diff --git a/Plane.FormationCreator/Formation/FlightTaskManager.cs b/Plane.FormationCreator/Formation/FlightTaskManager.cs
index 12355f7..8c2fd2f 100644
--- a/Plane.FormationCreator/Formation/FlightTaskManager.cs
+++ b/Plane.FormationCreator/Formation/FlightTaskManager.cs
@@ -262,7 +262,7 @@ namespace Plane.FormationCreator.Formation
                     coptindex++;
 
 
-                    var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, preSingleCopterInfo.TargetAlt, true);
+                    var newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, targetLatLng.Item1, targetLatLng.Item2, preSingleCopterInfo.TargetAlt, 10,10);
                     newSingleCopterInfo.TargetHeading = lastSingleCopterInfo.TargetHeading;
                     newSingleCopterInfo.CenterDirectionDeg = lastSingleCopterInfo.TargetHeading;
                     newTask.SingleCopterInfos.Add(newSingleCopterInfo);
@@ -380,13 +380,19 @@ namespace Plane.FormationCreator.Formation
                 {
                     var singleCopterInfoObj = singleCopterInfos[i];
                     tagalt = (float)singleCopterInfoObj.targetAlt;
-                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(copter, new LatLng((double)singleCopterInfoObj.latOffset, (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt, (bool)singleCopterInfoObj.showLED);
+                    newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask(
+                        copter, new LatLng((double)singleCopterInfoObj.latOffset,
+                        (double)singleCopterInfoObj.lngOffset), (float)singleCopterInfoObj.targetAlt,
+                        (int)singleCopterInfoObj.flytoTime,
+                         (int)singleCopterInfoObj.loiterTime);
 
                 }
                 else
                 {
+                    //实际飞机比保存的任务计划的飞机多，多的飞机设置默认航点
                     newSingleCopterInfo = FlightTaskSingleCopterInfo.CreateForFlyToTask
-                        (copter, (double)copter.Latitude, (double)copter.Longitude, tagalt, (bool)false);
+                        (copter, (double)copter.Latitude, (double)copter.Longitude, tagalt, 10,10  
+                        );
 
                 }
                 newTask.SingleCopterInfos.Add(newSingleCopterInfo);
@@ -519,6 +525,7 @@ namespace Plane.FormationCreator.Formation
             SelectedTaskIndex = Tasks.Count - 1;
         }
 
+        //导出任务
         public string ExportTasks()
         {
             // For reference.
@@ -635,7 +642,9 @@ namespace Plane.FormationCreator.Formation
                                     latOffset = offset.Lat,
                                     lngOffset = offset.Lng,
                                     targetAlt = info.TargetAlt,
-                                    showLED = info.FlytoShowLED
+                                    showLED = info.FlytoShowLED,
+                                    flytoTime = info.FlytoTime,
+                                    loiterTime = info.LoiterTime
                                 };
                             })
                         };
@@ -735,6 +744,7 @@ namespace Plane.FormationCreator.Formation
         }
 
 
+        //导入任务,可设置导入哪些步骤
         public void ImportTasksindex(string tasksText,int startindex,int endindex)
         {
             dynamic tasks = JsonConvert.DeserializeObject(tasksText);
@@ -781,7 +791,7 @@ namespace Plane.FormationCreator.Formation
                 i++;
             }
         }
-
+        // 导入任务
         public void ImportTasks(string tasksText)
         {
             dynamic tasks = JsonConvert.DeserializeObject(tasksText);
diff --git a/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs b/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs
index ce65b73..786bd21 100644
--- a/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs
+++ b/Plane.FormationCreator/Formation/FlightTaskSingleCopterInfo_FlyTo.cs
@@ -1,35 +1,38 @@
-using Plane.Copters;
+using GalaSoft.MvvmLight.Command;
+using Plane.Copters;
+using Plane.Windows.Messages;
 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Input;
 
 namespace Plane.FormationCreator.Formation
 {
     public partial class FlightTaskSingleCopterInfo
     {
-        public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, double targetLat, double targetLng, float targetAlt,bool showLED)
+        public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, double targetLat, double targetLng, float targetAlt,int flytoTime,int loiterTime)
         {
             var info = new FlightTaskSingleCopterInfo(copter)
             {
                 TargetLat = targetLat,
                 TargetLng = targetLng,
                 TargetAlt = targetAlt,
-                FlytoShowLED= showLED,
-               // FlytoTime= flytoTime,
-               // LoiterTime = loiterTime
+                FlytoTime= flytoTime,
+                LoiterTime = loiterTime
             };
             return info;
         }
 
-        public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, LatLng latLngOffset, float targetAlt, bool showLED)
+        public static FlightTaskSingleCopterInfo CreateForFlyToTask(ICopter copter, LatLng latLngOffset, float targetAlt, int flytoTime, int loiterTime)
         {
             var info = new FlightTaskSingleCopterInfo(copter)
             {
                 LatLngOffset = latLngOffset,
                 TargetAlt = targetAlt,
-                FlytoShowLED = showLED
+                FlytoTime = flytoTime,
+                LoiterTime = loiterTime
             };
             return info;
         }
@@ -52,7 +55,18 @@ namespace Plane.FormationCreator.Formation
             get { return _LoiterTime; }
             set { Set(nameof(LoiterTime), ref _LoiterTime, value); }
         }
-
+        //设置飞机航点中灯光
+        private ICommand _ModiFlytoLEDCommand;
+        public ICommand ModiFlytoLEDCommand
+        {
+            get
+            {
+                return _ModiFlytoLEDCommand ?? (_ModiFlytoLEDCommand = new RelayCommand<double>(async =>
+                {
+                    Alert.Show("sfsdf");
+                }));
+            }
+        }
 
     }
 }
diff --git a/Plane.FormationCreator/Plane.FormationCreator.csproj b/Plane.FormationCreator/Plane.FormationCreator.csproj
index 333062b..b15f556 100644
--- a/Plane.FormationCreator/Plane.FormationCreator.csproj
+++ b/Plane.FormationCreator/Plane.FormationCreator.csproj
@@ -152,6 +152,7 @@
     <Compile Include="ViewModels\MainViewModel.cs" />
     <Compile Include="ViewModels\MapViewModel.cs" />
     <Compile Include="ViewModels\ModifyTaskViewModel.cs" />
+    <Compile Include="ViewModels\ModiLEDModel.cs" />
     <Compile Include="ViewModels\TaskBarViewModel.cs" />
     <Compile Include="Views\ControlPanelView.xaml.cs">
       <DependentUpon>ControlPanelView.xaml</DependentUpon>
@@ -172,6 +173,9 @@
     <Compile Include="Views\ModifyTaskView.xaml.cs">
       <DependentUpon>ModifyTaskView.xaml</DependentUpon>
     </Compile>
+    <Compile Include="Views\ModiLEDWindow.xaml.cs">
+      <DependentUpon>ModiLEDWindow.xaml</DependentUpon>
+    </Compile>
     <Compile Include="Views\TaskBarView.xaml.cs">
       <DependentUpon>TaskBarView.xaml</DependentUpon>
     </Compile>
@@ -275,6 +279,10 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\ModiLEDWindow.xaml">
+      <SubType>Designer</SubType>
+      <Generator>MSBuild:Compile</Generator>
+    </Page>
     <Page Include="Views\TaskBarView.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
diff --git a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
index ef40b4f..0b60bc4 100644
--- a/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
+++ b/Plane.FormationCreator/ViewModels/ControlPanelViewModel.cs
@@ -205,6 +205,7 @@ namespace Plane.FormationCreator.ViewModels
                             await Task.WhenAll(_copterManager.AcceptingControlCopters.Select
                                  (copter => copter.SetParamAsync(name, value)));
 
+                            /*
                             await Task.WhenAll(
 
                                 _copterManager.AcceptingControlCopters.Select(async copter =>
@@ -218,6 +219,7 @@ namespace Plane.FormationCreator.ViewModels
                                 }
 
                                  ));
+                                 */
 
                         }
 
@@ -606,7 +608,7 @@ namespace Plane.FormationCreator.ViewModels
                     var _flightTaskManager = _taskmodimodel.FlightTaskManager;
                     int coptercount = _copterManager.Copters.Count;
                     int taskcount = _flightTaskManager.Tasks.Count;
-                    bool havewritefault = true;
+                  //  bool havewritefault = true;
                     if (taskcount < 2) return;
 
                     for (int i = 0; i < coptercount; i++)
@@ -622,15 +624,24 @@ namespace Plane.FormationCreator.ViewModels
                             switch (_flightTaskManager.Tasks[j].TaskType)
                             {
                                 case FlightTaskType.TakeOff:
-                                   
-                                    missions[missindex++] = Mission.CreateTakeoffMission(2,5,_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
-                                     _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
+                                    //计算起飞需要的时间,5秒是上升加速和最后稳定时间
+                                    int takeofftime = (int)(_flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetAlt / 2.5 + 5);
+                                    missions[missindex++] = Mission.CreateTakeoffMission(1,
+                                       takeofftime,
+                                        _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLat,
+                                     _flightTaskManager.Tasks[j + 1].SingleCopterInfos[i].TargetLng,
+                                     _flightTaskManager.Tasks[j+1].SingleCopterInfos[i].TargetAlt);
                                     //要起飞任务
              
                                     break;
                                 case FlightTaskType.FlyTo:
-                                    missions[missindex++] = Mission.CreateWaypointMission(5,15,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
-                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
+
+                                    missions[missindex++] = Mission.CreateWaypointMission(
+                                        5,//_flightTaskManager.Tasks[j].SingleCopterInfos[i].LoiterTime, 
+                                        20,// _flightTaskManager.Tasks[j].SingleCopterInfos[i].FlytoTime,
+                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
+                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLng, 
+                                        _flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetAlt);
                                     break;
                                 case FlightTaskType.Loiter:
                                   //  missions[missindex++] = Mission.CreateWaypointMission(10,10,_flightTaskManager.Tasks[j].SingleCopterInfos[i].TargetLat,
diff --git a/Plane.FormationCreator/Views/ModifyTaskView.xaml b/Plane.FormationCreator/Views/ModifyTaskView.xaml
index 0407576..663cb20 100644
--- a/Plane.FormationCreator/Views/ModifyTaskView.xaml
+++ b/Plane.FormationCreator/Views/ModifyTaskView.xaml
@@ -206,7 +206,8 @@
                             <RowDefinition />
                         </Grid.RowDefinitions>
 
-                        <Grid Grid.Row="0">
+                        <Grid Grid.Row="0"  DataContext="{Binding ModifyingSingleCopterInfo}">
+                            
                             <Grid.RowDefinitions>
                                 <RowDefinition />
                                 <RowDefinition />
@@ -219,19 +220,26 @@
                             <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" Grid.Column="1"
                                       Margin="0,5,10,0"
+  
                                      Text="{Binding LoiterTime, UpdateSourceTrigger=PropertyChanged}" />
 
 
 
                             <TextBlock Grid.Row="2" Text="灯光控制: " />
-                            <CheckBox Grid.Row="2" Grid.Column="1" 
-                                      DataContext="{Binding ModifyingSingleCopterInfo}"
-                                      IsChecked="{Binding FlytoShowLED}" />
+
+                            <Button Content="设置"
+                                    Grid.Row="2" Grid.Column="1" 
+                                    Margin="0,5,5,0"
+                                    
+                                    Command="{Binding ModiFlytoLEDCommand}"  />
+
+                           
 
                         </Grid>