diff --git a/src/unitdev01/unitdev01/gui.py b/src/unitdev01/unitdev01/gui.py
new file mode 100644
index 0000000..623a0d2
--- /dev/null
+++ b/src/unitdev01/unitdev01/gui.py
@@ -0,0 +1,392 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
+                            QWidget, QLabel, QSplitter, QScrollArea, 
+                            QSizePolicy)
+from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal
+from PyQt6.QtGui import QColor
+import math
+import re
+from threading import Lock
+from geometry_msgs.msg import Point, Vector3
+from sensor_msgs.msg import BatteryState, NavSatFix, Imu
+from std_msgs.msg import String, Float64
+from mavros_msgs.msg import VfrHud
+
+class DroneSignals(QObject):
+    update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)
+
+class DroneMonitor(Node):
+    def __init__(self):
+        super().__init__('drone_monitor')
+        self.signals = DroneSignals()
+        self.drone_topics = {}
+        self.lock = Lock()
+        
+        # 主题检测定时器
+        self.create_timer(1.0, self.scan_topics)
+        
+    def scan_topics(self):
+        topics = self.get_topic_names_and_types()
+        drone_pattern = re.compile(r'/MavLinkBus/(s\d+)/(\w+)')
+        
+        found_drones = set()
+        for topic_name, _ in topics:
+            if match := drone_pattern.match(topic_name):
+                drone_id, topic_type = match.groups()
+                found_drones.add(drone_id)
+                with self.lock:
+                    self.drone_topics.setdefault(drone_id, set()).add(topic_type)
+        
+        for drone_id in found_drones:
+            if not hasattr(self, f'drone_{drone_id}_subs'):
+                self.setup_drone_subs(drone_id)
+    
+    def setup_drone_subs(self, drone_id):
+        base_topic = f'/MavLinkBus/{drone_id}'
+        
+        subs = {
+            'attitude': self.create_subscription(
+                Imu,
+                f'{base_topic}/attitude',
+                lambda msg, did=drone_id: self.attitude_callback(did, msg),
+                10
+            ),
+            'battery': self.create_subscription(
+                BatteryState,
+                f'{base_topic}/battery',
+                lambda msg, did=drone_id: self.battery_callback(did, msg),
+                10
+            ),
+            'flightMode': self.create_subscription(
+                String,
+                f'{base_topic}/flightMode',
+                lambda msg, did=drone_id: self.mode_callback(did, msg),
+                10
+            ),
+            'global': self.create_subscription(
+                NavSatFix,
+                f'{base_topic}/global_position/global',
+                lambda msg, did=drone_id: self.gps_callback(did, msg),
+                10
+            ),
+            'rel_alt': self.create_subscription(
+                Float64,
+                f'{base_topic}/global_position/rel_alt',
+                lambda msg, did=drone_id: self.altitude_callback(did, msg),
+                10
+            ),
+            'local_pose': self.create_subscription(
+                Point,
+                f'{base_topic}/local_position/pose',
+                lambda msg, did=drone_id: self.local_pose_callback(did, msg),
+                10
+            ),
+            'local_vel': self.create_subscription(
+                Vector3,
+                f'{base_topic}/local_position/velocity',
+                lambda msg, did=drone_id: self.local_vel_callback(did, msg),
+                10
+            ),
+            'vfr_hud': self.create_subscription(
+                VfrHud,
+                f'{base_topic}/vfr_hud',
+                lambda msg, did=drone_id: self.hud_callback(did, msg),
+                10
+            )
+        }
+        
+        setattr(self, f'drone_{drone_id}_subs', subs)
+        self.signals.update_signal.emit('new_drone', drone_id, None)
+
+    def quaternion_to_euler(self, q):
+        sinr_cosp = 2 * (q.w * q.x + q.y * q.z)
+        cosr_cosp = 1 - 2 * (q.x**2 + q.y**2)
+        roll = math.atan2(sinr_cosp, cosr_cosp)
+        
+        sinp = 2 * (q.w * q.y - q.z * q.x)
+        pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp)
+        
+        siny_cosp = 2 * (q.w * q.z + q.x * q.y)
+        cosy_cosp = 1 - 2 * (q.y**2 + q.z**2)
+        yaw = math.atan2(siny_cosp, cosy_cosp)
+        
+        return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)
+
+    # 回调函数
+    def attitude_callback(self, drone_id, msg):
+        if hasattr(msg, 'orientation'):
+            roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
+            self.signals.update_signal.emit('attitude', drone_id, {
+                'roll': roll,
+                'pitch': pitch,
+                'yaw': yaw,
+                'rates': (msg.angular_velocity.x, 
+                         msg.angular_velocity.y,
+                         msg.angular_velocity.z)
+            })
+
+    def battery_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('battery', drone_id, {
+            'voltage': msg.voltage
+        })
+
+    def mode_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('mode', drone_id, msg.data)
+
+    def gps_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('gps', drone_id, {
+            'lat': msg.latitude,
+            'lon': msg.longitude,
+            'alt': msg.altitude
+        })
+
+    def local_vel_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('velocity', drone_id, {
+            'vx': msg.x,
+            'vy': msg.y,
+            'vz': msg.z
+        })
+
+    def altitude_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('altitude', drone_id, msg.data)
+
+    def local_pose_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('local_pose', drone_id, {
+            'x': msg.x,
+            'y': msg.y,
+            'z': msg.z
+        })
+
+    def hud_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('hud', drone_id, {
+            'airspeed': msg.airspeed,
+            'groundspeed': msg.groundspeed,
+            'heading': msg.heading,
+            'throttle': msg.throttle,
+            'alt': msg.altitude,
+            'climb': msg.climb
+        })
+
+class ControlStationUI(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle('GCS')
+        self.resize(1400, 900)
+        self.drones = {}
+        
+        # 初始化ROS2
+        rclpy.init()
+        self.monitor = DroneMonitor()
+        self.monitor.signals.update_signal.connect(self.update_ui)
+        
+        # ROS执行器配置
+        self.executor = rclpy.executors.SingleThreadedExecutor()
+        self.executor.add_node(self.monitor)
+        
+        # 初始化UI
+        self.init_ui()
+        
+        # 定时处理ROS事件
+        self.timer = QTimer()
+        self.timer.timeout.connect(self.spin_ros)
+        self.timer.start(50)
+
+    def init_ui(self):
+        main_splitter = QSplitter(Qt.Orientation.Horizontal)
+        
+        # 左侧信息面板
+        left_panel = QWidget()
+        left_layout = QVBoxLayout(left_panel)
+        left_layout.setContentsMargins(5, 5, 5, 5)
+        
+        # 信息滚动区域
+        scroll_area = QScrollArea()
+        scroll_area.setWidgetResizable(True)
+        self.info_container = QWidget()
+        self.info_layout = QVBoxLayout(self.info_container)
+        self.info_layout.setAlignment(Qt.AlignmentFlag.AlignTop)
+        scroll_area.setWidget(self.info_container)
+        
+        left_layout.addWidget(scroll_area)
+        
+        # 右侧地图区域
+        self.map_widget = QLabel()
+        self.map_widget.setAlignment(Qt.AlignmentFlag.AlignCenter)
+        self.map_widget.setStyleSheet("""
+            QLabel {
+                background-color: #1A1A1A;
+                color: #AAAAAA;
+                font-size: 18px;
+                border: 2px solid #333;
+                border-radius: 10px;
+                padding: 20px;
+            }
+        """)
+        self.update_map_display("等待GPS數據...")
+        
+        main_splitter.addWidget(left_panel)
+        main_splitter.addWidget(self.map_widget)
+        main_splitter.setSizes([400, 1000])
+        
+        self.setCentralWidget(main_splitter)
+
+    def create_drone_panel(self, drone_id):
+        panel = QWidget()
+        panel.setObjectName(f"panel_{drone_id}")
+        panel.setStyleSheet("""
+            QWidget#panel_%s {
+                background-color: #2A2A2A;
+                border-radius: 8px;
+                margin: 6px;
+                padding: 10px;
+                border: 1px solid #444;
+            }
+            QLabel {
+                color: #DDD;
+                font-size: 12px;
+                padding: 2px;
+            }
+        """ % drone_id)
+        
+        layout = QVBoxLayout(panel)
+        layout.setContentsMargins(8, 8, 8, 8)
+        layout.setSpacing(4)
+        
+        # 顶部标题栏
+        header = QWidget()
+        header_layout = QHBoxLayout(header)
+        header_layout.setContentsMargins(0, 0, 0, 0)
+        
+        # ID显示
+        id_label = QLabel(drone_id)
+        id_label.setStyleSheet("""
+            font-weight: bold; 
+            font-size: 14px; 
+            color: #7FFFD4;
+            min-width: 80px;
+        """)
+        
+        # 状态指示灯
+        status_light = QLabel("●")
+        status_light.setStyleSheet("color: #00FF00; font-size: 16px;")
+        
+        header_layout.addWidget(id_label)
+        header_layout.addWidget(status_light)
+        header_layout.addStretch()
+        
+        layout.addWidget(header)
+        
+        # 数据字段（带标签）
+        self.create_data_row(layout, "模式:", f"{drone_id}_mode", "--")
+        self.create_data_row(layout, "電壓:", f"{drone_id}_battery", "-- V")
+        self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "等待定位...")
+        self.create_data_row(layout, "Local:", f"{drone_id}_local", "X: -- Y: -- Z: --")
+        self.create_data_row(layout, "速度:", f"{drone_id}_velocity", "VX: -- VY: -- VZ: --")
+        self.create_data_row(layout, "姿態:", f"{drone_id}_attitude", "Roll: -- Pitch: -- Yaw: --")
+        
+        return panel
+
+    def create_data_row(self, layout, title, object_name, default):
+        row = QWidget()
+        hbox = QHBoxLayout(row)
+        hbox.setContentsMargins(0, 0, 0, 0)
+        
+        # 标题标签
+        title_label = QLabel(title)
+        title_label.setStyleSheet("color: #888; min-width: 80px;")
+        title_label.setSizePolicy(QSizePolicy.Policy.Fixed, QSizePolicy.Policy.Preferred)
+        
+        # 数据标签
+        value_label = QLabel(default)
+        value_label.setObjectName(object_name)
+        value_label.setWordWrap(True)
+        value_label.setStyleSheet("margin-left: 10px;")
+        
+        hbox.addWidget(title_label)
+        hbox.addWidget(value_label)
+        layout.addWidget(row)
+
+    def update_ui(self, msg_type, drone_id, data):
+        if msg_type == 'new_drone':
+            self.add_drone(drone_id)
+            return
+        
+        if not (panel := self.drones.get(drone_id)):
+            return
+        
+        if msg_type == 'mode':
+            self.update_field(panel, drone_id, 'mode', f"模式: {data}", 
+                            '#FF5555' if '返航' in data else '#55FF55')
+        
+        elif msg_type == 'battery':
+            voltage = data.get('voltage', 0)
+            self.update_field(panel, drone_id, 'battery', 
+                            f"{voltage:.1f} V",
+                            '#FF6464' if voltage < 12 else '#FFFFFF')
+        
+        elif msg_type == 'gps':
+            text = (f"緯度: {data['lat']:.6f}\n"
+                    f"經度: {data['lon']:.6f}\n"
+                    f"高度: {data['alt']:.1f} m")
+            self.update_field(panel, drone_id, 'gps', text)
+            self.update_map_display(f"Drone {drone_id}\n{text}")
+        
+        elif msg_type == 'local_pose':
+            text = (f"X: {data['x']:.1f} m\n"
+                    f"Y: {data['y']:.1f} m\n"
+                    f"Z: {data['z']:.1f} m")
+            self.update_field(panel, drone_id, 'local', text)
+        
+        elif msg_type == 'velocity':
+            text = (f"VX: {data['vx']:.1f} m/s\n"
+                    f"VY: {data['vy']:.1f} m/s\n"
+                    f"VZ: {data['vz']:.1f} m/s")
+            self.update_field(panel, drone_id, 'velocity', text)
+        
+        elif msg_type == 'attitude':
+            text = (f"Roll: {data['roll']:.1f}°\n"
+                    f"Pitch: {data['pitch']:.1f}°\n"
+                    f"Yaw: {data['yaw']:.1f}°")
+            self.update_field(panel, drone_id, 'attitude', text)
+        
+        elif msg_type == 'hud':
+            text = (f"空速: {data['airspeed']:.1f} m/s\n"
+                    f"地速: {data['groundspeed']:.1f} m/s\n"
+                    f"航向: {data['heading']:.1f}°")
+            self.update_field(panel, drone_id, 'hud', text)
+
+    def update_field(self, panel, drone_id, field, text, color=None):
+        if label := panel.findChild(QLabel, f"{drone_id}_{field}"):
+            label.setText(text)
+            if color:
+                label.setStyleSheet(f"color: {color};")
+
+    def add_drone(self, drone_id):
+        if drone_id not in self.drones:
+            panel = self.create_drone_panel(drone_id)
+            self.info_layout.addWidget(panel)
+            self.drones[drone_id] = panel
+
+    def update_map_display(self, text):
+        self.map_widget.setText(text)
+        self.map_widget.repaint()
+
+    def spin_ros(self):
+        try:
+            self.executor.spin_once(timeout_sec=0)
+        except Exception as e:
+            print(f"ROS spin error: {e}")
+
+    def closeEvent(self, event):
+        self.monitor.destroy_node()
+        self.executor.shutdown()
+        rclpy.shutdown()
+        event.accept()
+
+if __name__ == '__main__':
+    app = QApplication([])
+    station = ControlStationUI()
+    station.show()
+    app.exec()
\ No newline at end of file