diff --git a/src/views/layout/components/main/home/index.vue b/src/views/layout/components/main/home/index.vue
index 5ef6c02..c321d91 100644
--- a/src/views/layout/components/main/home/index.vue
+++ b/src/views/layout/components/main/home/index.vue
@@ -108,7 +108,7 @@ export default {
     // 实时更新所有飞机位置 和轨迹
     planePositions: {
       handler (allPositions) {
-      // allPositions 是一个数组，每个元素是该飞机的 position 数组
+        // allPositions 是一个数组，每个元素是该飞机的 position 数组
         allPositions.forEach((positions, idx) => {
           const n = positions.length
           if (n > 2) {
@@ -130,10 +130,19 @@ export default {
       deep: true
     },
     /**
-     * @description: 侧边栏显隐
+     * @description: 侧边栏缩进有变化时 地图重新自适应
      */
-    isCollapse () {
-      return this.$store.state.app.isCollapse
+    isCollapse: {
+      handler (val) {
+        if (val) {
+          setTimeout(() => {
+            this.$nextTick(() => {
+              this.$refs.mapbox.handleResize()
+            })
+          }, 500)
+        }
+      },
+      deep: true
     }
   },
   destroyed () {
diff --git a/src/views/layout/components/main/nofly/setNofly.vue b/src/views/layout/components/main/nofly/setNofly.vue
index 60ffc95..48db50c 100644
--- a/src/views/layout/components/main/nofly/setNofly.vue
+++ b/src/views/layout/components/main/nofly/setNofly.vue
@@ -43,10 +43,20 @@ export default {
         })
       }
     },
-    isCollapse (val) {
-      if (val) {
-        this.$refs.mapbox.handleResize()
-      }
+    /**
+     * @description: 侧边栏缩进有变化时 地图重新自适应
+     */
+    isCollapse: {
+      handler (val) {
+        if (val) {
+          setTimeout(() => {
+            this.$nextTick(() => {
+              this.$refs.mapbox.handleResize()
+            })
+          }, 500)
+        }
+      },
+      deep: true
     }
   }
 }
diff --git a/src/views/layout/components/main/nofly/setRestrictfly.vue b/src/views/layout/components/main/nofly/setRestrictfly.vue
index 1e62f08..d0e0644 100644
--- a/src/views/layout/components/main/nofly/setRestrictfly.vue
+++ b/src/views/layout/components/main/nofly/setRestrictfly.vue
@@ -43,10 +43,20 @@ export default {
         })
       }
     },
-    isCollapse (val) {
-      if (val) {
-        this.$refs.mapbox.handleResize()
-      }
+    /**
+     * @description: 侧边栏缩进有变化时 地图重新自适应
+     */
+    isCollapse: {
+      handler (val) {
+        if (val) {
+          setTimeout(() => {
+            this.$nextTick(() => {
+              this.$refs.mapbox.handleResize()
+            })
+          }, 500)
+        }
+      },
+      deep: true
     }
   }
 }
diff --git a/src/views/layout/components/main/planes/index.vue b/src/views/layout/components/main/planes/index.vue
index d94a392..de3ac3b 100644
--- a/src/views/layout/components/main/planes/index.vue
+++ b/src/views/layout/components/main/planes/index.vue
@@ -290,11 +290,14 @@ export default {
     isCollapse: {
       handler (val) {
         if (val) {
-          this.$nextTick(() => {
-            this.$refs.mapbox.handleResize()
-          })
+          setTimeout(() => {
+            this.$nextTick(() => {
+              this.$refs.mapbox.handleResize()
+            })
+          }, 500)
         }
-      }
+      },
+      deep: true
     }
   }
 }
diff --git a/src/views/layout/components/main/planes/swarm.vue b/src/views/layout/components/main/planes/swarm.vue
index 6c8c4d6..db13648 100644
--- a/src/views/layout/components/main/planes/swarm.vue
+++ b/src/views/layout/components/main/planes/swarm.vue
@@ -202,6 +202,7 @@ export default {
         return
       }
 
+      let minTargetAlt = Infinity // 标记最矮飞机 的目标高度 初始化为正无穷大
       // 计算每架飞机相对于当前中心的偏移量
       const commands = this.planeList.map(p => {
         const pos = p?.planeState?.position
@@ -216,12 +217,22 @@ export default {
         const newLat = targetLat + offsetLat
         const newAlt = targetAlt + offsetAlt
 
+        if (newAlt < minTargetAlt) {
+          minTargetAlt = newAlt
+        }
+
         return {
           macadd: p.macadd,
           cmd: `{guidedMode:{lon:${newLon.toFixed(7)},lat:${newLat.toFixed(7)},alt:${newAlt.toFixed(1)}}}`
         }
       }).filter(Boolean)
 
+      // 最矮的飞机小于地面高度 返回
+      if (minTargetAlt < 0) {
+        this.$message.warning(`指令已取消：最矮飞机将飞到地面以下（最低高度 ${minTargetAlt.toFixed(1)} 米）`)
+        return
+      }
+
       // 发送控制指令
       commands.forEach(({ macadd, cmd }) => {
         mqtt.publishFun(`cmd/${macadd}`, cmd)
@@ -307,10 +318,19 @@ export default {
       deep: true
     },
     /**
-     * @description: 侧边栏显隐
+     * @description: 侧边栏缩进有变化时 地图重新自适应
      */
-    isCollapse () {
-      return this.$store.state.app.isCollapse
+    isCollapse: {
+      handler (val) {
+        if (val) {
+          setTimeout(() => {
+            this.$nextTick(() => {
+              this.$refs.mapbox.handleResize()
+            })
+          }, 500)
+        }
+      },
+      deep: true
     }
   }
 }
diff --git a/src/views/layout/components/main/route/add.vue b/src/views/layout/components/main/route/add.vue
index 67e4f01..15b1864 100644
--- a/src/views/layout/components/main/route/add.vue
+++ b/src/views/layout/components/main/route/add.vue
@@ -80,6 +80,12 @@ export default {
      */
     routeList () {
       return this.$store.state.routeList
+    },
+    /**
+     * @description: 侧边栏显隐
+     */
+    isCollapse () {
+      return this.$store.state.app.isCollapse
     }
   },
   methods: {
@@ -169,6 +175,21 @@ export default {
   watch: {
     routeList () {
       this.initPage()// 初始化页面
+    },
+    /**
+     * @description: 侧边栏缩进有变化时 地图重新自适应
+     */
+    isCollapse: {
+      handler (val) {
+        if (val) {
+          setTimeout(() => {
+            this.$nextTick(() => {
+              this.$refs.mapbox.handleResize()
+            })
+          }, 500)
+        }
+      },
+      deep: true
     }
   },
   created () {
diff --git a/src/views/layout/index.vue b/src/views/layout/index.vue
index a9dcef4..049d3b7 100644
--- a/src/views/layout/index.vue
+++ b/src/views/layout/index.vue
@@ -220,7 +220,7 @@ export default {
                   plane.planeState[key] = homePosition
                 } else if (key === 'statusText') {
                   /* 飞控信息 插入日志 */
-                  this.$store.dispatch('fetchLog', { content: jsonData[key], color: '#f57c00' })
+                  this.$store.dispatch('fetchLog', { content: `${plane.name}--${jsonData[key]}`, color: '#f57c00' })
                 } else {
                   plane.planeState[key] = jsonData[key] // 按订阅信息 刷新飞机状态
                 }