diff --git a/app/src/main/java/com/bonus/wrjtest/MainActivity.kt b/app/src/main/java/com/bonus/wrjtest/MainActivity.kt
index 388b9cf..abf5798 100644
--- a/app/src/main/java/com/bonus/wrjtest/MainActivity.kt
+++ b/app/src/main/java/com/bonus/wrjtest/MainActivity.kt
@@ -1,6 +1,7 @@
 package com.bonus.wrjtest
 
 import android.annotation.SuppressLint
+import android.app.ProgressDialog
 import android.content.Intent
 import android.os.Bundle
 import android.os.Handler
@@ -58,6 +59,8 @@ class MainActivity : AppCompatActivity() {
     lateinit var sagEditText: EditText
     lateinit var hAngleText: EditText
     lateinit var vAngleText: EditText
+    lateinit var positionText: EditText
+    lateinit var spanText: EditText
     var handler: Handler = Handler(Looper.getMainLooper())
 
     val resultDataSb = StringBuilder()
@@ -78,6 +81,12 @@ class MainActivity : AppCompatActivity() {
 
     private var methodNum = 6
 
+    private var isPrint=0;
+
+    private var position="大号在右"
+    // 定义一个全局的 ProgressDialog 变量
+    private var progressDialog: ProgressDialog? = null
+
     //GPS与雷达位置偏移常量切换
 //    var gpsDistance = 0.28
 //    var gpsAngle = 0.0
@@ -104,24 +113,28 @@ class MainActivity : AppCompatActivity() {
         sagEditText = findViewById(R.id.sag)
         hAngleText = findViewById(R.id.hAngle)
         vAngleText = findViewById(R.id.vAngle)
-
+        positionText = findViewById(R.id.position)
+        spanText = findViewById(R.id.span)
         //创建通道
         createChannel()
 
+
+
         findViewById<Button>(R.id.switchType).setOnClickListener {
             if (splitType == "01") {
                 splitType = "02"
-                span = 48.209
+//                span = 48.209
                 h = 4.136
                 Toast.makeText(this, "切换至二分裂数据", Toast.LENGTH_LONG).show()
             } else if (splitType == "02") {
                 splitType = "04"
-                span = 47.991
+//                span = 47.991
+//                span = 45.23
                 h = 4.125
                 Toast.makeText(this, "切换至四分裂数据", Toast.LENGTH_LONG).show()
             } else {
                 splitType = "01"
-                span = 45.23
+//                span = 45.23
                 h = 0.139
                 Toast.makeText(this, "切换至单分裂数据", Toast.LENGTH_LONG).show()
             }
@@ -129,20 +142,51 @@ class MainActivity : AppCompatActivity() {
             sensorDataList.clear()
         }
 
+//        findViewById<Button>(R.id.poll).setOnClickListener {
+//            if (sensorDataBean.rollAngle>2 || sensorDataBean.rollAngle<-2){
+//                Toast.makeText(this, "横滚角过大，请稳定后再保存", Toast.LENGTH_LONG).show()
+//                return@setOnClickListener
+//            }
+//            Toast.makeText(this, "数据记录中。。。。。", Toast.LENGTH_LONG).show()
+//            sensorDataList.add(sensorDataBean)
+//            coordinatesList.add(coordinates)
+//
+//            logger.log(sensorDataBean.toString(),isPrint)
+//            for (coordinate in coordinates) {
+//                logger.log(coordinate.toString(),isPrint)
+//            }
+//
+//            // 使用 Handler 计时一秒后执行
+//            Handler(Looper.getMainLooper()).postDelayed({
+//                if (sensorDataBean.rollAngle>2 || sensorDataBean.rollAngle<-2){
+//                    Toast.makeText(this, "横滚角过大，请稳定后再保存", Toast.LENGTH_LONG).show()
+//                    return@postDelayed
+//                }
+//                if (job != null) {
+//                    // 取消之前的任务
+//                    job?.cancel()
+//                }
+//                // 计时结束后执行的逻辑
+//                sensorDataList.add(sensorDataBean)
+//                coordinatesList.add(coordinates)
+//
+//                logger.log(sensorDataBean.toString(), isPrint)
+//                for (coordinate in coordinates) {
+//                    logger.log(coordinate.toString(), isPrint)
+//                }
+//
+//                Toast.makeText(this, "已保存数据", Toast.LENGTH_LONG).show()
+//                isPrint = 0
+//                sendMsg(3)
+//                // 延迟 1000 毫秒（1 秒）
+//            }, 3000)
+//        }
+
         findViewById<Button>(R.id.poll).setOnClickListener {
-            if (job != null) {
-                job?.cancel()
-            }
-            sensorDataList.add(sensorDataBean)
-            coordinatesList.add(coordinates)
-
-            logger.log(sensorDataBean.toString())
-            for (coordinate in coordinates) {
-                logger.log(coordinate.toString())
-            }
-
-
-            Toast.makeText(this, "保存数据", Toast.LENGTH_LONG).show()
+            // 显示加载提示
+            showLoadingDialog()
+            // 调用方法检查横滚角是否满足条件
+            waitForRollAngleCondition()
         }
 
         findViewById<Button>(R.id.clear).setOnClickListener {
@@ -155,6 +199,7 @@ class MainActivity : AppCompatActivity() {
             Toast.makeText(this, "清除数据", Toast.LENGTH_LONG).show()
         }
         findViewById<Button>(R.id.measure).setOnClickListener {
+            isPrint=1;
             if (job != null) {
                 job?.cancel()
             }
@@ -162,18 +207,28 @@ class MainActivity : AppCompatActivity() {
             getSag()
         }
         findViewById<Button>(R.id.switchMethod).setOnClickListener {
-            if (methodNum == 6) {
-                methodNum = 3
+            if (position.equals("大号在右")) {
+                position = "大号在左"
+                positionText.setText("大号在左")
             } else {
-                methodNum = 6
+                position = "大号在右"
+                positionText.setText("大号在右")
             }
-            Toast.makeText(this, "切换计算方法为" + methodNum + "点弧垂测量法", Toast.LENGTH_LONG).show()
+            Toast.makeText(this, "切换测量位置为：" + position, Toast.LENGTH_LONG).show()
+            sendMsg(4)
         }
         findViewById<Button>(R.id.send1).setOnClickListener {
-            Toast.makeText(this, "基础发送信息", Toast.LENGTH_LONG).show()
-            sendMsg(1)
+            if (spanText.getText().toString().isNotEmpty()) {
+                span = spanText.getText().toString().toDouble()
+                Toast.makeText(this, "基础发送信息", Toast.LENGTH_LONG).show()
+                sendMsg(1)
+            } else {
+                Toast.makeText(this, "请输入档距", Toast.LENGTH_LONG).show()
+            }
+
         }
         findViewById<Button>(R.id.send2).setOnClickListener {
+            isPrint=1;
             if (job != null) {
                 job?.cancel()
             }
@@ -195,6 +250,82 @@ class MainActivity : AppCompatActivity() {
         }
     }
 
+    /**
+     * 定义一个方法用于等待横滚角满足条件
+     */
+    private fun waitForRollAngleCondition() {
+        if ((sensorDataBean.rollAngle > 1 || sensorDataBean.rollAngle < -1) && (sensorDataBean.pitchAngle > 3 || sensorDataBean.pitchAngle < -3)) {
+            // 如果不满足条件，则每隔 1 秒递归调用自己，直到满足条件为止
+            Handler(Looper.getMainLooper()).postDelayed({
+                waitForRollAngleCondition()
+            }, 500)
+            return
+        }
+
+        // 横滚角满足条件后，执行后续逻辑
+//        Toast.makeText(this, "数据记录中。。。。。", Toast.LENGTH_LONG).show()
+        sensorDataList.add(sensorDataBean)
+        coordinatesList.add(coordinates)
+
+        logger.log(sensorDataBean.toString(), isPrint)
+        println(sensorDataBean.toString())
+        for (coordinate in coordinates) {
+            logger.log(coordinate.toString(), isPrint)
+            println(coordinate.toString())
+        }
+
+        // 延迟 3 秒后再次检查横滚角
+        Handler(Looper.getMainLooper()).postDelayed({
+            checkRollAngleAndSave()
+        }, 2000)
+    }
+
+    /**
+     * 定义一个方法用于检查横滚角并保存数据
+     */
+    private fun checkRollAngleAndSave() {
+        if ((sensorDataBean.rollAngle > 1 || sensorDataBean.rollAngle < -1) && (sensorDataBean.pitchAngle > 3 || sensorDataBean.pitchAngle < -3)) {
+            // 如果不满足条件，则每隔 1 秒递归调用自己，直到满足条件为止
+            Handler(Looper.getMainLooper()).postDelayed({
+                checkRollAngleAndSave()
+            }, 1000)
+            return
+        }
+
+        // 满足条件后保存数据
+        sensorDataList.add(sensorDataBean)
+        coordinatesList.add(coordinates)
+        println(sensorDataBean.toString())
+        logger.log(sensorDataBean.toString(), isPrint)
+        for (coordinate in coordinates) {
+            logger.log(coordinate.toString(), isPrint)
+            println(coordinate.toString())
+        }
+
+
+        isPrint = 0
+        sendMsg(3)
+
+        // 数据保存完成后，隐藏加载提示
+        hideLoadingDialog()
+    }
+
+    // 显示加载提示的方法
+    private fun showLoadingDialog() {
+        progressDialog = ProgressDialog(this).apply {
+            setMessage("数据获取中，请稍候...")
+            setCancelable(false) // 禁止用户手动关闭
+            show()
+        }
+    }
+
+    // 隐藏加载提示的方法
+    private fun hideLoadingDialog() {
+        progressDialog?.dismiss()
+        progressDialog = null
+        Toast.makeText(this, "已保存数据", Toast.LENGTH_LONG).show()
+    }
+
     private fun createChannel() {
         // 创建通讯管道
         pipeline = PipelineManager.createPipeline()!!
@@ -244,9 +375,18 @@ class MainActivity : AppCompatActivity() {
                                         resultDataSb.clear()
                                         returnData.setText("激光雷达解析数据与分裂类型不匹配")
                                     }
+                                    "F0000003" -> {
+                                        resultDataSb.clear()
+                                        // 需要传递 Context 的引用，例如使用 applicationContext
+                                        Toast.makeText(
+                                            applicationContext,
+                                            "该无人机位置不合适，请调整",
+                                            Toast.LENGTH_SHORT
+                                        ).show()
+                                    }
                                 }
                             } else {
-                                if (resultDataSb.length == 96) {
+                                if (resultDataSb.length == 104) {
                                     //因为有分包现象，判断头尾
                                     if (resultDataSb.startsWith("F0F0F0") && resultDataSb.endsWith("CCDD")) {
                                         returnData.setText("")
@@ -264,20 +404,20 @@ class MainActivity : AppCompatActivity() {
                                             val angle3 = data.substring(24, 28)
                                             val distance4 = data.substring(28, 32)
                                             val angle4 = data.substring(32, 36)
-                                            val pitchAngle1 = data.substring(36, 40)
-                                            val rollAngle1 = data.substring(40, 44)
-                                            val azimuthAngle1 = data.substring(44, 48)
-                                            val lon = data.substring(48, 58)
-                                            val lat = data.substring(58, 68)
-                                            val h = data.substring(68, 74)
-                                            val qual = data.substring(74, 76)
+                                            val pitchAngle1 = data.substring(36, 44)
+                                            val rollAngle1 = data.substring(44, 52)
+                                            val azimuthAngle1 = data.substring(52, 56)
+                                            val lon = data.substring(56, 66)
+                                            val lat = data.substring(66, 76)
+                                            val h = data.substring(76, 82)
+                                            val qual = data.substring(82, 84)
 
-                                            val splitType = data.substring(76, 78)
+                                            val splitType = data.substring(84, 86)
                                             val splitNum = Integer.parseInt(splitType)
                                             //水平角
-                                            val hAngleNum = data.substring(78, 82)
+                                            val hAngleNum = data.substring(86, 90)
                                             //垂直角
-                                            val vAngleNum = data.substring(82, 86)
+                                            val vAngleNum = data.substring(90, 94)
 
                                             var radarDistance1: Double =
                                                 ByteUtil.hexToDecimalInt(distance1).toDouble() / 1000.0
@@ -304,11 +444,13 @@ class MainActivity : AppCompatActivity() {
                                                 RadarPointBean(radarAngle3, radarDistance3),
                                                 RadarPointBean(radarAngle4, radarDistance4)
                                             )
-
-                                            var pitchAngle2: Double =
-                                                ByteUtil.hexToDecimalInt(pitchAngle1).toDouble() / 100.0
-                                            var rollAngle2: Double =
-                                                ByteUtil.hexToDecimalInt(rollAngle1).toDouble() / 100.0
+                                            // 解析俯仰角和横滚角
+                                            var pitchAngle2: Double = ByteUtil.hexToSignedDecimalInt(pitchAngle1).toDouble() / 100.0
+                                            var rollAngle2: Double = ByteUtil.hexToSignedDecimalInt(rollAngle1).toDouble() / 100.0
+//                                            var pitchAngle2: Double =
+//                                                ByteUtil.hexToDecimalInt(pitchAngle1).toDouble() / 100.0
+//                                            var rollAngle2: Double =
+//                                                ByteUtil.hexToDecimalInt(rollAngle1).toDouble() / 100.0
                                             var azimuthAngle2: Double =
                                                 ByteUtil.hexToDecimalInt(azimuthAngle1).toDouble() / 100.0
 
@@ -368,10 +510,10 @@ class MainActivity : AppCompatActivity() {
 //                                                Toast.LENGTH_SHORT
 //                                            ).show()
                                             //展示是水平方向的夹角
-                                            radar1.setText("${radarDistance1}m, ${90-radarAngle1}°")
-                                            radar2.setText("${radarDistance2}m, ${90-radarAngle2}°")
-                                            radar3.setText("${radarDistance3}m, ${90-radarAngle3}°")
-                                            radar4.setText("${radarDistance4}m, ${90-radarAngle4}°")
+                                            radar1.setText("${radarDistance1}m, ${radarAngle1-pitchAngle2}°")
+                                            radar2.setText("${radarDistance2}m, ${radarAngle2-pitchAngle2}°")
+                                            radar3.setText("${radarDistance3}m, ${radarAngle3-pitchAngle2}°")
+                                            radar4.setText("${radarDistance4}m, ${radarAngle4-pitchAngle2}°")
 
                                             hAngleText.setText("${hAngle}°")
                                             vAngleText.setText("${vAngle}°")
@@ -380,6 +522,15 @@ class MainActivity : AppCompatActivity() {
                                             rollAngle.setText("${rollAngle2}°")
                                             azimuthAngle.setText("${azimuthAngle2}°")
                                             gps.setText("经度：${lon2}°，纬度：${lat2}°，高度：${h2}m")
+
+                                            logger.log("1号线： "+radarDistance1+"  ,  "+(radarAngle1-pitchAngle2)+"",isPrint);
+                                            logger.log("2号线： "+radarDistance2+"  ,  "+(radarAngle2-pitchAngle2)+"",isPrint);
+                                            logger.log("3号线： "+radarDistance3+"  ,  "+(radarAngle3-pitchAngle2)+"",isPrint);
+                                            logger.log("4号线： "+radarDistance4+"  ,  "+(radarAngle4-pitchAngle2)+"",isPrint);
+                                            logger.log("俯仰角： "+pitchAngle2+" ",isPrint);
+                                            logger.log("横滚角： "+rollAngle2+" ",isPrint);
+                                            logger.log("航向角： "+azimuthAngle2+" ",isPrint);
+                                            logger.log("雷达点： 经度： "+lon2+" ，纬度： "+lat2+" ，高度： "+h2+" ",isPrint);
                                             if (qual == "01") {
                                                 gpsMode.setText("单点定位")
                                             } else if (qual == "02") {
@@ -440,7 +591,7 @@ class MainActivity : AppCompatActivity() {
                                             ).show()
                                         }
                                     }
-                                } else if (resultDataSb.length > 96) {
+                                } else if (resultDataSb.length > 104) {
                                     resultDataSb.clear()
                                 }
                             }
@@ -454,7 +605,312 @@ class MainActivity : AppCompatActivity() {
     }
 
 
+    //hay   四分裂--3点/6点
+    private fun dealWithDatas() {
+
+        var sensor1 = SensorDataBean()
+        sensor1.pitchAngle = 3.0309
+        sensor1.rollAngle = 1.0171
+        sensor1.azimuthAngle = 257.2454
+        sensor1.lon = 117.1633331
+        sensor1.lat = 31.78590314
+        sensor1.h = 37.46575000
+        var radarPoint1: MutableList<RadarPointBean> = ArrayList()
+        radarPoint1.add(RadarPointBean(43.95-3.0309, 2.5315))
+        radarPoint1.add(RadarPointBean(53.35-3.0309, 2.318))
+        radarPoint1.add(RadarPointBean(57.15-3.0309, 2.7685))
+        radarPoint1.add(RadarPointBean(49.0-3.0309, 2.937))
+
+        var coordinate1: MutableList<Coordinate> = ArrayList()
+        for (radarPointBean in radarPoint1) {
+            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor1)
+            coordinate.radarPoint = radarPointBean
+            coordinate1.add(coordinate)
+        }
+
+////        var sensor2 = SensorDataBean()
+////        sensor2.pitchAngle = 0.01
+////        sensor2.rollAngle = 1.01
+////        sensor2.azimuthAngle = 110.11
+////        sensor2.lon = 117.16295435
+////        sensor2.lat = 31.78569556
+////        sensor2.h = 40.25136
+////        var radarPoint2: MutableList<RadarPointBean> = ArrayList()
+////        radarPoint2.add(RadarPointBean(170.35, 5.867))
+////        radarPoint2.add(RadarPointBean(171.0, 6.323))
+////        radarPoint2.add(RadarPointBean(166.65, 6.373))
+////        radarPoint2.add(RadarPointBean(166.05, 5.935))
+////        var coordinate2 :MutableList<Coordinate> = ArrayList()
+////        for (radarPointBean in radarPoint2) {
+////            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor2)
+////            coordinate.radarPoint = radarPointBean
+////            coordinate2.add(coordinate)
+////        }
+//
+        var sensor3 = SensorDataBean()
+        sensor3.pitchAngle = 3.0353
+        sensor3.rollAngle = 0.0018
+        sensor3.azimuthAngle = 271.2448
+        sensor3.lon = 117.16349030
+        sensor3.lat = 31.78590675
+        sensor3.h = 37.53740000
+        var radarPoint3: MutableList<RadarPointBean> = ArrayList()
+        radarPoint3.add(RadarPointBean(46.6-3.0353, 1.809))
+        radarPoint3.add(RadarPointBean(59.0-3.0353, 1.639))
+        radarPoint3.add(RadarPointBean(62.8-3.0353, 2.094))
+        radarPoint3.add(RadarPointBean(52.2-3.0353, 2.204))
+        var coordinate3: MutableList<Coordinate> = ArrayList()
+        for (radarPointBean in radarPoint3) {
+            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor3)
+            coordinate.radarPoint = radarPointBean
+            coordinate3.add(coordinate)
+        }
+
+////        var sensor4 = SensorDataBean()
+////        sensor4.pitchAngle = 1.01
+////        sensor4.rollAngle = 0.01
+////        sensor4.azimuthAngle = 120.21
+////        sensor4.lon = 117.16296837
+////        sensor4.lat = 31.78568228
+////        sensor4.h = 41.37936
+////        var radarPoint4: MutableList<RadarPointBean> = ArrayList()
+////        radarPoint4.add(RadarPointBean(157.9, 6.581))
+////        radarPoint4.add(RadarPointBean(159.15, 7.005))
+////        radarPoint4.add(RadarPointBean(155.55, 7.155))
+////        radarPoint4.add(RadarPointBean(154.35, 7.766))
+////        var coordinate4 :MutableList<Coordinate> = ArrayList()
+////        for (radarPointBean in radarPoint4) {
+////            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor4)
+////            coordinate.radarPoint = radarPointBean
+////            coordinate4.add(coordinate)
+////        }
+//
+        var sensor5 = SensorDataBean()
+        sensor5.pitchAngle = 2.0295
+        sensor5.rollAngle = 1.0171
+        sensor5.azimuthAngle = 269.5476
+        sensor5.lon = 117.16371240
+        sensor5.lat = 31.78590810
+        sensor5.h = 37.86845000
+        var radarPoint5: MutableList<RadarPointBean> = ArrayList()
+        radarPoint5.add(RadarPointBean(33.1-2.0295, 2.025))
+        radarPoint5.add(RadarPointBean(44.45-2.0295, 1.7655))
+        radarPoint5.add(RadarPointBean(50.05-2.0295, 2.1815))
+        radarPoint5.add(RadarPointBean(40.3-2.0295, 2.379))
+        var coordinate5: MutableList<Coordinate> = ArrayList()
+        for (radarPointBean in radarPoint5) {
+            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor5)
+            coordinate.radarPoint = radarPointBean
+            coordinate5.add(coordinate)
+        }
+
+////        var sensor6 = SensorDataBean()
+////        sensor6.pitchAngle = 0.0
+////        sensor6.rollAngle = 3.04
+////        sensor6.azimuthAngle = 119.2
+////        sensor6.lon = 117.16281242
+////        sensor6.lat = 31.78569027
+////        sensor6.h = 41.61336
+////        var radarPoint6: MutableList<RadarPointBean> = ArrayList()
+////        radarPoint6.add(RadarPointBean(160.05, 5.774))
+////        radarPoint6.add(RadarPointBean(161.55, 6.197))
+////        radarPoint6.add(RadarPointBean(157.8, 6.359))
+////        radarPoint6.add(RadarPointBean(156.1, 5.973))
+////        var coordinate6 :MutableList<Coordinate> = ArrayList()
+////        for (radarPointBean in radarPoint6) {
+////            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor6)
+////            coordinate.radarPoint = radarPointBean
+////            coordinate6.add(coordinate)
+////        }
+//
+        sensorDataList.add(sensor1)
+////        sensorDataList.add(sensor2)
+        sensorDataList.add(sensor3)
+        coordinatesList.add(coordinate1)
+////        coordinatesList.add(coordinate2)
+        coordinatesList.add(coordinate3)
+////        sensorDataList.add(sensor4)
+        sensorDataList.add(sensor5)
+////        sensorDataList.add(sensor6)
+////        coordinatesList.add(coordinate4)
+        coordinatesList.add(coordinate5)
+////        coordinatesList.add(coordinate6)
+
+
+//        var sensor1 = SensorDataBean()
+//        sensor1.pitchAngle = 3.04
+//        sensor1.rollAngle = 0.01
+//        sensor1.azimuthAngle = 258.24
+//        sensor1.lon = 117.16327966
+//        sensor1.lat = 31.78587773
+//        sensor1.h = 28.3873
+//        var radarPoint1: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint1.add(RadarPointBean(173.5, 4.55))
+//        radarPoint1.add(RadarPointBean(174.2, 4.96))
+//
+//        var coordinate1 :MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint1) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor1)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate1.add(coordinate)
+//        }
+//
+//        var sensor2 = SensorDataBean()
+//        sensor2.pitchAngle = 2.02
+//        sensor2.rollAngle = 0.0
+//        sensor2.azimuthAngle = 185.86
+//        sensor2.lon = 117.162919
+//        sensor2.lat = 31.786029
+//        sensor2.h = 44.81
+//        var radarPoint2: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint2.add(RadarPointBean(170.5, 3.04))
+//        radarPoint2.add(RadarPointBean(173.55, 3.4))
+//        var coordinate2 :MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint2) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor2)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate2.add(coordinate)
+//        }
+//
+//        var sensor3 = SensorDataBean()
+//        sensor3.pitchAngle =1.02
+//        sensor3.rollAngle = 0.0
+//        sensor3.azimuthAngle = 187.88
+//        sensor3.lon = 117.16275
+//        sensor3.lat = 31.786031
+//        sensor3.h = 42.96
+//        var radarPoint3: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint3.add(RadarPointBean(172.65, 3.9))
+//        radarPoint3.add(RadarPointBean(175.55, 4.23))
+//        var coordinate3 :MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint3) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor3)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate3.add(coordinate)
+//        }
+//
+//        sensorDataList.add(sensor1)
+//        sensorDataList.add(sensor2)
+//        sensorDataList.add(sensor3)
+//        coordinatesList.add(coordinate1)
+//        coordinatesList.add(coordinate2)
+//        coordinatesList.add(coordinate3)
+
+
+//        var sensor1 = SensorDataBean()
+//        sensor1.pitchAngle = 0.0
+//        sensor1.rollAngle = 0.0
+//        sensor1.azimuthAngle = 192.93
+//        sensor1.lon = 117.16394922
+//        sensor1.lat = 31.78600260
+//        sensor1.h = 32.66266
+//        var radarPoint1: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint1.add(RadarPointBean(137.6, 6.588))
+//
+//        var coordinate1: MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint1) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor1)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate1.add(coordinate)
+//        }
+//
+//        var sensor2 = SensorDataBean()
+//        sensor2.pitchAngle = 1.01
+//        sensor2.rollAngle = 4.05
+//        sensor2.azimuthAngle = 195.95
+//        sensor2.lon = 117.16394922
+//        sensor2.lat = 31.78600260
+//        sensor2.h = 32.66266
+//        var radarPoint2: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint2.add(RadarPointBean(136.69, 6.669))
+//        var coordinate2: MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint2) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor2)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate2.add(coordinate)
+//        }
+//
+//        var sensor3 = SensorDataBean()
+//        sensor3.pitchAngle = 0.01
+//        sensor3.rollAngle = 0.01
+//        sensor3.azimuthAngle = 195.96
+//        sensor3.lon = 117.16394581
+//        sensor3.lat = 31.78550375
+//        sensor3.h = 30.31926
+//        var radarPoint3: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint3.add(RadarPointBean(140.8, 6.334))
+//        var coordinate3: MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint3) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor3)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate3.add(coordinate)
+//        }
+//
+//        var sensor4 = SensorDataBean()
+//        sensor4.pitchAngle = 0.0
+//        sensor4.rollAngle = 0.01
+//        sensor4.azimuthAngle = 194.94
+//        sensor4.lon = 117.16394581
+//        sensor4.lat = 31.78550375
+//        sensor4.h = 30.31926
+//        var radarPoint4: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint4.add(RadarPointBean(139.94, 6.277))
+//        var coordinate4: MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint4) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor4)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate4.add(coordinate)
+//        }
+//
+//        var sensor5 = SensorDataBean()
+//        sensor5.pitchAngle = 0.01
+//        sensor5.rollAngle = 1.01
+//        sensor5.azimuthAngle = 194.94
+//        sensor5.lon = 117.16395386
+//        sensor5.lat = 31.78494992
+//        sensor5.h = 34.99086
+//        var radarPoint5: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint5.add(RadarPointBean(130.9, 6.495))
+//        var coordinate5: MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint5) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor5)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate5.add(coordinate)
+//        }
+//
+//        var sensor6 = SensorDataBean()
+//        sensor6.pitchAngle = 0.0
+//        sensor6.rollAngle = 5.05
+//        sensor6.azimuthAngle = 198.98
+//        sensor6.lon = 117.16395386
+//        sensor6.lat = 31.78494992
+//        sensor6.h = 34.99086
+//        var radarPoint6: MutableList<RadarPointBean> = ArrayList()
+//        radarPoint6.add(RadarPointBean(129.94, 6.485))
+//        var coordinate6: MutableList<Coordinate> = ArrayList()
+//        for (radarPointBean in radarPoint6) {
+//            val coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensor6)
+//            coordinate.radarPoint = radarPointBean
+//            coordinate6.add(coordinate)
+//        }
+//
+//        sensorDataList.add(sensor1)
+//        sensorDataList.add(sensor2)
+//        sensorDataList.add(sensor3)
+//        coordinatesList.add(coordinate1)
+//        coordinatesList.add(coordinate2)
+//        coordinatesList.add(coordinate3)
+//        sensorDataList.add(sensor4)
+//        sensorDataList.add(sensor5)
+//        sensorDataList.add(sensor6)
+//        coordinatesList.add(coordinate4)
+//        coordinatesList.add(coordinate5)
+//        coordinatesList.add(coordinate6)
+
+    }
+
     private fun getSag() {
+//        dealWithDatas();
         if (methodNum == 3) {
             if (coordinatesList.size >= 3) {
                 var point1: MutableList<Coordinate> = ArrayList()
@@ -485,8 +941,9 @@ class MainActivity : AppCompatActivity() {
                     lineAllPoint.add(point3[i])
                     sb.append(calculate(span, lineAllPoint, 3)).append(",")
                 }
+
                 sagEditText.setText(sb.toString())
-                logger.log("三点计算弧垂："+sb.toString())
+                logger.log("三点计算弧垂："+sb.toString(),isPrint)
             }
         } else if (methodNum == 6) {
             var pointNum = methodNum
@@ -528,10 +985,10 @@ class MainActivity : AppCompatActivity() {
                     sb.append(calculate(span, lineAllPoint, pointNum)).append(",")
                 }
                 sagEditText.setText(sb.toString())
-                logger.log("六点计算弧垂："+sb.toString())
+                logger.log("六点计算弧垂："+sb.toString(),isPrint)
             }
         }
-
+        isPrint=0;
     }
 
 
@@ -563,6 +1020,16 @@ class MainActivity : AppCompatActivity() {
             } else if (i == 2) {
                 //获取测量数据
                 sb.append("0F020000000011")
+            } else if (i == 3) {
+                //保存数据
+                sb.append("0F030000000012")
+            } else if (i == 4) {
+                //更换测量位置
+                if (position.equals("大号在右")) {
+                    sb.append("0F040100000014")
+                } else if (position.equals("大号在左")) {
+                    sb.append("0F040200000015")
+                }
             }
             it.writeData(ByteUtil.hex2byte(sb.toString()))
         }
diff --git a/app/src/main/java/com/bonus/wrjtest/entity/Coordinate.java b/app/src/main/java/com/bonus/wrjtest/entity/Coordinate.java
index 5e75c6c..fd8484b 100644
--- a/app/src/main/java/com/bonus/wrjtest/entity/Coordinate.java
+++ b/app/src/main/java/com/bonus/wrjtest/entity/Coordinate.java
@@ -76,7 +76,7 @@ public class Coordinate {
 
     @Override
     public String toString() {
-        return "测点{" +
+        return "保存的数据--测点{" +
                 "导线编号=" + wireNum +
                 ", lat=" + lat +
                 ", lon=" + lon +
diff --git a/app/src/main/java/com/bonus/wrjtest/entity/SagCalculation.java b/app/src/main/java/com/bonus/wrjtest/entity/SagCalculation.java
index d4e1e44..8176369 100644
--- a/app/src/main/java/com/bonus/wrjtest/entity/SagCalculation.java
+++ b/app/src/main/java/com/bonus/wrjtest/entity/SagCalculation.java
@@ -14,6 +14,7 @@ public class SagCalculation {
      */
     public double kn3Calculation(double l1,double l2,double z1,double z2,double z3)
     {
+        System.out.println("l1:"+l1+","+l2+","+z1+","+z2+","+z3);
         double k;
         k=((z1-z3)-l2/l1*(z1-z2))/(l2*l2-l1*l2);
         return k*1000.0;
diff --git a/app/src/main/java/com/bonus/wrjtest/entity/SensorDataBean.java b/app/src/main/java/com/bonus/wrjtest/entity/SensorDataBean.java
index 3591489..3e4276b 100644
--- a/app/src/main/java/com/bonus/wrjtest/entity/SensorDataBean.java
+++ b/app/src/main/java/com/bonus/wrjtest/entity/SensorDataBean.java
@@ -129,12 +129,14 @@ public class SensorDataBean {
 
     @Override
     public String toString() {
-        return "雷达{" +
+        return "保存的数据--雷达{" +
                 "lon=" + lon +
                 ", lat=" + lat +
                 ", h=" + h +
                 ", 方位角=" + azimuthAngle +
                 ", 定位模式=" + positioningMode +
+                ", 俯仰角=" + pitchAngle +
+                ", 横滚角=" + rollAngle +
                 '}';
     }
 
diff --git a/app/src/main/java/com/bonus/wrjtest/utils/ByteUtil.java b/app/src/main/java/com/bonus/wrjtest/utils/ByteUtil.java
index 949a51c..54f5a8c 100644
--- a/app/src/main/java/com/bonus/wrjtest/utils/ByteUtil.java
+++ b/app/src/main/java/com/bonus/wrjtest/utils/ByteUtil.java
@@ -552,6 +552,16 @@ public class ByteUtil {
     }
 
 
+    /**
+     * 将十六进制字符串解析为有符号整数
+     * @param hexStr 十六进制字符串
+     * @return 有符号整数值
+     */
+    public static int hexToSignedDecimalInt(String hexStr) {
+        // 使用 Long.parseLong 支持有符号解析
+        return (int) Long.parseLong(hexStr, 16);
+    }
+
 
 
     public static void main(String[] args) {
diff --git a/app/src/main/java/com/bonus/wrjtest/utils/KotlinLogger.kt b/app/src/main/java/com/bonus/wrjtest/utils/KotlinLogger.kt
index 00946f1..785be6c 100644
--- a/app/src/main/java/com/bonus/wrjtest/utils/KotlinLogger.kt
+++ b/app/src/main/java/com/bonus/wrjtest/utils/KotlinLogger.kt
@@ -1,19 +1,19 @@
-package com.bonus.wrjtest.utils;
+package com.bonus.wrjtest.utils
 
 import android.content.Context
-import kotlin.jvm.Volatile;
-
 import java.io.File
 import java.io.FileOutputStream
 import java.io.IOException
 import java.text.SimpleDateFormat
-import java.time.LocalTime;
-import java.time.format.DateTimeFormatter;
 import java.util.*
 
 class KotlinLogger private constructor(context: Context) {
 
     private val appContext: Context = context.applicationContext
+    private var currentLogFile: File? = null
+    private var logStartTime: Long = 0
+    // 一个小时的时间间隔
+    private val logIntervalMillis: Long = 60 * 60 * 1000
 
     companion object {
         @Volatile
@@ -26,31 +26,83 @@ class KotlinLogger private constructor(context: Context) {
         }
     }
 
-    fun log(message: String) {
-        val fileName = "app_log${getCurrentTimeAsString()}.txt"
-        val storageDir = File(appContext.getExternalFilesDir(null), "Logs")
-        if (!storageDir.exists()) {
-            storageDir.mkdirs()
+    /**
+     * 打印并保存日志。
+     *
+     * @param message 日志内容。
+     * @param type 控制是否保存日志。1 表示保存，0 表示不保存。
+     */
+    fun log(message: String, type: Int) {
+        if (type == 1) {
+            saveLogToFile(message)
+        } else {
+            println("日志保存已禁用：$message")
+        }
+    }
+
+    /**
+     * 将日志保存到文件。
+     *
+     * @param message 日志内容。
+     */
+    private fun saveLogToFile(message: String) {
+        val currentTime = System.currentTimeMillis()
+
+        // 如果当前时间超过了日志文件的有效期，或者没有日志文件，则创建新的日志文件
+        if (currentTime - logStartTime >= logIntervalMillis || currentLogFile == null) {
+            createNewLogFile()
+            logStartTime = currentTime
         }
 
-        val logFile = File(storageDir, fileName)
         try {
-            FileOutputStream(logFile, true).use { output ->
+            currentLogFile?.let { logFile ->
+                FileOutputStream(logFile, true).use { output ->
                     output.write("${getCurrentDateTimeString()} - $message\n".toByteArray())
+                }
+                println("日志文件已保存至：${logFile.absolutePath}")
             }
-            println("日志文件已保存至：${logFile.absolutePath}")
         } catch (e: IOException) {
             e.printStackTrace()
             println("写入日志文件时出错: ${e.message}")
         }
     }
 
-    private fun getCurrentTimeAsString(): String {
-        val currentTime = LocalTime.now()
-        val formatter = DateTimeFormatter.ofPattern("HHmmss")
-        return currentTime.format(formatter)
+    /**
+     * 创建一个新的日志文件。
+     */
+    private fun createNewLogFile() {
+        val storageDir = File(appContext.getExternalFilesDir(null), "Logs")
+        if (!storageDir.exists()) {
+            storageDir.mkdirs()
+        }
+
+        val fileName = "app_log${getCurrentTimeAsString()}.txt"
+        currentLogFile = File(storageDir, fileName)
+        println("新日志文件已创建：${currentLogFile?.absolutePath}")
     }
 
+    /**
+     * 获取当前时间的字符串表示（格式为 xxxx年xx月xx日xx时xx分xx秒）。
+     *
+     * @return 当前时间的字符串表示。
+     */
+    private fun getCurrentTimeAsString(): String {
+        val calendar = Calendar.getInstance()
+        val year = calendar.get(Calendar.YEAR)
+        // 注意：月份从0开始，需加1
+        val month = String.format("%02d", calendar.get(Calendar.MONTH) + 1)
+        val day = String.format("%02d", calendar.get(Calendar.DAY_OF_MONTH))
+        val hour = String.format("%02d", calendar.get(Calendar.HOUR_OF_DAY))
+        val minute = String.format("%02d", calendar.get(Calendar.MINUTE))
+        val second = String.format("%02d", calendar.get(Calendar.SECOND))
+        return "${year}年${month}月${day}日${hour}时${minute}分${second}秒"
+    }
+
+    /**
+     * 获取当前日期和时间的字符串表示（格式为 yyyy-MM-dd HH:mm:ss）。
+     *
+     * @return 当前日期和时间的字符串表示。
+     */
     private fun getCurrentDateTimeString(): String {
         val currentDateTime = Date()
         val dateFormat = SimpleDateFormat("yyyy-MM-dd HH:mm:ss", Locale.getDefault())
diff --git a/app/src/main/java/com/bonus/wrjtest/utils/MultipointSagMeasure.java b/app/src/main/java/com/bonus/wrjtest/utils/MultipointSagMeasure.java
index f079949..8660afd 100644
--- a/app/src/main/java/com/bonus/wrjtest/utils/MultipointSagMeasure.java
+++ b/app/src/main/java/com/bonus/wrjtest/utils/MultipointSagMeasure.java
@@ -4,6 +4,7 @@ package com.bonus.wrjtest.utils;
 import com.bonus.wrjtest.entity.Coordinate;
 import com.bonus.wrjtest.entity.SagCalculation;
 
+import java.math.RoundingMode;
 import java.text.DecimalFormat;
 import java.util.Arrays;
 import java.util.List;
@@ -28,7 +29,11 @@ public class MultipointSagMeasure {
         }else{
             sag = calculateThreePoint(span, list);
         }
-        return sag;
+        // 使用 DecimalFormat 格式化为两位小数
+        DecimalFormat df = new DecimalFormat("#.00");
+        // 四舍五入
+        df.setRoundingMode(RoundingMode.HALF_UP);
+        return Double.parseDouble(df.format(sag));
     }
 
     public static double calculateThreePoint(double span, List<Coordinate> list) {
@@ -46,6 +51,11 @@ public class MultipointSagMeasure {
         double h2 = list.get(1).getH();//P2高程
         // 调用calculate方法计算距离
         double d1 = calculator.calculate(lat1, lon1, lat2, lon2, FB_INDEX);
+        // 保留三位小数的字符串形式
+        String formattedValue = String.format("%.3f", d1);
+        // 如果需要转换回 double
+        d1 = Double.parseDouble(formattedValue);
+
         // 创建一个DecimalFormat对象来格式化数字
         DecimalFormat df = new DecimalFormat("#.###");
         // 使用format方法将距离格式化为三位有效数字的字符串
@@ -56,6 +66,12 @@ public class MultipointSagMeasure {
         double h3 = list.get(2).getH();//P3高程
         // 调用calculate方法计算距离
         double d2 = calculator.calculate(lat1, lon1, lat3, lon3, FB_INDEX);
+        // 保留三位小数的字符串形式
+        String formattedValue2 = String.format("%.3f", d2);
+        // 如果需要转换回 double
+        d2 = Double.parseDouble(formattedValue2);
+
+
         // 使用format方法将距离格式化为三位有效数字的字符串
         formattedDistance = df.format(d2);
         // 创建SagCalculation对象
diff --git a/app/src/main/java/com/bonus/wrjtest/utils/RadarMathUtil.java b/app/src/main/java/com/bonus/wrjtest/utils/RadarMathUtil.java
index cf8d945..4dec08b 100644
--- a/app/src/main/java/com/bonus/wrjtest/utils/RadarMathUtil.java
+++ b/app/src/main/java/com/bonus/wrjtest/utils/RadarMathUtil.java
@@ -87,9 +87,21 @@ public class RadarMathUtil {
      * @return
      */
     public static Coordinate transferPoint2(RadarPointBean radarPointBean, SensorDataBean sensorDataBean) {
-        double radarAngle = radarPointBean.getAngle();
+//        double radarAngles = 0;
+//        if (radarPointBean.getAngle()>90){
+//            //无人机在上面，扫描角度加上0.05
+//            radarAngles = radarPointBean.getAngle()+0.05;
+//            radarPointBean.setAngle(radarAngles);
+//        }else if (radarPointBean.getAngle()<90){
+//            //无人机在下面，扫描角度减去0.05
+//            radarAngles = radarPointBean.getAngle()-0.05;
+//            radarPointBean.setAngle(radarAngles);
+//        }
+        double radarAngle = radarPointBean.getAngle()-sensorDataBean.getPitchAngle();
         double dis = radarPointBean.getDistance();
+        double dis2=dis;
         dis = dis * Math.sin(Math.toRadians(radarAngle));
+
         double lonGps = sensorDataBean.getLon();
         double latGps = sensorDataBean.getLat();
         double hGps = sensorDataBean.getH();
@@ -119,7 +131,8 @@ public class RadarMathUtil {
 //        }else if(radarAngle<90){
 //            radarAngle = 90 - radarAngle;
 //        }
-        double h2 = hRadar + dis * MathUtils.cos(radarAngle - sensorDataBean.getRollAngle());
+//        double h2 = hRadar + dis * MathUtils.cos(radarAngle - sensorDataBean.getPitchAngle());
+        double h2 = hRadar + dis2 * MathUtils.cos(radarAngle - 0);
         System.out.printf("ABC中心雷达点：lat：%.8f; lon：%.8f; 高度：%.2f; 方位角：%.2f\n", latRadar, lonRadar, hRadar,azimuthAngle);
         System.out.printf("ABC测量点：lat：%.8f; lon：%.8f; 高度：%.2f\n", lat2, lon2, h2);
         return new Coordinate(lon2,lat2,h2);
diff --git a/app/src/main/res/layout/test.xml b/app/src/main/res/layout/test.xml
index dd8cb4b..b4bfa97 100644
--- a/app/src/main/res/layout/test.xml
+++ b/app/src/main/res/layout/test.xml
@@ -64,7 +64,7 @@
                     android:layout_width="wrap_content"
                     android:layout_height="40dp"
                     android:textSize="12sp"
-                    android:text="6.切换方法"/>
+                    android:text="6.测量位置"/>
 
             <Button
                     android:id="@+id/clear"
@@ -236,22 +236,61 @@
                     android:layout_height="wrap_content"
                     >
 
-                <TextView
+                <LinearLayout
+                    android:orientation="horizontal"
+                    android:layout_width="0dp"
+                    android:layout_weight="1"
+                    android:layout_height="wrap_content"
+                    >
+
+                    <TextView
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
                         android:text="定位模式:"
                         android:textSize="12sp"
                         android:layout_gravity="center_vertical"/>
 
-                <EditText
+                    <EditText
                         android:id="@+id/gpsMode"
                         android:layout_width="0dp"
                         android:layout_height="wrap_content"
                         android:layout_weight="1"
                         android:textSize="12sp"
                         android:inputType="text"/>
+                </LinearLayout>
+
+                <LinearLayout
+                    android:orientation="horizontal"
+                    android:layout_width="0dp"
+                    android:layout_weight="1"
+                    android:layout_height="wrap_content"
+                    >
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="测量位置:"
+                        android:textSize="12sp"
+                        android:layout_gravity="center_vertical"/>
+
+                    <EditText
+                        android:id="@+id/position"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:textSize="12sp"
+                        android:text="大号在右"
+                        android:inputType="none"
+                        android:focusable="false"
+                        android:clickable="false"/>
+                </LinearLayout>
+
+
             </LinearLayout>
 
+
+
+
             <LinearLayout
                     android:orientation="horizontal"
                     android:layout_width="match_parent"
@@ -305,29 +344,63 @@
             </LinearLayout>
 
 
-
             <LinearLayout
                     android:orientation="horizontal"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     >
 
-                <TextView
+                <LinearLayout
+                    android:orientation="horizontal"
+                    android:layout_width="0dp"
+                    android:layout_weight="1"
+                    android:layout_height="wrap_content"
+                    >
+
+                    <TextView
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
                         android:text="航向角:"
                         android:textSize="12sp"
                         android:layout_gravity="center_vertical"/>
 
-                <EditText
+                    <EditText
                         android:id="@+id/azimuthAngle"
                         android:layout_width="0dp"
                         android:layout_height="wrap_content"
                         android:layout_weight="1"
                         android:textSize="12sp"
                         android:inputType="text"/>
+                </LinearLayout>
+
+                <LinearLayout
+                    android:orientation="horizontal"
+                    android:layout_width="0dp"
+                    android:layout_weight="1"
+                    android:layout_height="wrap_content"
+                    >
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="档距:"
+                        android:textSize="12sp"
+                        android:layout_gravity="center_vertical"/>
+
+                    <EditText
+                        android:id="@+id/span"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_weight="1"
+                        android:textSize="12sp"
+                        android:text="48.209"
+                        android:inputType="text"/>
+                </LinearLayout>
             </LinearLayout>
 
+
+
+
             <LinearLayout
                     android:orientation="horizontal"
                     android:layout_width="match_parent"