將 XBee JSON ACK 顯示於既有無人機紀錄與狀態列。"""
+        command = data.get('command', '-')
+        result = data.get('result', '-')
+        message = data.get('message', '-')
+        text = (f"{connection_name} XBee ACK｜命令:{command} "
+                f"狀態:{result} 訊息:{message}")
+        self._append_history('drone', text)
+        self.statusBar().showMessage(text, 5000)
+
     def _record_sys_diags_warning(self, sys_id, data):
         """sys_diags 只在診斷值異常或內容改變時顯示警告。"""
         installed = int(data.get('sensors_install_mask', 0))
@@ -1062,8 +1075,11 @@ class ControlStationUI(QMainWindow):
     def handle_serial_connection_added(self, port, baudrate):
         conn = {'name': 'Serial', 'port': port, 'baudrate': baudrate, 'enabled': False, 'receiver': None}
         self.serial_connections.append(conn)
-        self.comm_panel.add_serial_panel(conn)
-        self.statusBar().showMessage(f"已添加 Serial 連接: {port} @ {baudrate}", 3000)
+        panel = self.comm_panel.add_serial_panel(conn)
+        # Serial 新增後立即啟動；若啟動失敗，面板仍保留為停止狀態，
+        # 使用者可在排除連線問題後手動重試。
+        self.toggle_serial_connection(
+            conn, panel.toggle_btn, panel.status_label)
     
     def toggle_serial_connection(self, conn, btn, status_label):
         if conn.get('enabled', False):
@@ -1133,7 +1149,7 @@ class ControlStationUI(QMainWindow):
 
     def handle_takeoff(self, drone_id):
         loop = asyncio.get_event_loop()
-        future = self.monitor.takeoff_drone(drone_id, 10.0)
+        future = self.monitor.takeoff_drone(drone_id, 30.0)
         loop.create_task(self.handle_service_response(future, f"起飛 {drone_id}"))
 
     def handle_setpoint_selected(self):
@@ -1218,7 +1234,7 @@ class ControlStationUI(QMainWindow):
         
         loop = asyncio.get_event_loop()
         for drone_id in selected:
-            future = self.monitor.takeoff_drone(drone_id, 10.0)
+            future = self.monitor.takeoff_drone(drone_id, 30.0)
             loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
 
     # ================================================================================
@@ -1278,6 +1294,7 @@ class ControlStationUI(QMainWindow):
         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.xbee_command_requested.connect(self._handle_xbee_command)
         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)
@@ -1304,6 +1321,7 @@ class ControlStationUI(QMainWindow):
         """切換 group tab — 只需切換 active group 並刷新 UI"""
         if index < 0:
             self.active_group_id = None
+            self._sync_map_follow_for_active_group()
             return
 
         tab_text = self.group_tab_widget.tabText(index)
@@ -1331,6 +1349,13 @@ class ControlStationUI(QMainWindow):
         group = self._get_active_group()
         selected = group.selected_drone_ids if group else set()
         current_group_id = group.group_id if group else None
+        selection_history = getattr(
+            self, '_last_map_selection_by_group', {})
+        previous_selected = selection_history.get(current_group_id, set())
+        newly_selected = set(selected) - set(previous_selected)
+        if current_group_id is not None:
+            selection_history[current_group_id] = set(selected)
+        self._last_map_selection_by_group = selection_history
 
         # 左側 drone checkbox
         for drone_id, panel in self.drones.items():
@@ -1358,6 +1383,23 @@ class ControlStationUI(QMainWindow):
                 panel.update_status()
 
         self._sync_map_group_colors()
+        self._sync_map_follow_for_active_group()
+        if newly_selected:
+            # 選取 UAV 時移動到該機目前位置；非任務狀態只移動一次。
+            self.drone_map.focus_on_drone(sorted(newly_selected)[0])
+
+    def _sync_map_follow_for_active_group(self):
+        """只在 active group 的任務執行中啟用地圖 UAV 跟隨。"""
+        group = self._get_active_group()
+        running = bool(
+            group is not None
+            and group.executor is not None
+            and group.executor.state == MissionState.RUNNING
+        )
+        preferred_drone_id = None
+        if running and group.selected_drone_ids:
+            preferred_drone_id = sorted(group.selected_drone_ids)[0]
+        self.drone_map.set_mission_following(running, preferred_drone_id)
 
     def _sync_map_group_colors(self):
         """同步每台 drone 的 group 顏色到地圖箭頭外框。"""
@@ -1524,6 +1566,7 @@ class ControlStationUI(QMainWindow):
                 group.executor.hover_stable_sec = ep.get(
                     'hover_stable_sec', group.executor.hover_stable_sec)
         group.executor.start(group.planned_waypoints)
+        self._sync_map_follow_for_active_group()
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1540,6 +1583,7 @@ class ControlStationUI(QMainWindow):
         elif group.executor.state == MissionState.PAUSED:
             group.executor.resume()
             self.statusBar().showMessage(f"Group {group_id}: 任務已恢復", 3000)
+        self._sync_map_follow_for_active_group()
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1551,8 +1595,12 @@ class ControlStationUI(QMainWindow):
             return
         if group.executor:
             group.executor.stop()
+        self._sync_map_follow_for_active_group()
         group.planned_waypoints = None
+        group.mission_target = None
         self.drone_map.clear_mission_plan_for_group(group_id)
+        self.drone_map.clear_grid_sweep_area_for_group(
+            group_id, restart_selection=(group.mission_type == 'GRID_SWEEP'))
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1666,6 +1714,81 @@ class ControlStationUI(QMainWindow):
             future = self.monitor.reboot_drone(drone_id)
             loop.create_task(self.handle_service_response(future, f"重啟飛控 {drone_id}"))
 
+    def _handle_xbee_command(self, group_id, command):
+        """依 UAV 所屬連線透過 Serial 或 WebSocket 發送 XBee JSON 指令。"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            self.statusBar().showMessage(f"Group {group_id} 不存在", 3000)
+            return
+
+        selected = sorted(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage(
+                f"Group {group_id}: 請先分配無人機", 3000)
+            return
+
+        command = str(command).upper()
+        position = None
+        if command == 'GOTO':
+            position = group.mission_target
+            if position is None:
+                self.statusBar().showMessage(
+                    f"Group {group_id}: 請先在地圖點選目標點", 4000)
+                return
+
+        receivers_by_socket = {}
+        for conn in self.serial_connections:
+            receiver = conn.get('receiver')
+            if conn.get('enabled') and receiver is not None:
+                receivers_by_socket[str(receiver.socket_id)] = (
+                    receiver, 'Serial')
+        for conn in self.ws_connections:
+            receiver = conn.get('receiver')
+            if conn.get('enabled') and receiver is not None:
+                receivers_by_socket[str(receiver.socket_id)] = (
+                    receiver, 'WebSocket')
+
+        sent = []
+        failed = []
+        for drone_id in selected:
+            match = re.fullmatch(r's(\d+)_(\d+)', drone_id)
+            if not match:
+                failed.append(f"{drone_id}(ID格式錯誤)")
+                continue
+
+            socket_id, system_id = match.groups()
+            route = receivers_by_socket.get(socket_id)
+            if route is None:
+                failed.append(f"{drone_id}(無可用Serial/WebSocket)")
+                continue
+
+            receiver, transport = route
+            try:
+                payload = receiver.send_json_command(
+                    int(system_id), command, position=position)
+                sent.append(drone_id)
+                self._append_history(
+                    'gui', f"{drone_id} XBee {transport} TX｜{payload}")
+            except Exception as e:
+                failed.append(f"{drone_id}({e})")
+
+        if sent and not failed:
+            target_text = (
+                f" → {position[0]:.7f}, {position[1]:.7f}"
+                if position is not None else ""
+            )
+            self.statusBar().showMessage(
+                f"Group {group_id}: XBee {command} 已送至 "
+                f"{len(sent)} 台{target_text}", 4000)
+        elif sent:
+            self.statusBar().showMessage(
+                f"Group {group_id}: XBee {command} 已送 {len(sent)} 台；"
+                f"失敗 {len(failed)} 台：{', '.join(failed)}", 6000)
+        else:
+            self.statusBar().showMessage(
+                f"Group {group_id}: XBee {command} 未送出："
+                f"{', '.join(failed)}", 6000)
+
     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
@@ -1754,9 +1877,11 @@ class ControlStationUI(QMainWindow):
 
         group.selected_drone_ids.clear()
         group.planned_waypoints = None
+        group.mission_target = None
         if group.executor:
             group.executor.stop()
         self.drone_map.clear_mission_plan_for_group(group_id)
+        self.drone_map.clear_grid_sweep_area_for_group(group_id)
 
         # 只有當操作目標組是 active 組時，才更新 UI
         if group_id == self.active_group_id:
@@ -1791,6 +1916,7 @@ class ControlStationUI(QMainWindow):
         
         # 移除地圖上的任務計畫
         self.drone_map.clear_mission_plan_for_group(group_id)
+        self.drone_map.clear_grid_sweep_area_for_group(group_id)
         
         # 移除 tab
         for i in range(self.group_tab_widget.count()):
@@ -1826,6 +1952,7 @@ class ControlStationUI(QMainWindow):
 
     def _on_group_mission_completed(self, group_id):
         """群組任務完成回呼"""
+        self._sync_map_follow_for_active_group()
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1837,6 +1964,9 @@ class ControlStationUI(QMainWindow):
 
     def update_ui(self, msg_type, drone_id, data):
         """只做數據快取，不在這裡更新 UI"""
+        if msg_type == 'xbee_ack':
+            self._record_xbee_ack(drone_id, data)
+            return
         if msg_type == 'status_text':
             self._record_drone_status(drone_id, data)
             return
@@ -1859,7 +1989,6 @@ class ControlStationUI(QMainWindow):
         
         if drone_id not in self.drones:
             self.add_drone(drone_id)
-            return
 
         # 只做資料快取，不更新 UI - 所有 UI 更新都在 _update_panel_and_map 中進行
         if drone_id not in self._message_cache:
@@ -2133,6 +2262,11 @@ class ControlStationUI(QMainWindow):
 
         center_lat, center_lon, _ = center_origin
         target_lat, target_lon = context['draw_target']
+        group.mission_target = (float(target_lat), float(target_lon))
+        if expected_mission_type == 'GRID_SWEEP':
+            # Grid Sweep 的範圍已由矩形圖層表示，不另外顯示中心／目標點。
+            self.drone_map.clear_mission_plan_for_group(group_id)
+        else:
             self.drone_map.draw_mission_plan_for_group(
                 group_id, group.color,
                 center_lat, center_lon, target_lat, target_lon
@@ -2163,6 +2297,9 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage("請先建立任務群組", 3000)
             return
 
+        # 不論後續是否能進行任務規劃，都先記錄最新點擊的目標點。
+        group.mission_target = (float(lat), float(lon))
+
         mode_map = {
             'M_FORMATION': MissionType.M_FORMATION,
             'CIRCLE_FORMATION': MissionType.CIRCLE_FORMATION,
@@ -2179,7 +2316,7 @@ class ControlStationUI(QMainWindow):
         _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))
+        base_alt = params.get('base_altitude', params.get('altitude', 30.0))
         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)
@@ -2225,9 +2362,13 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage("矩形座標解析失敗", 3000)
             return
 
+        # 將確認後的框選範圍存入群組專屬圖層，供停止任務時精準清除。
+        self.drone_map.draw_grid_sweep_area_for_group(
+            group.group_id, group.color, rect_corners)
+
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
-        base_alt = params.get('altitude', 10.0)
+        base_alt = params.get('altitude', 30.0)
         self.statusBar().showMessage(
             f"Group {group.group_id}: 正在規劃 Grid Sweep ({len(selected_drones)} 台)", 2000)
         drone_gps_positions = self._collect_drone_gps(selected_drones)
@@ -2288,7 +2429,7 @@ class ControlStationUI(QMainWindow):
 
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
-        base_alt = params.get('altitude', 10.0)
+        base_alt = params.get('altitude', 30.0)
         self.statusBar().showMessage(
             f"Group {group.group_id}: 正在規劃跟隨模式 ({len(selected_drones)} 台)", 2000)
 
@@ -2441,7 +2582,7 @@ class ControlStationUI(QMainWindow):
     def _format_gnss_fix_type(fix_type):
         fix_labels = {
             0: "No GPS",
-            1: "No GPS",
+            1: "No Fix",
             2: "2D Fix",
             3: "3D Fix",
             4: "DGPS",
@@ -2451,7 +2592,7 @@ class ControlStationUI(QMainWindow):
         try:
             return fix_labels.get(int(fix_type), f"Fix {fix_type}")
         except (TypeError, ValueError):
-            return "--"
+            return "-"
 
     def update_overview_table(self, drone_id=None, field=None, value=None):
         if not hasattr(self, 'overview_table') or self.overview_table is None: return
@@ -2494,16 +2635,59 @@ class ControlStationUI(QMainWindow):
         MissionPhase.IDLE.value: "待機（尚未設定敵機/A 組）",
         MissionPhase.WATCH.value: "監看偵測中",
         MissionPhase.DETECTED.value: "已偵測到敵機 — 等待確認重編隊",
-        MissionPhase.PURSUE.value: "前進中（4 機 leader-follow）",
+        MissionPhase.CONVERGE.value: "收斂中（動態分配包圍位置）",
         MissionPhase.ENCIRCLE.value: "包圍中",
+        MissionPhase.TARGET_LOST.value: "敵機定位遺失（友機保持位置）",
     }
 
+    def _engagement_gps_provider(self):
+        """
+        提供交戰編排器完整的定位快照。
+
+        GPS 與 VFR_HUD/heading 是不同訊息來源；monitor.drone_gps 原本只有
+        lat/lon/alt，因此在這裡把 GUI 最新 heading 合併進去，避免下一筆 GPS
+        覆蓋資料後讓交戰 X 陣形失去敵機機首方向。
+        """
+        if hasattr(self.monitor, 'get_drone_gps_snapshot'):
+            snapshot = self.monitor.get_drone_gps_snapshot()
+        else:
+            source = getattr(self.monitor, 'drone_gps', {})
+            snapshot = {
+                drone_id: dict(pos)
+                for drone_id, pos in source.items()
+                if isinstance(pos, dict)
+            }
+        now = time.monotonic()
+        for position in snapshot.values():
+            relative_updated_at = position.get('_relative_alt_updated_at')
+            relative_is_fresh = (
+                position.get('_altitude_reference') == 'relative_home'
+                and isinstance(relative_updated_at, (int, float))
+                and 0.0 <= now - relative_updated_at
+                <= self.ENGAGEMENT_TELEMETRY_TIMEOUT_SEC
+            )
+            if not relative_is_fresh:
+                # 不得把 AMSL 或過期高度帶入 GLOBAL_RELATIVE_ALT 指令。
+                position.pop('alt', None)
+        for drone_id, heading in self.drone_headings.items():
+            updated_at = self.drone_heading_updated_at.get(drone_id)
+            heading_is_fresh = (
+                isinstance(updated_at, (int, float))
+                and now - updated_at <= 2.0
+            )
+            if (drone_id in snapshot
+                    and isinstance(heading, (int, float))
+                    and heading_is_fresh):
+                snapshot[drone_id]['heading'] = float(heading) % 360.0
+        return snapshot
+
     def _init_orchestrator(self):
         """建立 MissionOrchestrator，用 callback 與 GUI 解耦。"""
         self.orchestrator = MissionOrchestrator(
             make_executor=self._make_orchestrator_executor,
-            gps_provider=lambda: self.monitor.drone_gps,
+            gps_provider=self._engagement_gps_provider,
             stop_groups_fn=self._stop_engagement_group_missions,
+            target_lost_timeout_sec=self.ENGAGEMENT_TELEMETRY_TIMEOUT_SEC,
         )
         self._engagement_a_group = None
         self._engagement_b_group = None
@@ -2638,6 +2822,61 @@ class ControlStationUI(QMainWindow):
         # 同步敵機下拉選單（保留當前選擇）
         if hasattr(self, 'engagement_panel'):
             self.engagement_panel.refresh_drone_list(list(self.drones.keys()))
+            self._try_auto_engagement_setup()
+
+    def _try_auto_engagement_setup(self):
+        """sysid 11~15 全部出現時，自動建立 ABC 編組並設定交戰面板。"""
+        if self._auto_engagement_setup_applied:
+            return
+
+        drones_by_sysid = {}
+        for did in sorted(self.drones):
+            match = re.fullmatch(r's\d+_(\d+)', did)
+            if match:
+                drones_by_sysid.setdefault(int(match.group(1)), did)
+
+        required_sysids = {11, 12, 13, 14, 15}
+        if not required_sysids.issubset(drones_by_sysid):
+            return
+
+        # 正常啟動時已有 A；補建 B、C。
+        while self._group_counter < 3:
+            self._add_mission_group()
+        if not {'A', 'B', 'C'}.issubset(self.mission_groups):
+            _log("WARN", "自動交戰編組失敗：找不到完整的 Group A/B/C")
+            return
+
+        assignments = {
+            'A': {drones_by_sysid[11], drones_by_sysid[12]},
+            'B': {drones_by_sysid[13], drones_by_sysid[14]},
+            'C': {drones_by_sysid[15]},
+        }
+        for gid, members in assignments.items():
+            group = self.mission_groups[gid]
+            if group.executor:
+                group.executor.stop()
+            group.selected_drone_ids = set(members)
+            group.planned_waypoints = None
+            group.mission_target = None
+            panel = self.group_panels.get(gid)
+            if panel:
+                panel.update_drone_list()
+                panel.update_status()
+                panel.clear_mission_info()
+
+        self._auto_engagement_setup_applied = True
+        self.refresh_selection_ui()
+        labels = [(gid, group.display_name)
+                  for gid, group in self.mission_groups.items()]
+        self.engagement_panel.refresh_group_list(labels)
+        enemy_id = drones_by_sysid[15]
+        if not self.engagement_panel.set_configuration(enemy_id, 'A', 'B'):
+            _log("WARN", "自動交戰編組完成，但交戰面板設定失敗")
+            return
+        self._sync_orchestrator_config()
+        self.statusBar().showMessage(
+            "已自動設定交戰：A=sysid 11,12；B=sysid 13,14；敵機=sysid 15（Group C）",
+            6000)
 
     def reorganize_socket_groups(self):
         while self.drone_panel_layout.count():
@@ -2687,15 +2926,21 @@ class ControlStationUI(QMainWindow):
                 # 處理所有快取的消息類型
                 for msg_type, data in cached_data.items():
                     if msg_type == 'state':
-                        mode = data.get('mode', 'UNKNOWN')
+                        mode_value = data.get('mode')
+                        mode = str(mode_value) if mode_value is not None else '-'
                         armed = data.get('armed', None)
-                        mode_color = '#FF5555' if any(x in mode.upper() for x in ['RTL', '返航', 'EMERGENCY']) else '#55FF55'
+                        if mode == '-':
+                            mode_color = '#AAAAAA'
+                        else:
+                            mode_color = '#FF5555' if any(
+                                x in mode.upper() for x in ['RTL', '返航', 'EMERGENCY']
+                            ) else '#55FF55'
                         if armed is True:
                             arm_text, arm_color = "ARMED", '#55FF55'
                         elif armed is False:
                             arm_text, arm_color = "DISARMED", '#FF5555'
                         else:
-                            arm_text, arm_color = "--", '#AAAAAA'
+                            arm_text, arm_color = "-", '#AAAAAA'
                         self.update_field(panel, drone_id, 'mode', mode, mode_color)
                         self.update_field(panel, drone_id, 'armed', arm_text, arm_color)
                         self.queue_overview_update(drone_id, 'mode', mode)
@@ -2703,42 +2948,59 @@ class ControlStationUI(QMainWindow):
                     
                     elif msg_type == 'battery':
                         voltage = data.get('voltage')
-                        cells = round(voltage / 3.95) if voltage is not None else None
-                        percentage = (
+                        cells = round(voltage / 3.95) if isinstance(voltage, (int, float)) else None
+                        calculated_percentage = (
                             (voltage / cells - 3.7) / 0.5 * 100
-                            if voltage is not None and cells and cells > 0
-                            else data.get('percentage', 0)
+                            if isinstance(voltage, (int, float)) and cells and cells > 0
+                            else None
                         )
+                        percentage = data.get('percentage')
+                        if not isinstance(percentage, (int, float)):
+                            percentage = calculated_percentage
+                        if isinstance(percentage, (int, float)):
                             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:
+                            percentage_text = f"{percentage:.0f}%"
+                        else:
+                            voltage_color = '#AAAAAA'
+                            percentage_text = '-'
+                        self.update_field(panel, drone_id, 'battery_pct', percentage_text, voltage_color)
+                        if isinstance(voltage, (int, float)):
                             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")
+                        elif data.get('_snapshot'):
+                            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', percentage_text)
                         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}%")
+                            self.queue_overview_update(drone_id, 'battery', percentage_text)
                     
                     elif msg_type == 'altitude':
-                        altitude = data.get('altitude', 0)
-                        text = f"{altitude:.1f} m"
+                        altitude = data.get('altitude')
+                        text = f"{altitude:.1f} m" if isinstance(altitude, (int, float)) else '-'
                         self.update_field(panel, drone_id, 'altitude', text)
                         self.queue_overview_update(drone_id, 'altitude', text)
                     
                     elif msg_type == 'local_pose':
-                        x, y = data.get('x', 0), data.get('y', 0)
+                        x, y = data.get('x'), data.get('y')
+                        if isinstance(x, (int, float)) and isinstance(y, (int, float)):
                             if not hasattr(self.monitor, 'drone_local'):
                                 self.monitor.drone_local = {}
                             self.monitor.drone_local[drone_id] = {'x': x, 'y': y}
-                        self.queue_overview_update(drone_id, 'local', f"{x:.1f}, {y:.1f}")
+                            local_text = f"{x:.1f}, {y:.1f}"
+                        else:
+                            local_text = '-'
+                        self.queue_overview_update(drone_id, 'local', local_text)
                     
                     elif msg_type == 'loss_rate':
                         text = f"{data.get('loss_rate', 0):.1f}%"
@@ -2751,24 +3013,52 @@ class ControlStationUI(QMainWindow):
                         self.queue_overview_update(drone_id, 'ping', text)
                     
                     elif msg_type == 'velocity':
-                        self.queue_overview_update(drone_id, 'velocity', f"{data['vx']:.1f}, {data['vy']:.1f}")
+                        vx, vy = data.get('vx'), data.get('vy')
+                        velocity_text = (
+                            f"{vx:.1f}, {vy:.1f}"
+                            if isinstance(vx, (int, float)) and isinstance(vy, (int, float))
+                            else '-'
+                        )
+                        self.queue_overview_update(drone_id, 'velocity', velocity_text)
                     
                     elif msg_type == 'attitude':
-                        roll, pitch, yaw = data.get('roll', 0), data.get('pitch', 0), data.get('yaw', 0)
-                        self.queue_overview_update(drone_id, 'roll', f"{roll:.1f}°")
-                        self.queue_overview_update(drone_id, 'pitch', f"{pitch:.1f}°")
-                        self.queue_overview_update(drone_id, 'yaw', f"{yaw:.1f}°")
+                        roll, pitch, yaw = data.get('roll'), data.get('pitch'), data.get('yaw')
+                        self.queue_overview_update(
+                            drone_id, 'roll',
+                            f"{roll:.1f}°" if isinstance(roll, (int, float)) else '-'
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'pitch',
+                            f"{pitch:.1f}°" if isinstance(pitch, (int, float)) else '-'
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'yaw',
+                            f"{yaw:.1f}°" if isinstance(yaw, (int, float)) else '-'
+                        )
                     
                     elif msg_type == 'gps':
-                        gps_data = data
-                        lat, lon = gps_data.get('lat', 0), gps_data.get('lon', 0)
+                        gps_data = dict(data)
+                        lat, lon = gps_data.get('lat'), gps_data.get('lon')
+                        has_position = (
+                            isinstance(lat, (int, float)) and isinstance(lon, (int, float))
+                        )
+                        if has_position:
                             self.drone_positions[drone_id] = (lat, lon)
                             self._map_dirty_drones.add(drone_id)
                             if not hasattr(self.monitor, 'drone_gps'):
                                 self.monitor.drone_gps = {}
-                        self.monitor.drone_gps[drone_id] = gps_data.copy()
-                        self.queue_overview_update(drone_id, 'latitude', f"{lat:.6f}°")
-                        self.queue_overview_update(drone_id, 'longitude', f"{lon:.6f}°")
+                            # ROS callback 已先寫入含時間戳的快照；其餘來源的
+                            # GLOBAL_POSITION_INT/JSON 高度均定義為相對 Home。
+                            if '_gps_updated_at' not in gps_data:
+                                gps_data = self.monitor.record_relative_gps(
+                                    drone_id, gps_data
+                                )
+                        self.queue_overview_update(
+                            drone_id, 'latitude', f"{lat:.6f}°" if has_position else '-'
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'longitude', f"{lon:.6f}°" if has_position else '-'
+                        )
                         fix_type = gps_data.get('fix_type')
                         satellites_visible = gps_data.get('satellites_visible')
                         eph = gps_data.get('eph')
@@ -2778,7 +3068,7 @@ class ControlStationUI(QMainWindow):
                         if isinstance(eph, (int, float)) and isinstance(epv, (int, float)):
                             error_text = f"{eph:.1f}/{epv:.1f}"
                         else:
-                            error_text = "--"
+                            error_text = "-"
                         self.update_field(panel, drone_id, 'gnss_error', error_text)
                         self.queue_overview_update(
                             drone_id, 'fix_type',
@@ -2786,38 +3076,42 @@ class ControlStationUI(QMainWindow):
                         )
                         self.queue_overview_update(
                             drone_id, 'satellites_visible',
-                            str(satellites_visible) if satellites_visible is not None else "--"
+                            str(satellites_visible) if satellites_visible is not None else "-"
                         )
                         self.queue_overview_update(
                             drone_id, 'eph',
-                            f"{eph:.2f}" if isinstance(eph, (int, float)) else "--"
+                            f"{eph:.2f}" if isinstance(eph, (int, float)) else "-"
                         )
                         self.queue_overview_update(
                             drone_id, 'epv',
-                            f"{epv:.2f}" if isinstance(epv, (int, float)) else "--"
+                            f"{epv:.2f}" if isinstance(epv, (int, float)) else "-"
                         )
                     
                     elif msg_type == 'hud':
                         hud_data = data
-                        heading = hud_data.get('heading', 0)
+                        heading = hud_data.get('heading')
+                        if isinstance(heading, (int, float)):
                             self.drone_headings[drone_id] = heading
+                            self.drone_heading_updated_at[drone_id] = time.monotonic()
                             self._map_dirty_drones.add(drone_id)
-                        groundspeed = hud_data.get('groundspeed', 0)
-                        airspeed = hud_data.get('airspeed', 0)
-                        throttle = hud_data.get('throttle', 0)
-                        hud_alt = hud_data.get('alt', 0)
-                        climb = hud_data.get('climb', 0)
+                        groundspeed = hud_data.get('groundspeed')
+                        airspeed = hud_data.get('airspeed')
+                        throttle = hud_data.get('throttle')
+                        hud_alt = hud_data.get('alt')
+                        climb = hud_data.get('climb')
                         
-                        self.queue_overview_update(drone_id, 'heading', f"{heading:.1f}°")
-                        self.queue_overview_update(drone_id, 'groundspeed', f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else "--")
-                        self.queue_overview_update(drone_id, 'airspeed', f"{airspeed:.1f} m/s" if isinstance(airspeed, (int, float)) else "--")
-                        self.queue_overview_update(drone_id, 'throttle', f"{throttle:.0f}%" if isinstance(throttle, (int, float)) else "--")
-                        self.queue_overview_update(drone_id, 'hud_alt', f"{hud_alt:.1f} m" if isinstance(hud_alt, (int, float)) else "--")
-                        self.queue_overview_update(drone_id, 'climb', f"{climb:.1f} m/s" if isinstance(climb, (int, float)) else "--")
+                        heading_text = f"{heading:.1f}°" if isinstance(heading, (int, float)) else '-'
+                        groundspeed_text = f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else '-'
+                        self.queue_overview_update(drone_id, 'heading', heading_text)
+                        self.queue_overview_update(drone_id, 'groundspeed', groundspeed_text)
+                        self.queue_overview_update(drone_id, 'airspeed', f"{airspeed:.1f} m/s" if isinstance(airspeed, (int, float)) else "-")
+                        self.queue_overview_update(drone_id, 'throttle', f"{throttle:.0f}%" if isinstance(throttle, (int, float)) else "-")
+                        self.queue_overview_update(drone_id, 'hud_alt', f"{hud_alt:.1f} m" if isinstance(hud_alt, (int, float)) else "-")
+                        self.queue_overview_update(drone_id, 'climb', f"{climb:.1f} m/s" if isinstance(climb, (int, float)) else "-")
                         
-                        self.update_field(panel, drone_id, 'heading', f"{heading:.1f}°")
-                        self.update_field(panel, drone_id, 'groundspeed', f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else "--")
-                        self.update_field(panel, drone_id, 'speed', f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else "--")
+                        self.update_field(panel, drone_id, 'heading', heading_text)
+                        self.update_field(panel, drone_id, 'groundspeed', groundspeed_text)
+                        self.update_field(panel, drone_id, 'speed', groundspeed_text)
                         
             
             elapsed = (time.time() - start_time) * 1000
@@ -2857,9 +3151,13 @@ class ControlStationUI(QMainWindow):
             if not panel or not hasattr(panel, 'update_attitude'):
                 continue
 
-            roll = data.get('roll', 0)
-            pitch = data.get('pitch', 0)
-            yaw = data.get('yaw', 0)
+            roll = data.get('roll')
+            pitch = data.get('pitch')
+            yaw = data.get('yaw')
+            # The ADI is graphical and cannot render '-'. Keep its last valid
+            # pose while the text/table fields show missing snapshot values.
+            if not all(isinstance(value, (int, float)) for value in (roll, pitch, yaw)):
+                continue
             heading = self.drone_headings.get(drone_id, yaw)
 
             panel._last_roll = roll

src/GUI/map_layout.py

@@ -21,6 +21,8 @@ class DroneMap:
         self.font_scale = 1.0
         self.socket_colors = {}
         self.drone_group_colors = {}
+        self.mission_following_enabled = False
+        self.mission_following_drone_id = None
         
         # 創建橋接對象
         self.bridge = MapBridge()
@@ -199,16 +201,18 @@ class DroneMap:
                     bridge = channel.objects.bridge;
                 });
 
-                var map = L.map('map').setView([0, 0], 19); 
+                var map = L.map('map', {maxZoom: 20}).setView([0, 0], 19);
                 
                 // 創建不同的地圖圖層
                 var streetLayer = L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
-                    maxZoom: 19,
+                    maxNativeZoom: 19,
+                    maxZoom: 20,
                     attribution: '© OpenStreetMap contributors'
                 });
                 
                 var satelliteLayer = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
-                    maxZoom: 19,
+                    maxNativeZoom: 19,
+                    maxZoom: 20,
                     attribution: 'Tiles © Esri'
                 });
                 
@@ -217,7 +221,6 @@ class DroneMap:
                 currentLayer.addTo(map);
                 var isSatellite = true;
 
-
                 // 地圖點擊事件
                 map.on('click', function(e) {
                     if (selectionMode === 'polygon') {
@@ -349,6 +352,7 @@ class DroneMap:
                 var socketColors = {};
                 var droneGroupColors = {};
                 var focusedId = null;
+                var missionFollowingEnabled = false;
                 var initialized = false;
                 var trajectoryGroup = L.layerGroup().addTo(map);
 
@@ -364,6 +368,8 @@ class DroneMap:
 
                 // 多群組任務規劃 — 每個 group 各自的 layer group
                 var groupMissionLayers = {};  // group_id → L.layerGroup
+                // Grid Sweep 框選範圍也依群組保存，停止時可單獨清除。
+                var gridSweepAreaLayers = {};  // group_id → L.layerGroup
                 
                 // 選擇工具變量
                 var selectionMode = null;  // 'drones', 'rect', 'polygon', 'route', null
@@ -577,23 +583,6 @@ class DroneMap:
                             [bounds.getSouth(), bounds.getEast()],
                             [bounds.getSouth(), bounds.getWest()]
                         ];
-                        
-                        L.rectangle(bounds, {
-                            color: '#FF6B6B',
-                            fillColor: '#FF6B6B',
-                            fillOpacity: 0.2,
-                            weight: 2
-                        }).addTo(selectionLayer);
-                        
-                        rectPoints.forEach(point => {
-                            L.circleMarker(point, {
-                                radius: 5,
-                                color: '#FF6B6B',
-                                fillColor: '#FF6B6B',
-                                fillOpacity: 0.8
-                            }).addTo(selectionLayer);
-                        });
-                        
                         if (bridge) {
                             var pointsStr = JSON.stringify(rectPoints);
                             bridge.rectangleSelected(pointsStr);
@@ -767,15 +756,34 @@ class DroneMap:
 
                 function focusOn(id) {
                     if (!markers[id]) return;
-                    focusedId = id;
+                    // 非任務狀態只移動一次；任務執行中才記住焦點持續跟隨。
+                    focusedId = missionFollowingEnabled ? id : null;
                     var latlng = markers[id].getLatLng();
                     autoCenteringMap = true;
                     map.flyTo(latlng, map.getZoom());
                     setTimeout(() => { autoCenteringMap = false; }, 500);
                 }
 
-                setInterval(() => {
+                function setMissionFollowingEnabled(enabled, preferredId) {
+                    missionFollowingEnabled = Boolean(enabled);
+                    if (!missionFollowingEnabled) {
+                        // 非任務狀態不跟隨 UAV 或目標點，保留使用者手動地圖視角。
+                        focusedId = null;
+                        return;
+                    }
+
+                    // 任務已在執行時保留原有焦點；尚無焦點時跟隨指定 UAV。
                     if (focusedId && markers[focusedId]) {
+                        return;
+                    }
+                    if (preferredId && markers[preferredId]) {
+                        focusOn(preferredId);
+                        initialized = true;
+                    }
+                }
+
+                setInterval(() => {
+                    if (missionFollowingEnabled && focusedId && markers[focusedId]) {
                         var latlng = markers[focusedId].getLatLng();
                         autoFollowPanTo(latlng);
                     }
@@ -793,7 +801,7 @@ class DroneMap:
                             .setLatLng([lat, lon])
                             .setRotationAngle(heading);
                         idLabels[id].setLatLng([lat, lon]);
-                        if (id === focusedId) {
+                        if (missionFollowingEnabled && id === focusedId) {
                             autoFollowPanTo(markers[id].getLatLng());
                         }
                     } else {
@@ -813,7 +821,6 @@ class DroneMap:
                             if (bridge) {
                                 bridge.emitDroneClicked(id);
                             }
-                            focusOn(id);
                         })
                         .addTo(map);
 
@@ -828,14 +835,23 @@ class DroneMap:
                             if (bridge) {
                                 bridge.emitDroneClicked(id);
                             }
-                            focusOn(id);
                         })
                         .addTo(map);
 
-                        if (!initialized || id < focusedId) {
+                        if (!initialized) {
+                            // 第一次收到 UAV 位置時只做一次初始置中，
+                            // 非任務狀態不設 focusedId，所以後續不會跟隨。
+                            if (missionFollowingEnabled) {
+                                focusedId = id;
+                            }
+                            autoCenteringMap = true;
+                            map.setView([lat, lon], 19);
+                            setTimeout(() => { autoCenteringMap = false; }, 300);
+                            initialized = true;
+                        } else if (missionFollowingEnabled &&
+                                   (!focusedId || id < focusedId)) {
                             focusedId = id;
                             map.setView([lat, lon], 19);
-                            initialized = true;
                         }
                     }
                 }
@@ -943,6 +959,41 @@ class DroneMap:
                     }
                 }
 
+                function drawGridSweepAreaForGroup(groupId, color, rectPoints) {
+                    clearGridSweepAreaForGroup(groupId);
+                    var layerGroup = L.layerGroup().addTo(map);
+                    gridSweepAreaLayers[groupId] = layerGroup;
+                    var bounds = L.latLngBounds(rectPoints);
+
+                    L.rectangle(bounds, {
+                        color: color,
+                        fillColor: color,
+                        fillOpacity: 0.2,
+                        weight: 2
+                    }).addTo(layerGroup);
+                    rectPoints.forEach(point => {
+                        L.circleMarker(point, {
+                            radius: 5,
+                            color: color,
+                            fillColor: color,
+                            fillOpacity: 0.8
+                        }).addTo(layerGroup);
+                    });
+                }
+
+                function clearGridSweepAreaForGroup(groupId, restartSelection) {
+                    if (gridSweepAreaLayers[groupId]) {
+                        map.removeLayer(gridSweepAreaLayers[groupId]);
+                        delete gridSweepAreaLayers[groupId];
+                    }
+                    if (restartSelection) {
+                        clearSelectionMode();
+                        selectionMode = 'rect';
+                        map.dragging.disable();
+                        console.log('Grid Sweep: 已清除範圍並重新進入框選模式');
+                    }
+                }
+
                 function clearAllMissionPlans() {
                     for (var gid in groupMissionLayers) {
                         map.removeLayer(groupMissionLayers[gid]);
@@ -975,6 +1026,9 @@ class DroneMap:
             self.set_font_scale(self.font_scale)
             self.set_socket_colors(self.socket_colors)
             self.set_drone_group_colors(self.drone_group_colors)
+            self.set_mission_following(
+                self.mission_following_enabled,
+                self.mission_following_drone_id)
         else:
             _log("ERROR", "地圖載入失敗")
     
@@ -1021,6 +1075,17 @@ class DroneMap:
         if self.map_loaded:
             self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
 
+    def set_mission_following(self, enabled, preferred_drone_id=None):
+        """只在任務執行中啟用 UAV 自動跟隨。"""
+        self.mission_following_enabled = bool(enabled)
+        self.mission_following_drone_id = preferred_drone_id
+        if self.map_loaded:
+            preferred_json = json.dumps(preferred_drone_id)
+            self.map_view.page().runJavaScript(
+                "setMissionFollowingEnabled("
+                f"{str(self.mission_following_enabled).lower()}, "
+                f"{preferred_json});")
+
     def set_font_scale(self, scale):
         """設定地圖 HTML 控制項的字體倍率。"""
         self.font_scale = scale
@@ -1065,6 +1130,23 @@ class DroneMap:
             self.map_view.page().runJavaScript(f"clearMissionPlanForGroup('{group_id}');")
             _log("INFO", f"地圖已清除 Group {group_id} 任務規劃")
 
+    def draw_grid_sweep_area_for_group(self, group_id, color, rect_corners):
+        """繪製指定群組的 Grid Sweep 框選範圍。"""
+        if self.map_loaded:
+            group_json = json.dumps(group_id)
+            color_json = json.dumps(color)
+            corners_json = json.dumps(rect_corners)
+            self.map_view.page().runJavaScript(
+                f"drawGridSweepAreaForGroup({group_json}, {color_json}, {corners_json});")
+
+    def clear_grid_sweep_area_for_group(self, group_id, restart_selection=False):
+        """清除指定群組的 Grid Sweep 範圍，可選擇重新進入框選模式。"""
+        if self.map_loaded:
+            group_json = json.dumps(group_id)
+            restart_js = str(bool(restart_selection)).lower()
+            self.map_view.page().runJavaScript(
+                f"clearGridSweepAreaForGroup({group_json}, {restart_js});")
+
     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）"""
         if self.map_loaded:

src/GUI/mission_group.py

@@ -24,10 +24,10 @@ GROUP_COLORS = [
 
 DEFAULT_MISSION_PARAM_VALUES = {
     'spacing': '5.0',
-    'base_altitude': '10.0',
+    'base_altitude': '30.0',
     'altitude_diff': '2.0',
     'radius': '10.0',
-    'altitude': '10.0',
+    'altitude': '30.0',
     'start_angle': '0',
     'lateral_offset': '3.0',
     'longitudinal_spacing': '5.0',
@@ -57,6 +57,7 @@ class MissionGroup:
         self.planned_waypoints = None        # 規劃結果 dict
         self.executor = None                 # MissionExecutor 實例（延遲建立）
         self.center_origin = None            # 規劃原點
+        self.mission_target = None           # (lat, lon)，最近點擊的地圖目標供 XBee GOTO 使用
         self.leader_drone_id = None          # LEADER_FOLLOWER 專用：指定的領隊無人機 ID
 
     @property
@@ -163,6 +164,7 @@ class GroupPanel(QWidget):
     arm_requested = pyqtSignal(str)                    # group_id
     takeoff_requested = pyqtSignal(str, float)         # group_id, altitude
     reboot_requested = pyqtSignal(str)                 # group_id
+    xbee_command_requested = pyqtSignal(str, str)      # group_id, START/STOP/GOTO
     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
@@ -247,8 +249,8 @@ class GroupPanel(QWidget):
         takeoff_row.setSpacing(3)
         self.alt_input = QComboBox()
         self.alt_input.setEditable(True)
-        self.alt_input.addItems(["5", "10", "15", "20"])
-        self.alt_input.setCurrentText("10")
+        self.alt_input.addItems(["5", "10", "15", "20", "25", "30"])
+        self.alt_input.setCurrentText("30")
         self.alt_input.setStyleSheet(COMBO)
         alt_lbl = QLabel("m")
         alt_lbl.setStyleSheet(LBL)
@@ -394,6 +396,43 @@ class GroupPanel(QWidget):
         reboot_col.addWidget(reboot_btn)
         reboot_col.addStretch()
 
+        # ============================
+        # XBee JSON 指令（GOTO 使用最近點擊的地圖目標點）
+        # ============================
+        xbee_col = QVBoxLayout()
+        xbee_col.setSpacing(3)
+
+        xbee_title = QLabel("XBee/WS 指令")
+        xbee_title.setStyleSheet(TITLE)
+        xbee_col.addWidget(xbee_title)
+
+        xbee_buttons = QVBoxLayout()
+        xbee_buttons.setSpacing(3)
+        start_xbee_btn = QPushButton("START")
+        start_xbee_btn.setStyleSheet(
+            BTN.format(bg='#2E7D32', fg='white', hover='#388E3C'))
+        start_xbee_btn.clicked.connect(
+            lambda: self.xbee_command_requested.emit(
+                self.group.group_id, 'START'))
+        stop_xbee_btn = QPushButton("STOP")
+        stop_xbee_btn.setStyleSheet(
+            BTN.format(bg='#C62828', fg='white', hover='#D32F2F'))
+        stop_xbee_btn.clicked.connect(
+            lambda: self.xbee_command_requested.emit(
+                self.group.group_id, 'STOP'))
+        goto_xbee_btn = QPushButton("GOTO")
+        goto_xbee_btn.setToolTip("前往目前 Group 最近一次點擊的地圖目標點")
+        goto_xbee_btn.setStyleSheet(
+            BTN.format(bg='#1565C0', fg='white', hover='#1976D2'))
+        goto_xbee_btn.clicked.connect(
+            lambda: self.xbee_command_requested.emit(
+                self.group.group_id, 'GOTO'))
+        xbee_buttons.addWidget(start_xbee_btn)
+        xbee_buttons.addWidget(stop_xbee_btn)
+        xbee_buttons.addWidget(goto_xbee_btn)
+        xbee_col.addLayout(xbee_buttons)
+        xbee_col.addStretch()
+
         # ============================
         # 第四欄：任務參數
         # ============================
@@ -500,7 +539,7 @@ 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)
 
-        # ── 組裝欄位：控制指令 > 任務規劃 > 任務參數 > 選取與分組 > 飛控操作 ──
+        # ── 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 > XBee ──
         # 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())
@@ -511,6 +550,8 @@ class GroupPanel(QWidget):
         cols.addLayout(right, 0)
         cols.addWidget(self._make_sep())
         cols.addLayout(reboot_col, 0)
+        cols.addWidget(self._make_sep())
+        cols.addLayout(xbee_col, 0)
         cols.addStretch()  # 填充剩餘空間，使欄位置左
 
         layout.addLayout(cols)
@@ -619,6 +660,7 @@ class GroupPanel(QWidget):
 
     def update_mission_info(self, center_lat, center_lon, target_lat, target_lon):
         """更新中心點 / 目標點顯示"""
+        self.group.mission_target = (float(target_lat), float(target_lon))
         info_style = f"color: {self.group.color}; font-size: 11px; font-weight: bold;"
         self.center_label.setText(f"中心: {center_lat:.6f}°, {center_lon:.6f}°")
         self.center_label.setStyleSheet(info_style)
@@ -627,6 +669,7 @@ class GroupPanel(QWidget):
 
     def clear_mission_info(self):
         """清除中心點 / 目標點顯示"""
+        self.group.mission_target = None
         self.center_label.setText("中心: --")
         self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
         self.target_label.setText("目標: --")
@@ -636,5 +679,5 @@ class GroupPanel(QWidget):
         try:
             alt = float(self.alt_input.currentText())
         except ValueError:
-            alt = 10.0
+            alt = 30.0
         self.takeoff_requested.emit(self.group.group_id, alt)

src/GUI/mission_orchestrator1.py

@@ -0,0 +1,710 @@
+#!/usr/bin/env python3
+"""
+任務編排器 (MissionOrchestrator) —— ABC 對抗任務的階段狀態機。
+
+角色：坐在既有 MissionExecutor 之上的「任務大腦」。偵察飛行由操作員用既有的
+群組執行按鈕控制（A 組 GRID_SWEEP、B 組待機）；orchestrator 只做兩件事：
+  1. 被動監看「A↔敵機」距離，達 R_detect 持續 dwell → latch，提示操作員。
+  2. 操作員按「重編隊」→ 接管 A+B 四機，用「瞬時隊形」追移動敵機、足夠近時展開包圍。
+
+追蹤採「瞬時隊形」而非路徑跟隨：每 tick 給每台一個目標點（此刻該站的隊形位置），
+敵機移動就更新。避免了路徑跟隨在移動目標下 index 歸零/往後外推造成的往返振盪。
+
+階段：IDLE → WATCH（監看偵測）→ DETECTED（latch，等確認）
+      → PURSUE（4 機瞬時 leader-follow 朝敵，B 在後方 slot 自然追上會合）
+      → ENCIRCLE（形心距敵 ≤ R_engage 展開包圍，圓心追敵；逃出 R_engage_exit 退回）
+
+設計定案見 memory: design_mission_orchestrator。修改限定 src/GUI/（scope_gui_only）。
+"""
+import math
+import time
+from enum import Enum
+
+from PyQt6.QtWidgets import (
+    QWidget, QVBoxLayout, QHBoxLayout, QLabel, QComboBox, QFrame, QPushButton,
+    QDoubleSpinBox
+)
+from PyQt6.QtCore import Qt, QObject, pyqtSignal
+
+
+def _log(level, message):
+    print(f"[{level}] {message}", flush=True)
+
+
+def _haversine(lat1, lon1, lat2, lon2):
+    """兩經緯度間的水平地面距離 (m)。"""
+    R = 6371000.0
+    p1 = math.radians(lat1)
+    p2 = math.radians(lat2)
+    dphi = math.radians(lat2 - lat1)
+    dlam = math.radians(lon2 - lon1)
+    a = (math.sin(dphi / 2) ** 2
+         + math.cos(p1) * math.cos(p2) * math.sin(dlam / 2) ** 2)
+    return 2 * R * math.asin(min(1.0, math.sqrt(a)))
+
+
+def _ll_to_m(lat, lon, ref_lat, ref_lon):
+    """經緯度 → 以 ref 為原點的本地平面公尺 (x=東, y=北)。等距近似，小範圍夠用。"""
+    x = math.radians(lon - ref_lon) * 6371000.0 * math.cos(math.radians(ref_lat))
+    y = math.radians(lat - ref_lat) * 6371000.0
+    return x, y
+
+
+def _m_to_ll(x, y, ref_lat, ref_lon):
+    """本地平面公尺 → 經緯度。"""
+    lat = ref_lat + math.degrees(y / 6371000.0)
+    lon = ref_lon + math.degrees(x / (6371000.0 * math.cos(math.radians(ref_lat))))
+    return lat, lon
+
+
+# 預設參數
+DEFAULT_R_DETECT = 40.0        # 偵測範圍 (m)
+DEFAULT_DETECT_DWELL = 1.0     # 偵測 dwell (s)
+
+DEFAULT_R_ENGAGE = 25.0        # 接戰半徑 (m)：形心↔敵 ≤ 此值 → 切包圍
+DEFAULT_R_ENGAGE_EXIT = 35.0   # 包圍退出半徑 (m)：> 此值 → 退回前進（hysteresis）
+
+DEFAULT_REPLAN_MOVE_M = 2.0    # 敵機位移 ≥ 此值即重算（moving target）
+DEFAULT_REPLAN_CAP_SEC = 1.0   # 重算週期上限 (s)
+
+DEFAULT_CIRCLE_RADIUS = 15.0   # 包圍半徑 (m)
+DEFAULT_LON_SPACING = 8.0      # 隊形縱向間距 (m)
+DEFAULT_LAT_OFFSET = 5.0       # 隊形橫向錯開 (m)   
+
+DEFAULT_FORMATION_ALT = 30.0   # 隊形基準高度 (m，相對 home)
+DEFAULT_ALT_LAYER_GAP = 10.0   # A/B 上下層垂直間隔 (m)：A=基準+gap/2、B=基準-gap/2
+DEFAULT_MIN_ALT_FLOOR = 10.0    # 相對 home 的最低安全高度 (m)：B 下層不得低於此值
+
+DEFAULT_LEAD_TIME_CAP = 4.0    # 前置攔截 lead_time 上限 (s)
+DEFAULT_FRIENDLY_SPEED = 5.0   # 友機假設水平速度 (m/s)：估 lead_time = gap/此值
+DEFAULT_ENEMY_VEL_WINDOW = 1.0 # 敵速估計的 GPS 差分視窗 (s)
+
+_NONE_LABEL = "（未選擇）"
+
+
+class MissionPhase(Enum):
+    IDLE = "idle"          # 未設定敵機/A 組
+    WATCH = "watch"        # 監看偵測（偵察飛行由操作員的群組任務負責）
+    DETECTED = "detected"  # 偵測 latch，等操作員確認重編隊
+    PURSUE = "pursue"      # 4 機瞬時 leader-follow 朝敵機
+    ENCIRCLE = "encircle"  # 4 機包圍敵機
+
+
+class MissionOrchestrator(QObject):
+    """
+    階段狀態機。透過注入的 callback 與 GUI 解耦（便於 headless 測試）：
+      make_executor()  -> MissionExecutor（complete_stops=False，hover-hold）
+      gps_provider()   -> {drone_id: {'lat','lon','alt'}}
+      stop_groups_fn() -> 停掉操作員的 A/B 群組任務（重編隊時避免雙重送點）
+    """
+
+    phase_changed = pyqtSignal(str)      # MissionPhase.value
+    detection_prompt = pyqtSignal(str)   # 偵測提示（含最近友機/距離）
+    status_message = pyqtSignal(str)
+
+    def __init__(self, make_executor, gps_provider, stop_groups_fn=None,
+                 r_detect=DEFAULT_R_DETECT,
+                 detect_dwell_sec=DEFAULT_DETECT_DWELL,
+                 r_engage=DEFAULT_R_ENGAGE,
+                 r_engage_exit=DEFAULT_R_ENGAGE_EXIT,
+                 replan_move_m=DEFAULT_REPLAN_MOVE_M,
+                 replan_cap_sec=DEFAULT_REPLAN_CAP_SEC,
+                 circle_radius=DEFAULT_CIRCLE_RADIUS,
+                 lon_spacing=DEFAULT_LON_SPACING,
+                 lat_offset=DEFAULT_LAT_OFFSET,
+                 formation_alt=DEFAULT_FORMATION_ALT,
+                 alt_layer_gap=DEFAULT_ALT_LAYER_GAP,
+                 min_alt_floor=DEFAULT_MIN_ALT_FLOOR,
+                 lead_time_cap_sec=DEFAULT_LEAD_TIME_CAP,
+                 friendly_speed=DEFAULT_FRIENDLY_SPEED,
+                 enemy_vel_window_sec=DEFAULT_ENEMY_VEL_WINDOW,
+                 parent=None):
+        super().__init__(parent)
+        self._make_executor = make_executor
+        self._gps_provider = gps_provider
+        self._stop_groups_fn = stop_groups_fn
+        self.r_detect = float(r_detect)
+        self.detect_dwell_sec = float(detect_dwell_sec)
+        self.r_engage = float(r_engage)
+        self.r_engage_exit = float(r_engage_exit)
+        self.replan_move_m = float(replan_move_m)
+        self.replan_cap_sec = float(replan_cap_sec)
+        self.circle_radius = float(circle_radius)
+        self.lon_spacing = float(lon_spacing)
+        self.lat_offset = float(lat_offset)
+        self.formation_alt = float(formation_alt)
+        self.alt_layer_gap = float(alt_layer_gap)
+        self.min_alt_floor = float(min_alt_floor)
+        self.lead_time_cap_sec = float(lead_time_cap_sec)
+        self.friendly_speed = float(friendly_speed)
+        self.enemy_vel_window_sec = float(enemy_vel_window_sec)
+
+        self.phase = MissionPhase.IDLE
+        self.a_drone_ids = []   # 偵察組
+        self.b_drone_ids = []   # 待機組
+        self.enemy_id = None
+
+        self._detect_since = 0.0
+        self._merged_ids = []           # PURSUE/ENCIRCLE 的 4 機（領隊優先，固定順序）
+        self._merged_ex = None          # 合併 executor（hover-hold）
+        self._last_replan_at = 0.0
+        self._last_plan_enemy = None    # 上次重算用的敵機 (lat, lon)
+        self._last_heading = (0.0, 1.0)  # 上次隊形朝向（敵機太近時沿用，避免抖動）
+        self._enemy_hist = []           # [(t, lat, lon)] 敵機軌跡（估速用）
+        self._enemy_vel = (0.0, 0.0)    # 估得的敵速 (east, north) m/s
+
+    # ------------------------------------------------------------- 設定（可連續呼叫）
+    def configure(self, a_drone_ids, b_drone_ids, enemy_id):
+        """設定 A/B 組與敵機。監看/待機階段可隨時更新；進入 PURSUE 後鎖定不受影響。"""
+        if self.phase in (MissionPhase.PURSUE, MissionPhase.ENCIRCLE):
+            return False
+        self.a_drone_ids = list(a_drone_ids)
+        self.b_drone_ids = list(b_drone_ids)
+        new_enemy = enemy_id or None
+        if new_enemy != self.enemy_id:
+            self._detect_since = 0.0  # 換敵機重置 dwell
+        self.enemy_id = new_enemy
+        return True
+
+    def _configured(self):
+        return bool(self.enemy_id) and bool(self.a_drone_ids) \
+            and self.enemy_id not in set(self.a_drone_ids) | set(self.b_drone_ids) \
+            and not (set(self.a_drone_ids) & set(self.b_drone_ids))
+
+    # ------------------------------------------------------------- 重編隊 / 停止
+    def confirm_detection(self):
+        """DETECTED → PURSUE：操作員手動確認。停掉群組掃描，接管 4 機瞬時追蹤。"""
+        if self.phase != MissionPhase.DETECTED:
+            self.status_message.emit("目前不在待確認狀態")
+            return
+        gps = self._gps_provider()
+        epos = gps.get(self.enemy_id)
+        if not epos:
+            self.status_message.emit("敵機定位遺失，無法重編隊")
+            return
+        merged = self._merged_ids_leader_first(gps, epos)
+        if self._positions_for(merged, gps) is None:
+            self.status_message.emit("有無人機尚未定位，無法重編隊")
+            return
+
+        # 先停掉操作員的 A/B 群組任務，避免與合併 executor 雙重送點塞爆 adapter
+        if self._stop_groups_fn:
+            try:
+                self._stop_groups_fn()
+            except Exception as e:
+                _log("WARN", f"[orchestrator] 停止群組任務失敗: {e}")
+
+        self._merged_ids = merged
+        self._last_heading = (0.0, 1.0)
+        self._enemy_hist = []
+        self._enemy_vel = (0.0, 0.0)
+        self._update_enemy_velocity(epos)
+        slots = self._pursue_slots(gps, epos)
+        self._merged_ex = self._make_executor()
+        self._merged_ex.start(self._slots_to_plan(slots))
+        self._mark_replanned(epos)
+        self._set_phase(MissionPhase.PURSUE)
+        self.status_message.emit("重編隊確認：4 機前進中（B 追上會合）")
+
+    def stop(self):
+        """全體停止，回 IDLE。"""
+        if self._merged_ex is not None:
+            try:
+                self._merged_ex.stop()
+            except Exception:
+                pass
+            self._merged_ex = None
+        self._merged_ids = []
+        self._detect_since = 0.0
+        self._enemy_hist = []
+        self._enemy_vel = (0.0, 0.0)
+        self._set_phase(MissionPhase.IDLE)
+        self.status_message.emit("任務已停止")
+
+    # ------------------------------------------------------------- tick
+    def tick(self):
+        """GUI 週期呼叫。"""
+        # 自動進出監看（偵察飛行由操作員群組任務負責，這裡只監看偵測）
+        if self.phase == MissionPhase.IDLE and self._configured():
+            self._set_phase(MissionPhase.WATCH)
+        elif self.phase == MissionPhase.WATCH and not self._configured():
+            self._detect_since = 0.0
+            self._set_phase(MissionPhase.IDLE)
+
+        if self.phase == MissionPhase.WATCH:
+            self._tick_watch()
+        elif self.phase == MissionPhase.PURSUE:
+            self._tick_pursue()
+        elif self.phase == MissionPhase.ENCIRCLE:
+            self._tick_encircle()
+
+    def _tick_watch(self):
+        gps = self._gps_provider()
+        epos = gps.get(self.enemy_id)
+        if not epos:
+            self._detect_since = 0.0
+            return
+        nearest_id, nearest_d = None, None
+        for did in self.a_drone_ids:
+            pos = gps.get(did)
+            if not pos:
+                continue
+            d = _haversine(epos['lat'], epos['lon'], pos['lat'], pos['lon'])
+            if nearest_d is None or d < nearest_d:
+                nearest_id, nearest_d = did, d
+
+        now = time.monotonic()
+        if nearest_d is not None and nearest_d <= self.r_detect:
+            if self._detect_since == 0.0:
+                self._detect_since = now
+            elif now - self._detect_since >= self.detect_dwell_sec:
+                self._set_phase(MissionPhase.DETECTED)  # latch，等操作員手動確認
+                self.detection_prompt.emit(
+                    f"偵測到敵機（{nearest_id} 距 {nearest_d:.1f} m）— 請確認重編隊")
+        else:
+            self._detect_since = 0.0
+
+    def _tick_pursue(self):
+        gps = self._gps_provider()
+        epos = gps.get(self.enemy_id)
+        if not epos:
+            return  # 敵機定位遺失（S4 加 stale-timeout hold）
+        self._update_enemy_velocity(epos)
+        d = self._centroid_dist(gps, epos)
+        if d is None:
+            return
+        if d <= self.r_engage:
+            self._apply_slots(self._circle_slots(gps, epos), epos)
+            self._set_phase(MissionPhase.ENCIRCLE)
+            self.status_message.emit("進入包圍")
+            return
+        if self._should_replan(time.monotonic(), epos):
+            self._apply_slots(self._pursue_slots(gps, epos), epos)
+
+    def _tick_encircle(self):
+        gps = self._gps_provider()
+        epos = gps.get(self.enemy_id)
+        if not epos:
+            return
+        self._update_enemy_velocity(epos)
+        d = self._centroid_dist(gps, epos)
+        if d is None:
+            return
+        if d > self.r_engage_exit:
+            self._apply_slots(self._pursue_slots(gps, epos), epos)
+            self._set_phase(MissionPhase.PURSUE)
+            self.status_message.emit("敵機逃離，退回前進")
+            return
+        if self._should_replan(time.monotonic(), epos):
+            self._apply_slots(self._circle_slots(gps, epos), epos)
+
+    # ------------------------------------------------------------- 高度分層
+    def _alt_for(self, did):
+        """S3 高度分層：A 組（含領隊）走上層、B 組走下層（不低於地面下限）。
+        同高度繞圈/追擊會交叉撞機，分層後 A/B 垂直錯開自然避開。"""
+        if did in set(self.b_drone_ids):
+            return max(self.min_alt_floor,
+                       self.formation_alt - self.alt_layer_gap / 2.0)
+        return self.formation_alt + self.alt_layer_gap / 2.0
+
+    # ------------------------------------------------------------- 前置攔截（估敵速）
+    def _update_enemy_velocity(self, epos):
+        """用敵機 GPS 差分估水平速度 (east, north) m/s，視窗 enemy_vel_window_sec。"""
+        now = time.monotonic()
+        self._enemy_hist.append((now, epos['lat'], epos['lon']))
+        while (len(self._enemy_hist) >= 2
+               and now - self._enemy_hist[0][0] > self.enemy_vel_window_sec):
+            self._enemy_hist.pop(0)
+        if len(self._enemy_hist) >= 2:
+            t0, la0, lo0 = self._enemy_hist[0]
+            t1, la1, lo1 = self._enemy_hist[-1]
+            dt = t1 - t0
+            if dt > 1e-3:
+                dx, dy = _ll_to_m(la1, lo1, la0, lo0)  # sample0→sample1 位移 (m)
+                self._enemy_vel = (dx / dt, dy / dt)
+
+    def enemy_speed(self):
+        """估得的敵機水平速率 (m/s)。"""
+        return math.hypot(*self._enemy_vel)
+
+    def _aim_point(self, gps, epos):
+        """前置攔截點：敵位 + 敵速×lead_time。lead_time = gap/friendly_speed（封頂
+        lead_time_cap_sec）。敵速尚未估到時退化為瞄當下位置（等同原純追尾）。"""
+        evx, evy = self._enemy_vel
+        lp = gps.get(self._merged_ids[0]) if self._merged_ids else None
+        gap = (_haversine(lp['lat'], lp['lon'], epos['lat'], epos['lon'])
+               if lp else 0.0)
+        lead_t = min(self.lead_time_cap_sec, gap / max(self.friendly_speed, 0.1))
+        return _m_to_ll(evx * lead_t, evy * lead_t, epos['lat'], epos['lon'])
+
+    # ------------------------------------------------------------- 瞬時隊形
+    def _pursue_slots(self, gps, epos):
+        """朝『前置攔截點』的瞬時 leader-follow：領隊朝攔截點，僚機沿隊軸後方 rank×間距、左右錯開。"""
+        ids = self._merged_ids
+        tlat, tlon = self._aim_point(gps, epos)  # 前置攔截點取代敵機當下位置
+        lp = gps.get(ids[0])
+        if lp is None:
+            return None
+        lx, ly = _ll_to_m(lp['lat'], lp['lon'], tlat, tlon)  # 領隊相對攔截點
+        hx, hy = -lx, -ly                                    # 領隊 → 攔截點
+        n = math.hypot(hx, hy)
+        if n < 1.0:
+            h = self._last_heading  # 太近，沿用上次朝向避免抖動
+        else:
+            h = (hx / n, hy / n)
+        self._last_heading = h
+        px, py = -h[1], h[0]  # 左垂直
+        slots = {}
+        for rank, d in enumerate(ids):
+            lat_sign = -1 if rank % 2 == 0 else 1
+            # 領隊(rank0)目標≈攔截點；僚機沿 -h 後退 rank×間距，並左右錯開
+            sx = -h[0] * (rank * self.lon_spacing) + px * (lat_sign * self.lat_offset)
+            sy = -h[1] * (rank * self.lon_spacing) + py * (lat_sign * self.lat_offset)
+            lat, lon = _m_to_ll(sx, sy, tlat, tlon)
+            slots[d] = (lat, lon, self._alt_for(d))
+        return slots
+
+    def _circle_slots(self, gps, epos):
+        """繞敵機的瞬時包圍：N 機均分在半徑 circle_radius 的圓周上。"""
+        ids = self._merged_ids
+        elat, elon = epos['lat'], epos['lon']
+        n = len(ids)
+        slots = {}
+        for i, d in enumerate(ids):
+            theta = 2.0 * math.pi * i / max(1, n)
+            x = self.circle_radius * math.cos(theta)
+            y = self.circle_radius * math.sin(theta)
+            lat, lon = _m_to_ll(x, y, elat, elon)
+            slots[d] = (lat, lon, self._alt_for(d))
+        return slots
+
+    def _apply_slots(self, slots, epos):
+        """把瞬時 slot 熱替換給合併 executor 並更新重算基準。"""
+        if slots is None or self._merged_ex is None:
+            return
+        self._merged_ex.update_plan(self._slots_to_plan(slots))
+        self._mark_replanned(epos)
+
+    def _slots_to_plan(self, slots):
+        return {
+            'drone_ids': list(self._merged_ids),
+            'waypoints': [[slots[d]] for d in self._merged_ids],
+            'rendezvous_indices': [],
+        }
+
+    # ------------------------------------------------------------- 內部
+    def _centroid_dist(self, gps, epos):
+        m_pos = self._positions_for(self._merged_ids, gps)
+        if m_pos is None:
+            return None
+        cen_lat = sum(p[0] for p in m_pos) / len(m_pos)
+        cen_lon = sum(p[1] for p in m_pos) / len(m_pos)
+        return _haversine(cen_lat, cen_lon, epos['lat'], epos['lon'])
+
+    def _positions_for(self, drone_ids, gps):
+        out = []
+        for did in drone_ids:
+            p = gps.get(did)
+            if not p:
+                return None
+            out.append((p['lat'], p['lon'], p.get('alt', 0.0)))
+        return out
+
+    def _merged_ids_leader_first(self, gps, epos):
+        """A+B 合併；A 中離敵最近者當領隊(rank0)，其餘 A 維持原序，再接 B。"""
+        def dist(did):
+            p = gps.get(did)
+            return float('inf') if not p else _haversine(
+                epos['lat'], epos['lon'], p['lat'], p['lon'])
+        if not self.a_drone_ids:
+            return list(self.b_drone_ids)
+        leader = min(self.a_drone_ids, key=dist)
+        rest_a = [d for d in self.a_drone_ids if d != leader]
+        return [leader] + rest_a + list(self.b_drone_ids)
+
+    def _mark_replanned(self, epos):
+        self._last_replan_at = time.monotonic()
+        self._last_plan_enemy = (epos['lat'], epos['lon'])
+
+    def _should_replan(self, now, epos):
+        if self._last_plan_enemy is None:
+            return True
+        moved = _haversine(self._last_plan_enemy[0], self._last_plan_enemy[1],
+                           epos['lat'], epos['lon'])
+        return (moved >= self.replan_move_m
+                or (now - self._last_replan_at) >= self.replan_cap_sec)
+
+    def _set_phase(self, phase):
+        if phase == self.phase:
+            return
+        self.phase = phase
+        _log("INFO", f"[orchestrator] phase → {phase.value}")
+        self.phase_changed.emit(phase.value)
+
+
+class EngagementPanel(QWidget):
+    """
+    交戰控制面板。
+
+    - 敵機下拉 + 即時「敵機↔最近友機」距離
+    - A/B 組指派下拉
+    - 階段顯示、重編隊 / 停止 按鈕
+
+    偵察飛行用既有的群組執行按鈕控制，這裡不含「開始」。面板只發訊號，邏輯在 GUI/orchestrator。
+    """
+
+    enemy_changed = pyqtSignal(str)        # drone_id（未選擇=空字串）
+    confirm_requested = pyqtSignal()       # 重編隊
+    stop_requested = pyqtSignal()
+    groups_changed = pyqtSignal(str, str)  # (a_group_id, b_group_id)
+    apply_speed_requested = pyqtSignal(float, float)  # (friendly_speed, enemy_ratio)
+
+    def __init__(self, parent=None, r_detect=DEFAULT_R_DETECT,
+                 friendly_speed=DEFAULT_FRIENDLY_SPEED):
+        super().__init__(parent)
+        self.r_detect = float(r_detect)
+        self._init_friendly_speed = float(friendly_speed)
+        self._enemy_id = ""
+        self._suppress_enemy = False
+        self._suppress_group = False
+        self._group_sig = None  # 目前下拉內容的簽章，變了才重建（避免 5Hz 狂刷）
+        self._build_ui()
+
+    # ------------------------------------------------------------------ UI
+    def _build_ui(self):
+        root = QVBoxLayout(self)
+        root.setContentsMargins(12, 12, 12, 12)
+        root.setSpacing(10)
+        root.setAlignment(Qt.AlignmentFlag.AlignTop)
+
+        title = QLabel("交戰設定")
+        title.setStyleSheet(
+            "color: #DDD; font-size: 14px; font-weight: bold; padding: 2px;")
+        root.addWidget(title)
+
+        combo_css = (
+            "QComboBox { background-color: #333; color: #EEE; border: 1px solid #555;"
+            " border-radius: 3px; padding: 3px 6px; font-size: 12px; min-width: 120px; }")
+
+        enemy_row = QHBoxLayout()
+        enemy_row.setSpacing(8)
+        el = QLabel("敵機 sysid：")
+        el.setStyleSheet("color: #CCC; font-size: 12px;")
+        self.enemy_combo = QComboBox()
+        self.enemy_combo.setStyleSheet(combo_css)
+        self.enemy_combo.addItem(_NONE_LABEL)
+        self.enemy_combo.currentTextChanged.connect(self._on_enemy_changed)
+        enemy_row.addWidget(el)
+        enemy_row.addWidget(self.enemy_combo)
+        enemy_row.addStretch()
+        root.addLayout(enemy_row)
+
+        a_row = QHBoxLayout()
+        a_row.setSpacing(8)
+        al = QLabel("偵察組 A：")
+        al.setStyleSheet("color: #CCC; font-size: 12px;")
+        self.a_group_combo = QComboBox()
+        self.a_group_combo.setStyleSheet(combo_css)
+        self.a_group_combo.addItem(_NONE_LABEL, None)
+        self.a_group_combo.currentTextChanged.connect(self._on_group_changed)
+        a_row.addWidget(al)
+        a_row.addWidget(self.a_group_combo)
+        a_row.addStretch()
+        root.addLayout(a_row)
+
+        b_row = QHBoxLayout()
+        b_row.setSpacing(8)
+        bl = QLabel("待機組 B：")
+        bl.setStyleSheet("color: #CCC; font-size: 12px;")
+        self.b_group_combo = QComboBox()
+        self.b_group_combo.setStyleSheet(combo_css)
+        self.b_group_combo.addItem(_NONE_LABEL, None)
+        self.b_group_combo.currentTextChanged.connect(self._on_group_changed)
+        b_row.addWidget(bl)
+        b_row.addWidget(self.b_group_combo)
+        b_row.addStretch()
+        root.addLayout(b_row)
+
+        # 速度比例限速：友方 V、敵方 r×V，按鈕一次套用（DO_CHANGE_SPEED）
+        spin_css = (
+            "QDoubleSpinBox { background-color: #333; color: #EEE;"
+            " border: 1px solid #555; border-radius: 3px; padding: 2px 4px;"
+            " font-size: 12px; min-width: 70px; }")
+        speed_row = QHBoxLayout()
+        speed_row.setSpacing(8)
+        sl = QLabel("友機速度：")
+        sl.setStyleSheet("color: #CCC; font-size: 12px;")
+        self.friendly_speed_spin = QDoubleSpinBox()
+        self.friendly_speed_spin.setStyleSheet(spin_css)
+        self.friendly_speed_spin.setRange(0.5, 20.0)
+        self.friendly_speed_spin.setSingleStep(0.5)
+        self.friendly_speed_spin.setDecimals(1)
+        self.friendly_speed_spin.setSuffix(" m/s")
+        self.friendly_speed_spin.setValue(self._init_friendly_speed)
+        rl = QLabel("敵/友比例：")
+        rl.setStyleSheet("color: #CCC; font-size: 12px;")
+        self.enemy_ratio_spin = QDoubleSpinBox()
+        self.enemy_ratio_spin.setStyleSheet(spin_css)
+        self.enemy_ratio_spin.setRange(0.1, 1.0)
+        self.enemy_ratio_spin.setSingleStep(0.05)
+        self.enemy_ratio_spin.setDecimals(2)
+        self.enemy_ratio_spin.setValue(0.6)
+        speed_row.addWidget(sl)
+        speed_row.addWidget(self.friendly_speed_spin)
+        speed_row.addWidget(rl)
+        speed_row.addWidget(self.enemy_ratio_spin)
+        speed_row.addStretch()
+        root.addLayout(speed_row)
+
+        apply_speed_row = QHBoxLayout()
+        self.apply_speed_btn = QPushButton("套用速度")
+        self.apply_speed_btn.setStyleSheet(
+            "QPushButton { background-color: #00796B; color: white; border: none;"
+            " padding: 6px 14px; border-radius: 4px; font-weight: bold; }"
+            " QPushButton:hover { background-color: #00897B; }")
+        self.apply_speed_btn.clicked.connect(self._on_apply_speed)
+        self.enemy_speed_hint = QLabel("")
+        self.enemy_speed_hint.setStyleSheet("color: #777; font-size: 11px;")
+        self._refresh_enemy_speed_hint()
+        self.friendly_speed_spin.valueChanged.connect(self._refresh_enemy_speed_hint)
+        self.enemy_ratio_spin.valueChanged.connect(self._refresh_enemy_speed_hint)
+        apply_speed_row.addWidget(self.apply_speed_btn)
+        apply_speed_row.addWidget(self.enemy_speed_hint)
+        apply_speed_row.addStretch()
+        root.addLayout(apply_speed_row)
+
+        sep = QFrame()
+        sep.setFrameShape(QFrame.Shape.HLine)
+        sep.setStyleSheet("color: #444;")
+        root.addWidget(sep)
+
+        self.distance_label = QLabel("敵機 ↔ 最近友機：—")
+        self.distance_label.setStyleSheet(
+            "color: #AAA; font-size: 13px; padding: 4px 2px;")
+        root.addWidget(self.distance_label)
+
+        hint = QLabel(f"（偵測範圍 R_detect = {self.r_detect:.0f} m）")
+        hint.setStyleSheet("color: #777; font-size: 11px;")
+        root.addWidget(hint)
+
+        self.phase_label = QLabel("階段：待機")
+        self.phase_label.setStyleSheet(
+            "color: #64B5F6; font-size: 13px; font-weight: bold; padding: 4px 2px;")
+        root.addWidget(self.phase_label)
+
+        btn_css = ("QPushButton {{ background-color: {bg}; color: {fg}; border: none;"
+                   " padding: 8px 16px; border-radius: 4px; font-weight: bold; }}"
+                   " QPushButton:hover {{ background-color: {hover}; }}"
+                   " QPushButton:disabled {{ background-color: #444; color: #888; }}")
+        btn_row = QHBoxLayout()
+        btn_row.setSpacing(8)
+        self.confirm_btn = QPushButton("重編隊")
+        self.confirm_btn.setStyleSheet(btn_css.format(bg='#F57C00', fg='white', hover='#FB8C00'))
+        self.confirm_btn.clicked.connect(lambda: self.confirm_requested.emit())
+        self.confirm_btn.setEnabled(False)
+        self.stop_btn = QPushButton("停止")
+        self.stop_btn.setStyleSheet(btn_css.format(bg='#555', fg='#DDD', hover='#666'))
+        self.stop_btn.clicked.connect(lambda: self.stop_requested.emit())
+        btn_row.addWidget(self.confirm_btn)
+        btn_row.addWidget(self.stop_btn)
+        btn_row.addStretch()
+        root.addLayout(btn_row)
+
+    # -------------------------------------------------------------- 對外 API
+    def current_enemy(self):
+        return self._enemy_id or None
+
+    def refresh_drone_list(self, drone_ids):
+        items = [_NONE_LABEL] + sorted(drone_ids)
+        current = self._enemy_id if self._enemy_id in drone_ids else ""
+        self._suppress_enemy = True
+        self.enemy_combo.clear()
+        self.enemy_combo.addItems(items)
+        idx = self.enemy_combo.findText(current) if current else 0
+        self.enemy_combo.setCurrentIndex(idx if idx >= 0 else 0)
+        self._suppress_enemy = False
+        if current != self._enemy_id:
+            self._enemy_id = current
+            self.enemy_changed.emit(self._enemy_id)
+
+    def refresh_group_list(self, group_labels):
+        """group_labels: list[(group_id, display_text)]。只有內容變動才重建，避免 5Hz 狂刷。"""
+        sig = tuple(group_labels)
+        if sig == self._group_sig:
+            return
+        self._group_sig = sig
+        self._suppress_group = True
+        for combo in (self.a_group_combo, self.b_group_combo):
+            prev = combo.currentData()
+            combo.clear()
+            combo.addItem(_NONE_LABEL, None)
+            for gid, text in group_labels:
+                combo.addItem(text, gid)
+            if prev is not None:
+                i = combo.findData(prev)
+                combo.setCurrentIndex(i if i >= 0 else 0)
+        self._suppress_group = False
+
+    def selected_group_ids(self):
+        return self.a_group_combo.currentData(), self.b_group_combo.currentData()
+
+    def set_phase_text(self, text):
+        self.phase_label.setText(f"階段：{text}")
+
+    def set_confirm_enabled(self, enabled):
+        self.confirm_btn.setEnabled(enabled)
+
+    def tick(self, drone_positions):
+        """{drone_id: (lat, lon)} 更新距離讀數。"""
+        enemy = self._enemy_id
+        base = "color: #AAA; font-size: 13px; padding: 4px 2px;"
+        if not enemy:
+            self.distance_label.setText("敵機 ↔ 最近友機：（尚未選擇敵機）")
+            self.distance_label.setStyleSheet(base)
+            return
+        epos = drone_positions.get(enemy)
+        if not epos:
+            self.distance_label.setText(f"敵機 {enemy} ↔ 最近友機：（等待敵機定位）")
+            self.distance_label.setStyleSheet(base)
+            return
+        nearest_id, nearest_d = None, None
+        for did, pos in drone_positions.items():
+            if did == enemy or not pos:
+                continue
+            d = _haversine(epos[0], epos[1], pos[0], pos[1])
+            if nearest_d is None or d < nearest_d:
+                nearest_id, nearest_d = did, d
+        if nearest_id is None:
+            self.distance_label.setText(f"敵機 {enemy} ↔ 最近友機：（無友機定位）")
+            self.distance_label.setStyleSheet(base)
+            return
+        color = "#E57373" if nearest_d <= self.r_detect else "#81C784"
+        self.distance_label.setText(
+            f"敵機 {enemy} ↔ 最近友機 {nearest_id}：{nearest_d:.1f} m")
+        self.distance_label.setStyleSheet(
+            f"color: {color}; font-size: 13px; font-weight: bold; padding: 4px 2px;")
+
+    # ----------------------------------------------------------------- 內部
+    def _on_enemy_changed(self, text):
+        if self._suppress_enemy:
+            return
+        self._enemy_id = "" if text == _NONE_LABEL else text
+        _log("INFO", f"[交戰] 敵機選擇：{self._enemy_id or '（未選擇）'}")
+        self.enemy_changed.emit(self._enemy_id)
+
+    def _on_group_changed(self, _text):
+        if self._suppress_group:
+            return
+        a_id, b_id = self.selected_group_ids()
+        self.groups_changed.emit(a_id or "", b_id or "")
+
+    def _refresh_enemy_speed_hint(self, *_):
+        v = self.friendly_speed_spin.value()
+        r = self.enemy_ratio_spin.value()
+        self.enemy_speed_hint.setText(f"→ 友機 {v:.1f} m/s、敵機 {v * r:.1f} m/s")
+
+    def _on_apply_speed(self):
+        v = self.friendly_speed_spin.value()
+        r = self.enemy_ratio_spin.value()
+        _log("INFO", f"[交戰] 套用速度：友機 {v:.1f} m/s、敵機 {v * r:.1f} m/s (比例 {r:.2f})")
+        self.apply_speed_requested.emit(v, r)

src/GUI/mission_planner.py

@@ -58,7 +58,7 @@ class FormationPlanner:
     """隊形規劃器"""
 
     def __init__(self, spacing: float = 5.0,
-                 base_altitude: float = 10.0,
+                 base_altitude: float = 30.0,
                  altitude_diff: float = 2.0):
         self.spacing = spacing
         self.base_altitude = base_altitude
@@ -179,7 +179,7 @@ class FormationPlanner:
         params = params or {}
         N = len(drone_positions)
         radius = params.get('radius', 10.0)
-        altitude = params.get('altitude', 10.0)
+        altitude = params.get('altitude', 30.0)
         start_angle = params.get('start_angle', 0.0)
 
         center_x, center_y, center_z = target_point

src/GUI/overview_table.py

@@ -115,11 +115,11 @@ class OverviewTable(QTableWidget):
             panel = self.drones[did]
             for field, row in self.info_type_map.items():
                 if field == 'mission':
-                    # 任務狀態非遙測，取自獨立保存，避免被 "--" 蓋掉
-                    val = self.mission_status.get(did, "--")
+                    # 任務狀態非遙測，取自獨立保存，避免被 "-" 蓋掉
+                    val = self.mission_status.get(did, "-")
                 else:
                     lbl = panel.findChild(QLabel, f"{did}_{field}")
-                    val = lbl.text() if lbl else "--"
+                    val = lbl.text() if lbl else "-"
                 val_item = QTableWidgetItem(val)
                 val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
                 self.setItem(row, col, val_item)

src/GUI/websocket_client.py

@@ -0,0 +1,155 @@
+import asyncio
+import websockets
+import json
+import sys
+
+WS_URL = "ws://127.0.0.1:8765"
+SYSTEM_ID = 2
+GOTO_POSITION = [24.1234567, 120.1234567]
+
+
+class WebSocketClient:
+    def __init__(self, ws_url=WS_URL, system_id=SYSTEM_ID):
+        self.ws_url = ws_url
+        if isinstance(system_id, bool) or not isinstance(system_id, int):
+            raise ValueError("system_id 必須為整數")
+        self.system_id = system_id
+        
+    def process_websocket_message(self, data):
+        """解析 server 的 Essential／Full UAV 狀態或命令 ACK。"""
+        if isinstance(data, str):
+            try:
+                data = json.loads(data)
+            except json.JSONDecodeError as e:
+                print(f"JSON 格式錯誤: {e}")
+                return
+
+        if not isinstance(data, dict):
+            print(f"未知訊息格式: {data}")
+            return
+
+        if all(key in data for key in ("result", "command", "message")):
+            print(
+                f"ACK | Command:{data.get('command', '-')} | "
+                f"Result:{data.get('result', '-')} | "
+                f"Message:{data.get('message', '-')}"
+            )
+            return
+
+        if "s" not in data:
+            print(f"未知 JSON 訊息: {data}")
+            return
+
+        position = data.get("p")
+        if isinstance(position, (list, tuple)) and len(position) >= 2:
+            position_text = f"{position[0]}, {position[1]}"
+        else:
+            position_text = "-"
+
+        ypr = data.get("ypr")
+        if isinstance(ypr, (list, tuple)) and len(ypr) >= 3:
+            yaw, pitch, roll = ypr[0], ypr[1], ypr[2]
+        else:
+            yaw, pitch, roll = data.get("y"), None, None
+
+        dop = data.get("d")
+        if isinstance(dop, (list, tuple)) and len(dop) >= 2:
+            dop_text = f"{dop[0]}/{dop[1]}"
+        else:
+            dop_text = "-"
+
+        armed = data.get("a")
+        if armed is None:
+            armed_text = "-"
+        else:
+            armed_text = "ARMED" if bool(armed) else "DISARMED"
+
+        def value_or_dash(value, suffix=""):
+            return f"{value}{suffix}" if value is not None else "-"
+
+        print(
+            f"UAV | ID:{data.get('s', '-')} | "
+            f"Mode:{value_or_dash(data.get('m'))} | "
+            f"Arm:{armed_text} | "
+            f"Battery:{value_or_dash(data.get('b'), '%')} | "
+            f"Position:{position_text} | "
+            f"Height:{value_or_dash(data.get('h'), 'm')} | "
+            f"Velocity:{value_or_dash(data.get('v'), 'm/s')} | "
+            f"Yaw:{value_or_dash(yaw, 'deg')} | "
+            f"Pitch:{value_or_dash(pitch, 'deg')} | "
+            f"Roll:{value_or_dash(roll, 'deg')} | "
+            f"GPS:{value_or_dash(data.get('g'))} | DOP(H/V):{dop_text}"
+        )
+
+    async def send_commands_loop(self, websocket):
+        """從 stdin 讀取按鍵 (輸入後按 Enter) 並發送對應的 JSON 指令"""
+        loop = asyncio.get_event_loop()
+        print("輸入 1 = START, 2 = STOP, 3 = GOTO (然後按 Enter)")
+        while True:
+            # readline 會包含換行
+            try:
+                line = await loop.run_in_executor(None, sys.stdin.readline)
+            except Exception:
+                return
+            if not line:
+                # EOF
+                return
+            cmd = line.strip()
+            if cmd == '1':
+                msg = {"s": self.system_id, "c": "START"}
+            elif cmd == '2':
+                msg = {"s": self.system_id, "c": "STOP"}
+            elif cmd == '3':
+                msg = {
+                    "s": self.system_id,
+                    "c": "GOTO",
+                    "p": list(GOTO_POSITION),
+                }
+            else:
+                print(f"未知指令: {cmd}")
+                continue
+
+            try:
+                await websocket.send(json.dumps(msg))
+                print(f"已發送: {msg}")
+            except Exception as e:
+                print(f"發送失敗: {e}")
+                return
+
+    async def ws_client_loop(self):
+        retry_count = 0
+        max_retries = 5
+        base_delay = 1.0
+        while retry_count < max_retries:
+            try:
+                async with websockets.connect(self.ws_url) as websocket:
+                    print(f"WebSocket connected: {self.ws_url}")
+                    retry_count = 0
+                    # 啟動後台任務來接收 stdin 指令並發送
+                    send_task = asyncio.create_task(self.send_commands_loop(websocket))
+                    try:
+                        async for message in websocket:
+                            # message 已經是 string
+                            self.process_websocket_message(message)
+                    finally:
+                        send_task.cancel()
+                        await asyncio.gather(send_task, return_exceptions=True)
+                            
+            except websockets.exceptions.ConnectionClosedError:
+                print("WebSocket connection closed")
+                break
+            except Exception as e:
+                retry_count += 1
+                delay = base_delay * (2 ** min(retry_count, 4))
+                print(f"WebSocket connection error: {e}, retrying in {delay}s (attempt {retry_count}/{max_retries})")
+                await asyncio.sleep(delay)
+        
+        print("WebSocket client stopped after maximum retries")
+
+    async def start(self):
+        """啟動 WebSocket 客戶端"""
+        await self.ws_client_loop()
+
+if __name__ == "__main__":
+    client = WebSocketClient()
+    asyncio.run(client.start())

src/GUI/websocket_server.py

@@ -0,0 +1,179 @@
+import asyncio
+import websockets
+import json
+from urllib.parse import urlparse
+
+# 可切換為 "essential" 或 "full"；預設廣播完整狀態。
+STATUS_FORMAT = "full"
+SYSTEM_ID = 2
+
+# WebSocket 伺服器位址；修改此參數即可更換監聽 IP/port。
+WS_URL = "ws://0.0.0.0:8765"
+
+
+def parse_ws_url(ws_url):
+    """將 ws://host:port 解析為 websockets.serve 所需參數。"""
+    parsed = urlparse(ws_url)
+    if parsed.scheme != "ws":
+        raise ValueError("WS_URL 必須使用 ws:// 格式")
+    if not parsed.hostname:
+        raise ValueError("WS_URL 缺少主機位址")
+    try:
+        port = parsed.port
+    except ValueError as e:
+        raise ValueError(f"WS_URL port 格式錯誤: {e}") from e
+    if port is None:
+        raise ValueError("WS_URL 缺少 port")
+    return parsed.hostname, port
+
+# 啟動伺服器
+async def main(ws_url=WS_URL):
+    host, port = parse_ws_url(ws_url)
+    async with websockets.serve(client_handler, host, port):
+        print(f"WebSocket server started at {ws_url}")
+        await asyncio.Future()  # run forever
+
+# 模擬資料
+def get_uav_status(status_format=None):
+    status_format = status_format or STATUS_FORMAT
+    essential_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "b": 78,                        # battery (%)
+        "p": [24.1199660, 120.677230],  # [lat, lon] (deg)
+        "y": 178.5,                     # yaw (deg)
+    }
+
+    full_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "a": 1,                         # 1=armed, 0=disarmed
+        "b": 78,                        # battery (%)
+        "h": 12.3,                      # height (m)
+        "v": 4.2,                       # velocity (m/s)
+        "p": [24.1199660, 120.677230],  # [lat, lon] (deg)
+        "ypr": [178.5, -0.1, 0.0],      # yaw, pitch, roll (deg)
+        "g": 3,                         # GPS fix type
+        "d": [0.8, 1.2],                # HDOP, VDOP
+    }
+
+    if status_format == "essential":
+        return essential_status
+    if status_format == "full":
+        return full_status
+    raise ValueError(
+        f"不支援的 STATUS_FORMAT: {status_format}，請使用 essential 或 full")
+
+# 處理 client 傳來的訊息
+async def handle_client_messages(websocket):
+    try:
+        async for message in websocket:
+            try:
+                data = json.loads(message)
+                print(f"Received from client: {data}")
+                system_id = data.get("s")
+                cmd = data.get("c")
+                # XBee 命令格式:
+                # {"s":2,"c":"START"}
+                # {"s":2,"c":"STOP"}
+                # {"s":2,"c":"GOTO","p":[lat,lon]}
+                if system_id is None:
+                    ack = {
+                        "result": "ERROR",
+                        "command": cmd,
+                        "message": "缺少 system_id 欄位 s",
+                    }
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+                elif (isinstance(system_id, bool)
+                      or not isinstance(system_id, int)
+                      or system_id != SYSTEM_ID):
+                    ack = {
+                        "result": "ERROR",
+                        "command": cmd,
+                        "message": (
+                            f"指令目標 system_id={system_id} 不符，"
+                            f"本 UAV system_id={SYSTEM_ID}"
+                        ),
+                    }
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+                elif isinstance(cmd, str) and cmd in {"START", "STOP", "GOTO"}:
+                    if cmd == "START":
+                        print(f"收到 START 指令: system_id={system_id}")
+                        ack = {
+                            "result": "SUCCESS",
+                            "command": cmd,
+                            "message": "已接收 START 指令",
+                        }
+                    elif cmd == "STOP":
+                        print(f"收到 STOP 指令: system_id={system_id}")
+                        ack = {
+                            "result": "SUCCESS",
+                            "command": cmd,
+                            "message": "已接收 STOP 指令",
+                        }
+                    elif cmd == "GOTO":
+                        position = data.get("p")
+                        if isinstance(position, (list, tuple)) and len(position) >= 2:
+                            lat, lon = position[0], position[1]
+                            print(
+                                f"收到 GOTO 指令: system_id={system_id}, "
+                                f"lat={lat}, lon={lon}"
+                            )
+                            ack = {
+                                "result": "SUCCESS",
+                                "command": cmd,
+                                "message": "已接收 GOTO 指令",
+                            }
+                        else:
+                            print("GOTO 指令缺少位置 p=[lat,lon]")
+                            ack = {
+                                "result": "ERROR",
+                                "command": cmd,
+                                "message": "GOTO 指令缺少位置 p=[lat,lon]",
+                            }
+
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+                else:
+                    ack = {
+                        "result": "ERROR",
+                        "command": cmd,
+                        "message": "指令 c 必須為大寫 START、STOP 或 GOTO",
+                    }
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+            except json.JSONDecodeError:
+                print("❌ JSON 格式錯誤")
+    except websockets.ConnectionClosed:
+        print("❌ Client connection closed while receiving")
+
+# 持續廣播 UAV 資訊
+async def broadcast_uav_status(websocket):
+    try:
+        while True:
+            msg = get_uav_status()
+            await websocket.send(json.dumps(msg))
+            await asyncio.sleep(1)  # 每秒發送一次
+    except websockets.ConnectionClosed:
+        print("❌ Client connection closed while sending")
+
+# 每個 client 的處理流程
+async def client_handler(websocket, path=None):
+    print(f"🔗 Client connected: {websocket.remote_address}")
+    receive_task = asyncio.create_task(handle_client_messages(websocket))
+    send_task = asyncio.create_task(broadcast_uav_status(websocket))
+
+    done, pending = await asyncio.wait(
+        [receive_task, send_task],
+        return_when=asyncio.FIRST_COMPLETED,
+    )
+
+    for task in pending:
+        task.cancel()
+
+    print(f"🔌 Client disconnected: {websocket.remote_address}")
+
+if __name__ == "__main__":
+    asyncio.run(main(WS_URL))

src/GUI/xbee_gcs.py

@@ -0,0 +1,127 @@
+import serial
+import json
+import threading
+import time
+from pynput import keyboard
+
+SYSTEM_ID = 2
+
+try:
+    ser = serial.Serial('/dev/ttyUSB1', 115200, timeout=0.1) 
+    print("XBee 地面站啟動")
+    print("[1] START  [2] STOP  [3] GOTO  [Esc] 退出程式")
+except Exception as e:
+    print(f"無法開啟序列埠: {e}")
+    exit()
+
+GPS_TYPE_LABELS = {
+    0: "no GPS",
+    1: "no fix",
+    2: "2D",
+    3: "3D",
+    4: "DGPS",
+    5: "RTK float",
+    6: "RTK fixed",
+}
+
+def format_uav_data(uav_data):
+    system_id = uav_data.get("s", "?")
+    mode = uav_data.get("m", "?")
+    battery = uav_data.get("b", "?")
+    position = uav_data.get("p", "?")
+
+    parts = [
+        f"[UAV] ID:{system_id}",
+        f"Mode:{mode}",
+        f"Bat:{battery}%",
+        f"Pos:{position}",
+    ]
+
+    if "a" in uav_data:
+        armed_text = "ARMED" if int(uav_data.get("a", 0)) == 1 else "DISARMED"
+        parts.append(f"Arm:{armed_text}")
+
+    ypr = uav_data.get("ypr")
+    if isinstance(ypr, list) and len(ypr) >= 3:
+        parts.append(f"Height:{uav_data.get('h', '?')}m")
+        parts.append(f"Yaw:{ypr[0]}deg")
+        parts.append(f"Pitch:{ypr[1]}deg")
+        parts.append(f"Roll:{ypr[2]}deg")
+    elif "y" in uav_data:
+        parts.append(f"Height:{uav_data.get('h', '?')}m")
+        parts.append(f"Yaw:{uav_data.get('y')}deg")
+    elif "h" in uav_data:
+        parts.append(f"Heading:{uav_data.get('h')}")
+
+    if "v" in uav_data:
+        parts.append(f"Vel:{uav_data.get('v')}m/s")
+
+    if "g" in uav_data:
+        gps_type = uav_data.get("g")
+        parts.append(f"GPS:{gps_type}({GPS_TYPE_LABELS.get(gps_type, 'unknown')})")
+
+    dop = uav_data.get("d")
+    if isinstance(dop, list) and len(dop) >= 2:
+        parts.append(f"DOP(H/V):{dop[0]}/{dop[1]}")
+
+    return " | ".join(parts)
+
+def receive_thread():
+    while True:
+        try:
+            if ser.in_waiting > 0:
+                line = ser.readline().decode('utf-8', errors='ignore').strip()
+                if line:
+                    try:
+                        data = json.loads(line)
+                        # 判斷是確認訊息（ack）還是 UAV 狀態
+                        if "result" in data and "command" in data and "message" in data:
+                            # 這是確認訊息
+                            result = data.get("result")
+                            cmd = data.get("command")
+                            msg = data.get("message")
+                            print(f"\n[確認] 命令:{cmd} 狀態:{result} 訊息:{msg}", flush=True)
+                        else:
+                            # 這是 UAV 狀態訊息
+                            print(format_uav_data(data), flush=True)
+                    except json.JSONDecodeError:
+                        pass 
+        except Exception as e:
+            print(f"\n[接收錯誤] {e}")
+        time.sleep(0.01)
+
+t = threading.Thread(target=receive_thread, daemon=True)
+t.start()
+
+def send_command(command, position=None):
+    try:
+        if command not in {"START", "STOP", "GOTO"}:
+            raise ValueError("指令必須為大寫 START、STOP 或 GOTO")
+        cmd = {
+            "s": SYSTEM_ID,
+            "c": command
+        }
+        if position is not None:
+            cmd["p"] = position
+
+        payload = json.dumps(cmd, separators=(',', ':')) + "\n"
+        ser.write(payload.encode('utf-8'))
+        print(f"\n>> [指令已發送] {payload.strip()}")
+    except Exception as e:
+        print(f"\n發送失敗: {e}")
+
+def on_press(key):
+    try:
+        if key.char == "1":
+            send_command("START")
+        elif key.char == "2":
+            send_command("STOP")
+        elif key.char == "3":
+            send_command("GOTO", [24.1199660, 120.677230])
+    except AttributeError:
+        if key == keyboard.Key.esc:
+            print("\n程式結束")
+            return False
+
+with keyboard.Listener(on_press=on_press) as listener:
+    listener.join()

src/GUI/xbee_uav.py

@@ -0,0 +1,141 @@
+import serial
+import json
+import math
+import time
+
+PORT = '/dev/ttyUSB0'  # 替換為實際的序列埠名稱
+BAUD_RATE = 115200
+SYSTEM_ID = 2
+
+# 可切換為 "essential" 或 "full"；預設發送完整狀態。
+STATUS_FORMAT = "full"
+
+try:
+    ser = serial.Serial(PORT, BAUD_RATE, timeout=0.1)
+    print("XBee 無人機啟動...")
+except Exception as e:
+    print(f"無法開啟序列埠: {e}")
+    exit()
+
+def get_uav_status(status_format=None):
+    status_format = status_format or STATUS_FORMAT
+    essential_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "b": 78,                        # battery (%)
+        "p": [24.1199660, 120.677230],  # [lat, lon] (deg)
+        "y": 178.5,                     # yaw (deg)
+    }
+    full_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "a": 1,                         # 1=armed, 0=disarmed
+        "b": 78,                        # battery (%)
+        "h": 12.3,                      # height (m)
+        "v": 4.2,                       # velocity (m/s)
+        "p": [24.1199660, 120.677230],  # position: [lat, lon] (deg)
+        "ypr": [178.5, -0.1, 0.0],      # yaw, pitch, roll (deg)
+        "g": 3,                         # GPS type {0: no GPS, 1: no fix, 2: 2D, 3: 3D, 4: DGPS, 5: RTK float, 6: RTK fixed}
+        "d": [0.8, 1.2],                # DOP: [hdop, vdop]
+    }
+    if status_format == "essential":
+        return essential_status
+    if status_format == "full":
+        return full_status
+    raise ValueError(
+        f"不支援的 STATUS_FORMAT: {status_format}，請使用 essential 或 full")
+
+def handle_command(cmd_obj):
+    # 統一指令格式: {"s": <int>, "c": "START|STOP|GOTO"}
+    target_s = cmd_obj.get("s")
+    command = cmd_obj.get("c")
+    ack = None
+
+    if (isinstance(target_s, bool)
+            or not isinstance(target_s, int)
+            or target_s != SYSTEM_ID):
+        ack = {
+            "result": "ERROR",
+            "command": command,
+            "message": (
+                f"指令目標 system_id={target_s} 不符，"
+                f"本 UAV system_id={SYSTEM_ID}"
+            ),
+        }
+    elif not isinstance(command, str) or command not in {"START", "STOP", "GOTO"}:
+        print(f"\n[接收指令] 未知或格式錯誤的指令: {command}")
+        ack = {
+            "result": "ERROR",
+            "command": command,
+            "message": "指令 c 必須為大寫 START、STOP 或 GOTO",
+        }
+    elif command == "START":
+        print("\n[接收指令] 開始任務")
+        ack = {"result": "SUCCESS", "command": "START", "message": "成功"}
+    elif command == "STOP":
+        print("\n[接收指令] 停止任務")
+        ack = {"result": "SUCCESS", "command": "STOP", "message": "成功"}
+    elif command == "GOTO":
+        # 優先使用 XBee 格式 p=[lat, lon]，並兼容舊版 lat/lon 欄位。
+        position = cmd_obj.get("p")
+        if isinstance(position, (list, tuple)) and len(position) >= 2:
+            lat, lon = position[0], position[1]
+        else:
+            lat, lon = cmd_obj.get("lat"), cmd_obj.get("lon")
+
+        try:
+            if isinstance(lat, bool) or isinstance(lon, bool):
+                raise ValueError
+            lat = float(lat)
+            lon = float(lon)
+            if not math.isfinite(lat) or not math.isfinite(lon):
+                raise ValueError
+            if not -90.0 <= lat <= 90.0 or not -180.0 <= lon <= 180.0:
+                raise ValueError
+        except (TypeError, ValueError):
+            print("\n[接收指令] GOTO 目標無效，需要有效的 p=[lat,lon]")
+            ack = {
+                "result": "ERROR",
+                "command": "GOTO",
+                "message": "GOTO 指令缺少或包含無效的 p=[lat,lon]",
+            }
+        else:
+            target = [lat, lon]
+            print(f"\n[接收指令] 導航任務 目標位置: {target}")
+            ack = {
+                "result": "SUCCESS",
+                "command": "GOTO",
+                "p": target,
+                "message": "成功",
+            }
+    # 發送回覆（ack）到 GCS via serial
+    if ack is not None:
+        try:
+            payload = json.dumps(ack, ensure_ascii=False) + "\n"
+            ser.write(payload.encode('utf-8'))
+            print(f"已發送回覆: {payload.strip()}")
+        except Exception as e:
+            print(f"發送回覆失敗: {e}")
+
+try:
+    while True:
+        data = get_uav_status()
+        json_payload = json.dumps(data, separators=(',', ':')) + "\n"
+        ser.write(json_payload.encode('utf-8'))
+        print(f"發送狀態: {json_payload.strip()}")
+        for _ in range(10):
+            if ser.in_waiting > 0:
+                try:
+                    cmd_line = ser.readline().decode('utf-8').strip()
+                    if cmd_line:
+                        cmd_obj = json.loads(cmd_line)
+                        handle_command(cmd_obj)
+
+                except json.JSONDecodeError:
+                    pass 
+            time.sleep(0.1)
+
+except KeyboardInterrupt:
+    print("發送停止")
+finally:
+    ser.close()