diff --git a/src/components/ControllerTabs.vue b/src/components/ControllerTabs.vue
index 8820455..de2af08 100644
--- a/src/components/ControllerTabs.vue
+++ b/src/components/ControllerTabs.vue
@@ -1,7 +1,7 @@
 <template>
   <div class="w-100 h-100 mainBox">
     <!-- 弹出框 -->
-    <el-dialog :title="dialogTitle" :visible.sync="dialogVisible" width="320px" top="30vh">
+    <el-dialog :title="dialogTitle" :visible.sync="dialogVisible" width="320px" top="30vh" @close="closeCallback">
       <!-- 起飞设置弹出框 -->
       <template v-if="dialogItem == 'takeoffBox'">
         <el-slider class="w-100" v-model="takeoffValue" :show-tooltip="false" show-input :min="1" :max="100">
@@ -9,7 +9,7 @@
         <span slot="footer" class="dialog-footer">
           <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
           <el-button size="medium" type="primary"
-            @click="publishFun(`{setPlaneState:{bit:6,state:1,count:1,param:[${takeoffValue}]}}`); speakText('确认起飞')">确认起飞</el-button>
+            @click="publishFun(`{guidedMode:{alt:${takeoffValue}}}`); speakText('确认起飞')">飞至</el-button>
         </span>
       </template>
       <!-- 摄像头弹出框 -->
@@ -50,6 +50,20 @@
           <el-button size="medium" @click="handlerCloseCompassBox">关闭</el-button>
         </span>
       </template>
+      <!-- 校准加速度计 -->
+      <template v-if="dialogItem === 'acceBox'">
+        <div>
+          <template v-if="reportCal === null">
+            <el-progress :percentage="completionPct"></el-progress>
+          </template>
+          <template v-else>
+            {{ reportCal === 'successful' ? '校准成功，重启飞机即可生效！' : '校准失败!' }}
+          </template>
+        </div>
+        <span slot="footer" class="dialog-footer">
+          <el-button size="medium" @click="handlerCloseCompassBox">关闭</el-button>
+        </span>
+      </template>
     </el-dialog>
     <!-- 底边 tab控件组 -->
     <div class="flex column mr mac tabContainer p-l-10 p-r-10">
@@ -100,8 +114,7 @@
                   <font class="m-l-5">航点写入中···</font>
                 </el-button>
                 <el-button size="mini" class="f-s-14" v-else-if="Number(plane.planeState.state) === 4" type="warning"
-                  icon="f-s-14 iconfont icon-jiesuo"
-                  @click="publishFun('{setPlaneState:{bit:3,state:1,count:2,param:[1,0]}}'); speakText('解锁飞机')">
+                  icon="f-s-14 iconfont icon-jiesuo" @click="publishFun('{unlock:1}'); speakText('解锁飞机')">
                   <font class="m-l-5">解锁飞机</font>
                 </el-button>
                 <el-button size="mini" class="f-s-14" v-else-if="Number(plane.planeState.state) === 12" type="info"
@@ -141,26 +154,27 @@
           </div>
           <div class="butIconBox gap10 flex">
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{setPlaneState:{bit:3,state:1,count:2,param:[1,0]}}'); speakText('解锁飞机')">
+              @click="publishFun('{unlock:1}'); speakText('解锁飞机')">
               <i class="iconfont icon-jiesuo f-s-24"></i>
               <div class="m-t-5">解锁</div>
             </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{setPlaneState:{bit:3,state:0,count:2,param:[0,21196]}}'); speakText('加锁,请注意安全')">
+              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁,请注意安全')">
               <i class=" iconfont icon-suoding f-s-24"></i>
               <div class="m-t-5">加锁</div>
             </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="dialogVisible = true; dialogTitle = '起飞高度(米)设置'; dialogItem = 'takeoffBox'; speakText('设置起飞高度')">
+              @click="dialogVisible = true; dialogTitle = '高度设置(米)'; dialogItem = 'takeoffBox'; speakText('设置起飞高度')">
               <i class="iconfont icon-yangshi_icon_tongyong_departure f-s-24"></i>
               <div class="m-t-5">起飞</div>
             </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{setPlaneState:{bit:7,state:1}}'); speakText('悬停')">
+              @click="publishFun('{loiterMode:1}'); speakText('悬停')">
               <i class="iconfont icon-fengzheng1 f-s-24"></i>
               <div class="m-t-5">悬停</div>
             </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon" @click="speakText('继续执行航线')">
+            <el-button size="medium" type="primary" class="flex1 butIcon"
+              @click="publishFun('{autoMode:1}'); speakText('继续执行航线')">
               <i class="iconfont icon-duandianxufei f-s-24"></i>
               <div class="m-t-5">复航</div>
             </el-button>
@@ -257,11 +271,13 @@
               <i class="iconfont icon-zhinanzhen f-s-24"></i>
               <div class="m-t-5">磁罗盘</div>
             </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon" @click="speakText('校准加速度计')">
+            <el-button size="medium" type="primary" class="flex1 butIcon"
+              @click="publishFun(); speakText('校准加速度计');dialogVisible = true; dialogTitle = '校准加速度计';dialogItem = 'acceBox';">
               <i class="iconfont icon-zuobiaozhoupeizhixiang f-s-24"></i>
-              <div class="m-t-5">加速度计</div>
+              <div class="m-t-5">{{ acceState }}</div>
             </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon" @click="speakText('写入参数')">
+            <el-button size="medium" type="primary" class="flex1 butIcon"
+              @click="publishFun('{initAcce:2}'); speakText('写入参数')">
               <i class="iconfont icon-canshupeizhi f-s-24"></i>
               <div class="m-t-5">写入参数</div>
             </el-button>
@@ -395,6 +411,15 @@ export default {
         return this.plane.planeState.reportCal
       }
       return null
+    },
+    /**
+     * @description:加速度计 状态
+     */
+    acceState () {
+      if (this.plane && this.plane.planeState && this.plane.planeState.acceState) {
+        return this.plane.planeState.acceState
+      }
+      return '加速度计'
     }
   },
   methods: {
@@ -406,6 +431,10 @@ export default {
       this.dialogVisible = false
       this.plane.planeState.reportCal = null
     },
+    /** 弹出框 关闭事件回调 */
+    closeCallback () {
+      if (this.dialogItem === 'compassBox') { this.handlerCloseCompassBox() }
+    },
     /**
      * @description: 摄像头 滑动条松开
      * @param {string} item 项目
diff --git a/src/store/index.js b/src/store/index.js
index 74d68bf..94ca54f 100644
--- a/src/store/index.js
+++ b/src/store/index.js
@@ -281,7 +281,7 @@ const store = new Vuex.Store({
           completionPct: null, // 磁罗盘校准进度
           reportCal: null, // 磁罗盘校准结果
           state: 1, // 飞机状态 默认初始状态为1
-          pingNet: null, // 网速测试
+          acceState: null, // 加速度计校准状态
           getPlaneMode: null, // 飞机模式
           loadweight: null, // 重量
           hookstatus: null, // 钩子状态