diff --git a/Plane.FormationCreator/App.xaml.cs b/Plane.FormationCreator/App.xaml.cs
index 9e10f56..c231ce8 100644
--- a/Plane.FormationCreator/App.xaml.cs
+++ b/Plane.FormationCreator/App.xaml.cs
@@ -143,8 +143,9 @@ namespace Plane.FormationCreator
                         Id = ip,
                         Name = ip.Substring(ip.LastIndexOf('.') + 1)
                     };
-                    copters.Add(copter);
-                    copterStatus.Add(false);
+                    int _index;
+                    _index=copters.AddCopter(copter);
+                    copterStatus.Insert(_index,false); 
                 }));
             }
             else
diff --git a/Plane.FormationCreator/Formation/CopterManager.cs b/Plane.FormationCreator/Formation/CopterManager.cs
index 2313776..5067749 100644
--- a/Plane.FormationCreator/Formation/CopterManager.cs
+++ b/Plane.FormationCreator/Formation/CopterManager.cs
@@ -10,6 +10,46 @@ using System.Threading.Tasks;
 
 namespace Plane.FormationCreator.Formation
 {
+
+    public class CopterCollection : ObservableCollection<ICopter>
+    {
+        /// <summary>  
+        /// 实现排序插入  
+        /// </summary>  
+        /// <param name="baseSemObjects"></param>  
+        public int AddCopter(ICopter entityObject)
+        {
+            int _index = 0;
+            if (this.Count == 0)
+            {
+                Add(entityObject);
+                _index = 0;
+            }
+            else
+            {
+                bool isInsret = false;
+                for (int i = 0; i < this.Count; i++)
+                {
+                    if (String.Compare(this[i].Name, entityObject.Name, false) >= 0)
+                    {
+                        InsertItem(i, entityObject);
+                        isInsret = true;
+                        _index= i;
+                        break;
+                        
+                    }
+                }
+                if (!isInsret)
+                {
+                    Add(entityObject);
+                    _index = this.Count()-1 ;
+                }
+            }
+            return _index;
+        }
+    }
+
+
     public class CopterManager : ObservableObject
     {
         public CopterManager()
@@ -25,7 +65,7 @@ namespace Plane.FormationCreator.Formation
         }
 
 
-        public ObservableCollection<ICopter> Copters { get; } = new ObservableCollection<ICopter>();
+        public CopterCollection Copters { get;} = new CopterCollection();
 
         public ArrayList CopterStatus = new ArrayList();
         //public ObservableCollection<ICopter> Copters
diff --git a/Plane.FormationCreator/Formation/FlightTaskManager.cs b/Plane.FormationCreator/Formation/FlightTaskManager.cs
index cfcef97..f3b754a 100644
--- a/Plane.FormationCreator/Formation/FlightTaskManager.cs
+++ b/Plane.FormationCreator/Formation/FlightTaskManager.cs
@@ -128,7 +128,7 @@ namespace Plane.FormationCreator.Formation
             }
             foreach (var copter in copters)
             {
-                takeOffTask.SingleCopterInfos.Add(FlightTaskSingleCopterInfo.CreateForTakeOffTask(copter, targetAlt: 10));
+                takeOffTask.SingleCopterInfos.Add(FlightTaskSingleCopterInfo.CreateForTakeOffTask(copter, targetAlt: 15));
             }
         }
 
@@ -236,7 +236,8 @@ namespace Plane.FormationCreator.Formation
                     }
                     currcol++;
                     coptindex++;
-                    var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, lastSingleCopterInfo.TargetAlt, true);
+                    var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2,
+                        lastTask.SingleCopterInfos.Find(info => info.Copter == copter).TargetAlt, true);
                     newSingleCopterInfo.TargetHeading = lastSingleCopterInfo.TargetHeading;
                     newSingleCopterInfo.CenterDirectionDeg = lastSingleCopterInfo.TargetHeading;
                     newTask.SingleCopterInfos.Add(newSingleCopterInfo);
diff --git a/Plane.FormationCreator/MainWindow.xaml.cs b/Plane.FormationCreator/MainWindow.xaml.cs
index e5e4ab2..80deaed 100644
--- a/Plane.FormationCreator/MainWindow.xaml.cs
+++ b/Plane.FormationCreator/MainWindow.xaml.cs
@@ -94,7 +94,7 @@ namespace Plane.FormationCreator
         {
             map.GoHome();
         }
-
+        bool Shiftkeydown = false;
         private async void MetroWindow_PreviewKeyDown(object sender, KeyEventArgs e)
         {
             // 如果正在输入，忽略。
@@ -105,6 +105,11 @@ namespace Plane.FormationCreator
             switch (e.Key)
             {
 
+                case Key.LeftShift:
+                   {
+                        Shiftkeydown = true;
+                        break;
+                   }
                 //开关SHOWLED
                 case Key.C:
                     {
@@ -123,7 +128,7 @@ namespace Plane.FormationCreator
                 case Key.S:
                     {
 
-                        if ((_flightTaskManager.CurrentRunningTask == null) && (_flightTaskManager.SelectedTask != null))
+                       if (Shiftkeydown &&(_flightTaskManager.CurrentRunningTask == null) && (_flightTaskManager.SelectedTask != null))
                         {
 
                             var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
@@ -174,7 +179,7 @@ namespace Plane.FormationCreator
                     {
 
 
-                        if ((_flightTaskManager.CurrentRunningTask == null)&&(_flightTaskManager.SelectedTask!=null))
+                        if (Shiftkeydown && (_flightTaskManager.CurrentRunningTask == null)&&(_flightTaskManager.SelectedTask!=null))
                         {
 
                             var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
@@ -351,6 +356,11 @@ namespace Plane.FormationCreator
 
             switch (e.Key)
             {
+                case Key.LeftShift:
+                    {
+                        Shiftkeydown = false;
+                        break;
+                    }
                 case Key.W:
                 case Key.S:
                     {
diff --git a/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs b/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
index 0966dde..ae1a756 100644
--- a/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ModifyTaskViewModel.cs
@@ -761,7 +761,7 @@ public ICommand VerticlAlignmentCommand
                                 dy = -ax  * Math.Sin(k) + ay * Math.Cos(k);
 
                                 //新高度（米）
-                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt += (float) dy;
+                                _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt= (float)(centalt + dy);
                                 //计算新纬度
                                 double lng2 = 0;
                                 double lat2 = 0;
@@ -796,9 +796,78 @@ public ICommand VerticlAlignmentCommand
             }
         }
 
-
         
-        //缩放
+       private ICommand _AutoaltCommand;
+        public ICommand AutoaltCommand
+        {
+            get
+            {
+                return _AutoaltCommand ?? (_AutoaltCommand = new RelayCommand<double>(async =>
+                {
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+                }));
+            }
+        }
+
+
+        private ICommand _PrealtCommand;
+        public ICommand PrealtCommand
+        {
+            get
+            {
+                return _PrealtCommand ?? (_PrealtCommand = new RelayCommand<double>(async =>
+                {
+
+                    var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
+                    for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
+                    {
+
+                        selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
+                        foreach (var capter in _copterManager.SelectedCopters)
+                        {
+                            if (capter == selectedCopter)
+                            {
+                                if (_flightTaskManager.SelectedTaskIndex > 1)
+                                    _flightTaskManager.SelectedTask.SingleCopterInfos[i].TargetAlt =
+                                _flightTaskManager.Tasks[_flightTaskManager.SelectedTaskIndex - 1].SingleCopterInfos[i].TargetAlt;
+                            }
+
+                        }
+
+
+                    }
+
+
+
+
+
+
+
+
+                }));
+            }
+        }
+
+
+
+
+
+        //计算距离
         private ICommand _calDistinceCommand;
         public ICommand calDistinceCommand
         {
@@ -811,10 +880,9 @@ public ICommand VerticlAlignmentCommand
                     double distance = 0;
 
                     var selectedCopter = _copterManager.SelectedCopters.FirstOrDefault();
-                    bool copterisselect;
                     for (int i = 0; i < _flightTaskManager.SelectedTask.SingleCopterInfos.Count; i++)
                     {
-                        copterisselect = false;
+
                         selectedCopter = _flightTaskManager.SelectedTask.SingleCopterInfos[i].Copter;
                         foreach (var capter in _copterManager.SelectedCopters)
                         {
diff --git a/Plane.FormationCreator/Views/ModifyTaskView.xaml b/Plane.FormationCreator/Views/ModifyTaskView.xaml
index c70f8e3..1d3bdd6 100644
--- a/Plane.FormationCreator/Views/ModifyTaskView.xaml
+++ b/Plane.FormationCreator/Views/ModifyTaskView.xaml
@@ -113,6 +113,17 @@
             <TextBlock Text="米" Margin="0, 10, 5, 0"/>
         
         </StackPanel>
+        <StackPanel>
+
+            <Button Content="自动高度"
+                    Margin="0,5,5,0"
+                    Command="{Binding AutoaltCommand}" />
+            <Button Content="前一高度"
+                    Margin="0,5,5,0"
+                    Command="{Binding PrealtCommand}" />
+
+        </StackPanel>
+
         <Separator />
         <TextBlock Text="任务属性" Margin="0, 0, 5, 0" FontWeight="Bold" />
         <StackPanel>