diff --git a/Plane.FormationCreator/App.xaml.cs b/Plane.FormationCreator/App.xaml.cs
index b0aa765..e2cc631 100644
--- a/Plane.FormationCreator/App.xaml.cs
+++ b/Plane.FormationCreator/App.xaml.cs
@@ -35,6 +35,7 @@ namespace Plane.FormationCreator
             _logger = ServiceLocator.Current.GetInstance<ILogger>();
             _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();
             _formationController = ServiceLocator.Current.GetInstance<FormationController>();
+            _mapManager = ServiceLocator.Current.GetInstance<MapManager>();
 
             AppDomain.CurrentDomain.AssemblyResolve += (s, e) =>
             {
@@ -71,6 +72,7 @@ namespace Plane.FormationCreator
         private ILogger _logger;
         private CopterManager _copterManager;
         private FormationController _formationController;
+        private MapManager _mapManager;
 
         private Assembly LoadAssembly(string simpleName)
         {
@@ -154,14 +156,17 @@ namespace Plane.FormationCreator
             {
                 await Dispatcher.BeginInvoke(new Action(() =>
                 {
-                    copter = new Copter(Connection, SynchronizationContext.Current)
+                    copter = new Copter(Connection, SynchronizationContext.Current, _mapManager.Center.Lat, _mapManager.Center.Lng)
                     {
                         Id = ip,
                         Name = ip.Substring(ip.LastIndexOf('.') + 1)
+                        
                     };
+
+                    
                     int _index;
                     _index=copters.AddCopter(copter);
-                   copterStatus.Insert(_index,false);
+                    copterStatus.Insert(_index,false);
 
                     copter.TextReceived += Copter_TextReceived;
 
diff --git a/Plane.FormationCreator/Formation/Copter.cs b/Plane.FormationCreator/Formation/Copter.cs
index cacb720..8c8d5be 100644
--- a/Plane.FormationCreator/Formation/Copter.cs
+++ b/Plane.FormationCreator/Formation/Copter.cs
@@ -15,6 +15,15 @@ namespace Plane.FormationCreator.Formation
         public Copter(IConnection Connection, SynchronizationContext uiThreadContext) : base(Connection, uiThreadContext,false)
         {
             Brush = _brushes[NextBrushIndex()];
+          
+        }
+
+        public Copter(IConnection Connection, SynchronizationContext uiThreadContext, double lat, double lng) : base(Connection, uiThreadContext, false)
+        {
+            Brush = _brushes[NextBrushIndex()];
+            RecordLat = lat;
+            RecordLng = lng;
+            //RaiseLocationChangedIfNeeded();
         }
 
         static SolidColorBrush[] _brushes = new[]
diff --git a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
index afd24ac..420a3b3 100644
--- a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
@@ -674,6 +674,20 @@ namespace Plane.FormationCreator.ViewModels
 
                                 case FlightTaskType.FlyTo:
 
+                                    foreach (LEDInfo ledInfo in _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)
+                                    {
+                                        Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
+                                        IMission LEDMission = Mission.CreateLEDControlMission(
+                                                ledInfo.Delay * 10,
+                                                ledInfo.LEDMode,
+                                                ledInfo.LEDRate,
+                                                0,   //ledInfo.LEDTimes,
+                                                color.R,
+                                                color.G,
+                                                color.B
+                                                );
+                                        missions.Add(LEDMission);
+                                    }
                                     missions.Add(Mission.CreateWaypointMission(
                                             //5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime, 
                                             //5,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
@@ -685,20 +699,7 @@ namespace Plane.FormationCreator.ViewModels
                                             //_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng,
                                             _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt)
                                         );
-                                        foreach(LEDInfo ledInfo in _flightTaskManager.Tasks[j].SingleCopterInfos[i].LEDInfos)
-                                        {
-                                            Color color = (Color)ColorConverter.ConvertFromString("#" + ledInfo.LEDRGB);
-                                            IMission LEDMission = Mission.CreateLEDControlMission(
-                                                    ledInfo.Delay,
-                                                    ledInfo.LEDMode,
-                                                    ledInfo.LEDRate,
-                                                    0,   //ledInfo.LEDTimes,
-                                                    color.R,
-                                                    color.G,
-                                                    color.B
-                                                    );
-                                            missions.Add(LEDMission);
-                                        }
+                                        
                                     break;
                                 case FlightTaskType.Loiter:
                                     //  missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
diff --git a/Plane.FormationCreator/Views/MapView_CopterDrawing.cs b/Plane.FormationCreator/Views/MapView_CopterDrawing.cs
index 1147c4f..00e2881 100644
--- a/Plane.FormationCreator/Views/MapView_CopterDrawing.cs
+++ b/Plane.FormationCreator/Views/MapView_CopterDrawing.cs
@@ -95,6 +95,17 @@ namespace Plane.FormationCreator.Views
                 try
                 {
                     var location = new Location(Copter.Latitude, Copter.Longitude, Copter.Altitude);
+
+                    if (this.Dot != null )
+                    {
+                        if (Copter is PLCopter && !Copter.IsGpsAccurate)
+                            this.Dot.Fill = new SolidColorBrush(Color.FromRgb(0, 0, 0));
+                        else
+                            this.Dot.Fill = _brush;
+                    }
+
+                    
+                        
                     Point center = _map.LocationToViewportPoint(location);
                     bool locationUpdated = true;
                     SolidColorBrush blackBrush = new SolidColorBrush();
@@ -114,7 +125,8 @@ namespace Plane.FormationCreator.Views
                         Dot.Points.Add(new Point(-COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
                         Dot.Points.Add(new Point(COPTER_RADIUS * 2 / 3, COPTER_RADIUS));
 
-                        Dot.Fill = _brush;    // new SolidColorBrush(Color.FromArgb(200, 0, 122, 204));
+                       
+                        Dot.Fill = _brush;  // new SolidColorBrush(Color.FromArgb(200, 0, 122, 204));                           
                         Dot.StrokeThickness  = 1;
                         Dot.Width = COPTER_RADIUS * 2;
                         Dot.Height = COPTER_RADIUS * 2;
@@ -218,6 +230,10 @@ namespace Plane.FormationCreator.Views
             public void AddWaypoint(Location location, FlightTaskType type)
             {
                 // Add waypoint.
+                /*
+                if (!Copter.IsGpsAccurate && !(Copter is FakeCopter))
+                    location = _map.Center;
+                    */
                 var wp = new Ellipse
                 {
                     Tag = WAYPOINT_TAG,
diff --git a/Plane.FormationCreator/Views/ModifyTaskView.xaml b/Plane.FormationCreator/Views/ModifyTaskView.xaml
index 9097159..4a3a15a 100644
--- a/Plane.FormationCreator/Views/ModifyTaskView.xaml
+++ b/Plane.FormationCreator/Views/ModifyTaskView.xaml
@@ -249,6 +249,7 @@
 
                                                 <TextBlock Text="时间"  Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
                                                 <TextBox MinWidth="40" MaxWidth="50" Margin="5,0,0,0"
+                                                         ToolTip="单位:秒，最小设置0.1秒"
                                                          Text="{Binding Delay, UpdateSourceTrigger=PropertyChanged}" />
 
                                                 <TextBlock Text="频率" Margin="12,0,0,0" VerticalAlignment="Center"></TextBlock>
diff --git a/Plane.FormationCreator/Views/TaskBarView.xaml b/Plane.FormationCreator/Views/TaskBarView.xaml
index 3563da5..6b2b2f4 100644
--- a/Plane.FormationCreator/Views/TaskBarView.xaml
+++ b/Plane.FormationCreator/Views/TaskBarView.xaml
@@ -7,7 +7,7 @@
              xmlns:ed="http://schemas.microsoft.com/expression/2010/drawing"
              x:Class="Plane.FormationCreator.Views.TaskBarView"
              mc:Ignorable="d"
-             d:DesignHeight="40"
+             d:DesignHeight="156.968"
              d:DesignWidth="500">
     <Grid>
         <Grid.ColumnDefinitions>
@@ -112,27 +112,85 @@
             </ItemsControl.ItemTemplate>
         </ItemsControl>
 
-        <StackPanel Grid.Column="2"
+        <Grid Grid.Column="2">
+            <Grid.RowDefinitions>
+                <RowDefinition/>
+                <RowDefinition/>
+            </Grid.RowDefinitions>
+            <StackPanel Visibility="Hidden">
+                <ComboBox Width="100" HorizontalAlignment="Left" Foreground="White"  
+                          DataContext="{Binding FlightTaskManager.SelectedTask}"
+                          SelectedIndex="{Binding TaskTypeIndex}">
+                    <ComboBox.ItemContainerStyle>
+                        <Style>
+                            <Setter Property="ComboBoxItem.Foreground" Value="White"/>
+                        </Style>
+                    </ComboBox.ItemContainerStyle>
+                    <ComboBoxItem Content="航点" />
+                    <ComboBoxItem Content="转向" />
+                    <ComboBoxItem Content="画圈" />
+                    <ComboBoxItem Content="悬停" />
+                    <ComboBoxItem Content="返航" />
+                </ComboBox>
+                <TabControl
+                    DataContext="{Binding FlightTaskManager.SelectedTask}"
+                    SelectedIndex="{Binding TaskTypeIndex}">
+                   
+                    <TabItem Header="航点">
+                        <Grid>
+                            <Grid.RowDefinitions>
+                                <RowDefinition />
+                                <RowDefinition />
+                            </Grid.RowDefinitions>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition />
+                                <ColumnDefinition />
+                            </Grid.ColumnDefinitions>
+                            <TextBlock Grid.Row="0" Text="飞行时间: " />
+                            <TextBox Grid.Column="1" Margin="0,5,10,0"
+                                     Text="{Binding FlytoTime, UpdateSourceTrigger=PropertyChanged}" />
+                            <TextBlock Grid.Row="1" Text="悬停时间: " />
+                            <TextBox  Grid.Row="1" Margin="0,5,10,0" Grid.Column="1" 
+                                     Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
+                        </Grid>
+                    </TabItem>
+                    
+                    <TabItem Header="转向">
+                    </TabItem>
+                    
+                    <TabItem Header="画圈">
+                    </TabItem>
+
+                    <TabItem Header="悬停">
+                    </TabItem>
+
+                    <TabItem Header="返航">
+                    </TabItem>
+                </TabControl>
+            </StackPanel>
+            <StackPanel Grid.Row="1"
                     Orientation="Horizontal"
                     VerticalAlignment="Bottom">
-            <Button Content="添加任务"
+                <Button Content="添加任务"
                    Background="#232323"
                     Command="{Binding AddTaskCommand}" />
-            <Button Content="清除任务"
+                <Button Content="清除任务"
                     Background="#232323"
                     Command="{Binding ClearTasksCommand}" />
-            <Button Content="重置任务"
+                <Button Content="重置任务"
                     Background="#232323"
                     Command="{Binding ResetTasksCommand}" />
-            <Button Content="强制下一步"
+                <Button Content="强制下一步"
                     Background="#232323"
                     Command="{Binding NextTasksCommand}" />
-            <Button Content="设置原点"
+                <Button Content="设置原点"
                     Background="#232323"
                     Command="{Binding SetOriginCommand}" />
-            <!--<Button Content="保存" />
+                <!--<Button Content="保存" />
             <Button Content="取消" />-->
-        </StackPanel>
+            </StackPanel>
+        </Grid>
+        
 
     </Grid>
 </UserControl>