diff --git a/Source/IrisSensor_Gas_P0.cpp b/Source/IrisSensor_Gas_P0.cpp
index 5117213..584bb21 100644
--- a/Source/IrisSensor_Gas_P0.cpp
+++ b/Source/IrisSensor_Gas_P0.cpp
@@ -86,50 +86,114 @@ int IrisSensor_Gas_P0::RecvData_Chk(/*std::string sRecv*/)
  	return 0;
 }
 
+union Union16 {
+	short s16;           // 有符号短整型 (处理正负)
+	unsigned short u16;  // 无符号短整型
+	unsigned char b[2];  // 字节数组
+};
+// 用于处理4字节（32位）数据
+union Union32 {
+	int s32;             // 有符号长整型
+	unsigned int u32;    // 无符号长整型
+	unsigned char b[4];  // 字节数组
+};
+
 int IrisSensor_Gas_P0::ParseMeasuredData_Chk()
 {
-	if (m_sRecv.size()!=0x1f+4)
+	// 如果长度不匹配（0x1f + 4 = 35）
+	if (m_sRecv.size() != 35)
 	{
-		qDebug() << "Err:Sensor_Gas ParseData Failed,Incorrect Data Length.Exit Code:1";
+		qDebug() << "Err:Sensor_Gas ParseData Failed, Incorrect Data Length. Exit Code:1";
 		return 1;
 	}
-	else
-	{
-		unsigned char uc12, uc13, uc14, uc15, uc16,uc17,uc18,uc19,uc28,uc29,uc30,uc31,uc32, uc33;
-		char aaaa[34];
-		memcpy(aaaa,m_sRecv.c_str(),m_sRecv.size());
 
-		uc32 = m_sRecv[32];
-		uc33 = m_sRecv[33];
-		m_fTPTemperature = (uc32 * 256 + uc33) / 100;
+	Union16 u16;
+	Union32 u32;
 
-		uc30 = m_sRecv[30];
-		uc31 = m_sRecv[31];
-		m_fPB = (uc30 * 256 + uc31) / 10;
+	// 1. 解析温度 (Index 32, 33) - 假设是 short (16-bit)
+	// 大端转小端：高位 index[32] 放在 b[1]，低位 index[33] 放在 b[0]
+	u16.b[1] = static_cast<unsigned char>(m_sRecv[32]);
+	u16.b[0] = static_cast<unsigned char>(m_sRecv[33]);
+	m_fTPTemperature = u16.s16 / 100.0f; // 直接使用 s16 即可自动处理正负
 
-		uc28 = m_sRecv[28];
-		uc29 = m_sRecv[29];
-		m_fPB = (uc28 * 256 + uc29) / 10;
+	// 2. 解析 PB (Index 30, 31)
+	u16.b[1] = static_cast<unsigned char>(m_sRecv[30]);
+	u16.b[0] = static_cast<unsigned char>(m_sRecv[31]);
+	// 注意：你原代码里这里和下面都赋值给了 m_fPB，是否其中一个是别的变量？
+	float fPB_1 = u16.s16 / 10.0f;
 
-		uc16 = m_sRecv[16];
-		uc17 = m_sRecv[17];
-		uc18 = m_sRecv[18];
-		uc19 = m_sRecv[19];
-		m_ulCO2 = uc16*256*256*256 + uc17*256*256 + uc18*256 + uc19;
+	// 3. 解析 PB (Index 28, 29)
+	u16.b[1] = static_cast<unsigned char>(m_sRecv[28]);
+	u16.b[0] = static_cast<unsigned char>(m_sRecv[29]);
+	m_fPB = u16.s16 / 10.0f;
 
-		uc12 = m_sRecv[12];
-		uc13 = m_sRecv[13];
-		uc14 = m_sRecv[14];
-		uc15 = m_sRecv[15];
-		m_ulH2O = uc12 * 256 * 256 * 256 + uc13 * 256 * 256 + uc14 * 256 + uc15;
+	// 4. 解析 CO2 (Index 16-19) - 32位
+	u32.b[3] = static_cast<unsigned char>(m_sRecv[16]);
+	u32.b[2] = static_cast<unsigned char>(m_sRecv[17]);
+	u32.b[1] = static_cast<unsigned char>(m_sRecv[18]);
+	u32.b[0] = static_cast<unsigned char>(m_sRecv[19]);
+	m_ulCO2 = u32.s32; // 如果 CO2 是正数，s32 和 u32 一样；如果有负数，s32 会正确解释补码
 
-
-		return 0;
-	}
+	// 5. 解析 H2O (Index 12-15) - 32位
+	u32.b[3] = static_cast<unsigned char>(m_sRecv[12]);
+	u32.b[2] = static_cast<unsigned char>(m_sRecv[13]);
+	u32.b[1] = static_cast<unsigned char>(m_sRecv[14]);
+	u32.b[0] = static_cast<unsigned char>(m_sRecv[15]);
+	m_ulH2O = u32.s32;
 
 	return 0;
 }
 
+
+
+
+
+
+
+// int IrisSensor_Gas_P0::ParseMeasuredData_Chk()
+// {
+// 	if (m_sRecv.size()!=0x1f+4)
+// 	{
+// 		qDebug() << "Err:Sensor_Gas ParseData Failed,Incorrect Data Length.Exit Code:1";
+// 		return 1;
+// 	}
+// 	else
+// 	{
+// 		unsigned char uc12, uc13, uc14, uc15, uc16,uc17,uc18,uc19,uc28,uc29,uc30,uc31,uc32, uc33;
+// 		char aaaa[34];
+// 		memcpy(aaaa,m_sRecv.c_str(),m_sRecv.size());
+//
+// 		uc32 = m_sRecv[32];
+// 		uc33 = m_sRecv[33];
+// 		m_fTPTemperature = (uc32 * 256 + uc33) / 100;
+//
+// 		uc30 = m_sRecv[30];
+// 		uc31 = m_sRecv[31];
+// 		m_fPB = (uc30 * 256 + uc31) / 10;
+//
+// 		uc28 = m_sRecv[28];
+// 		uc29 = m_sRecv[29];
+// 		m_fPB = (uc28 * 256 + uc29) / 10;
+//
+// 		uc16 = m_sRecv[16];
+// 		uc17 = m_sRecv[17];
+// 		uc18 = m_sRecv[18];
+// 		uc19 = m_sRecv[19];
+// 		m_ulCO2 = uc16*256*256*256 + uc17*256*256 + uc18*256 + uc19;
+//
+// 		uc12 = m_sRecv[12];
+// 		uc13 = m_sRecv[13];
+// 		uc14 = m_sRecv[14];
+// 		uc15 = m_sRecv[15];
+// 		m_ulH2O = uc12 * 256 * 256 * 256 + uc13 * 256 * 256 + uc14 * 256 + uc15;
+//
+//
+// 		return 0;
+// 	}
+//
+// 	return 0;
+// }
+
 int IrisSensor_Gas_P0::Initialize(std::string ucPortNumber)
 {
 	QString qstrPortName = QString::fromStdString(ucPortNumber);
@@ -167,7 +231,7 @@ int IrisSensor_Gas_P0::GetVersion()
 	return 0;
 }// 02 01 09 F4
 
-int IrisSensor_Gas_P0::GetMeasuredData(unsigned long &ulCO2, unsigned long &ulH2O, float &fTPTemperature, float &fPP, float &fPB)
+int IrisSensor_Gas_P0::GetMeasuredData( double &ulCO2,  double &ulH2O, float &fTPTemperature, float &fPP, float &fPB)
 {
 	QByteArray qbSend;
 	qbSend.append(0x02);
@@ -184,11 +248,13 @@ int IrisSensor_Gas_P0::GetMeasuredData(unsigned long &ulCO2, unsigned long &ulH2
 
 	ParseMeasuredData_Chk();
 
-	ulCO2 = m_ulCO2*1.0;
-	ulH2O = m_ulH2O*1.0;
+	ulCO2 = m_ulCO2*1.0/10;
+	ulH2O = m_ulH2O*1.0/10;
 	fTPTemperature = m_fTPTemperature;
 	fPP = m_fPP;
 	fPB = m_fPB;
+	ulCO2=ulCO2<0?0:ulCO2;
+	ulH2O=ulH2O<0?0:ulH2O;
 	return 0;
 }
 
@@ -275,7 +341,7 @@ int IrisSensor_Gas_P0::ResetCalibration(char cChannel)
 
 	qbSend.append(ucChksum);
 
-
+	SendData_Chk(qbSend.toStdString());
 
 	return 0;
 }
diff --git a/Source/IrisSensor_Gas_P0.h b/Source/IrisSensor_Gas_P0.h
index 4f6f214..37a7090 100644
--- a/Source/IrisSensor_Gas_P0.h
+++ b/Source/IrisSensor_Gas_P0.h
@@ -13,7 +13,7 @@ private:
 
 	float m_fTPTemperature;
 	float m_fPP, m_fPB;
-	unsigned long m_ulCO2, m_ulH2O;
+	long m_ulCO2, m_ulH2O;
 
 	unsigned int uiSoftwareVersion, uiHardwareVersion;
 public:
@@ -25,7 +25,7 @@ private:
 public:
 	int Initialize(std::string ucPortNumber);
 	int GetVersion();
-	int GetMeasuredData(unsigned long &ulCO2, unsigned long &ulH2O,float &fTPTemperature,float &fPP, float &fPB);
+	int GetMeasuredData(double &ulCO2, double &ulH2O,float &fTPTemperature,float &fPP, float &fPB);
 	int ZeroCalibration_N2();
 	int ZeroCalibration_Air();
 	int SpanCalibration(char cChannel, unsigned int uiPPM);
diff --git a/Source/MainAcqThread.cpp b/Source/MainAcqThread.cpp
index fc7b339..652ea36 100644
--- a/Source/MainAcqThread.cpp
+++ b/Source/MainAcqThread.cpp
@@ -2,13 +2,18 @@
 #include "unistd.h"
 #include <cmath>
 #include "hal_uart.h"
-
+#define LINECOMMEND 0
+#define  LINEDATASHOW 1
+std::atomic<int> WorkingState;
+std::atomic<int> SavingDate;
 CMainAcqThread::CMainAcqThread(QObject* parent /*= nullptr*/)
 {
 	m_iFlagCaptureStatus = 0;
 	iFlagIsPathGenerated = false;
 
 	m_clsCapTimer.setTimerType(Qt::PreciseTimer);
+	WorkingState = 0;
+	SavingDate = 0;
 
 #ifdef ZZ_FLAG_TEST
 	//connect(&m_clsCapTimer, &QTimer::timeout, this, &CMainAcqThread::OnTestTimer);
@@ -52,15 +57,16 @@ int CMainAcqThread::StartUp()
 
 	m_ctrlVehicle.StartupPSDK_M300RTK();
 	QString qstrMessage = "Initializing sensors,Please wait...";
-	emit Signal_UpdateVehicleMessage(qstrMessage);
+	emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
+
 
 	int iRes = m_ctrlGasSensor.Initialize(m_struSensorPort.qstrGasSensorPort.toStdString());
 	if (iRes!=0)
 	{
 		qstrMessage.clear();
 		qstrMessage.append("Fatal Error!!! Gas sensor not connected.Please check.");
-		//qstrMessage = "Fatal Error!!! Gas sensor not connected.Please check.";
-		emit Signal_UpdateVehicleMessage(qstrMessage);
+		qstrMessage = "Fatal Error!!! Gas sensor not connected.Please check.";
+		emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
 		qDebug() << qstrMessage;
 		//return 1;
 	}
@@ -69,28 +75,30 @@ int CMainAcqThread::StartUp()
 	if (iRes != 0)
 	{
 		qstrMessage.append("Fatal Error!!! Wind sensor not connected.Please check.");
-		//qstrMessage = "Fatal Error!!! Wind sensor not connected.Please check.";
-		emit Signal_UpdateVehicleMessage(qstrMessage);
+		qstrMessage = "Fatal Error!!! Wind sensor not connected.Please check.";
+		emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
 		qDebug() << qstrMessage;
 		//return 2;
 	}
 
 	qstrMessage.append("System ready.Waiting for signals");
-	//qstrMessage = "System ready.Waiting for signals";
-	emit Signal_UpdateVehicleMessage(qstrMessage);
+	// qstrMessage = "System ready.Waiting for signals";
+	// qstrMessage="123456789123456789123456789123456789123456789123456789123456789";
+	emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
 	return 0;
 }
 
 int CMainAcqThread::SetupMessagePipe()
 {
 	connect(&m_ctrlVehicle, &VehicleController::Signal_StartCapture, this, &CMainAcqThread::Slot_StartCapture);
-	connect(&m_ctrlVehicle.m_clsWidget,&ZZ_Widget_M300RTK::SendCommand,this,&CMainAcqThread::GetCommand);
+	connect(&m_ctrlVehicle.m_clsWidget,&ZZ_Widget_M300RTK::SendCommand,this,&CMainAcqThread::GetCommand,Qt::QueuedConnection);
 	connect(this, &CMainAcqThread::SendCommand, &m_ctrlVehicle.m_clsWidget, &ZZ_Widget_M300RTK::BackCommand);
 	connect(&m_ctrlVehicle, &VehicleController::Signal_StopCapture,  this, &CMainAcqThread::Slot_StopCapture);
 
 	connect(this, &CMainAcqThread::Signal_UpdateVehicleMessage, &m_ctrlVehicle, &VehicleController::Signal_UpdateVehicleMessage);
 
 	connect(&m_clsCapTimer, &QTimer::timeout, this, &CMainAcqThread::OnTimerCapture);
+	m_clsCapTimer.start(1000);
 	return 0;
 }
 
@@ -146,10 +154,21 @@ int CMainAcqThread::FormFixedWindData()
 	m_fTempFixedWindVecY = m_fTempFixedWindVecY - m_struM300RTKDataFrame.stVelocity.y;
 	m_fTempFixedWindVecZ = m_fTempFixedWindVecZ - m_struM300RTKDataFrame.stVelocity.z;
 
-	double dDotProduct = m_fTempFixedWindVecX; // ������
-	double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // ��������ģ��
-	double dAngleInRadians = acos(dDotProduct / dVectorLength); // ����нǵĻ���ֵ
-	double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // ������ת��Ϊ����
+	double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ);
+
+	if (dVectorLength < 0.0001)
+	{
+		m_struUASDataFrame.fFixedWindDirection = 0;
+		m_struUASDataFrame.fFixedWindSpeed = 0;
+		return 0;
+	}
+
+	double dDotProduct = m_fTempFixedWindVecX;
+	double dCosAngle = dDotProduct / dVectorLength;
+	if (dCosAngle > 1.0) dCosAngle = 1.0;
+	if (dCosAngle < -1.0) dCosAngle = -1.0;
+	double dAngleInRadians = acos(dCosAngle);
+	double angleInDegrees = dAngleInRadians * (180.0 / M_PI);
 
 	m_struUASDataFrame.fFixedWindDirection = angleInDegrees;
 	m_struUASDataFrame.fFixedWindSpeed = dVectorLength;
@@ -188,7 +207,7 @@ void CMainAcqThread::OnTestTimer()
 
 int CMainAcqThread::GetData()
 {
-	unsigned long ulCO2=0, ulH2O=0;
+	double ulCO2=0, ulH2O=0;
 	float fGasTemp=-1,fPP=-1,fPB=-1;
 	m_ctrlGasSensor.GetMeasuredData(ulCO2, ulH2O, fGasTemp, fPP, fPB);
 	m_struGSDataFrame.ulCO2 = ulCO2;
@@ -207,10 +226,14 @@ int CMainAcqThread::GetData()
 	m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//��ȡ����������
 }
 
-
+// #define ZZ_FLAG_TEST
 
 int CMainAcqThread::OnTimerCapture()
 {
+	if (m_iFlagCaptureStatus >1)
+	{
+		return 0;
+	}
 #ifdef ZZ_FLAG_TEST
 	qDebug() << "OnTimerCapture entering time:" << QTime::currentTime();
 #endif
@@ -227,14 +250,23 @@ int CMainAcqThread::OnTimerCapture()
 	QString qstrMessage;
 	qstrMessage = QString("CO2: %1ppm,	H20: %2ppm\r\nFixed Wind Speed: %3m/s\r\nFixed Wind Direction: %4deg").arg(m_struGSDataFrame.ulCO2).arg(m_struGSDataFrame.ulH2O)
 		                                                                                  .arg(m_struUASDataFrame.fFixedWindSpeed).arg(m_struUASDataFrame.fFixedWindDirection);
-	emit Signal_UpdateVehicleMessage(qstrMessage);
+	emit Signal_UpdateVehicleMessage("CO2:"+QString::number(m_struGSDataFrame.ulCO2,'f',1)+"\t H2O:"+QString::number(m_struGSDataFrame.ulH2O,'f',1),LINEDATASHOW);
+	emit Signal_UpdateVehicleMessage("WS:"+QString::number(m_struUASDataFrame.fFixedWindSpeed,'f',2)+"\t D:"+QString::number(m_struUASDataFrame.fFixedWindDirection,'f',2)+"",LINEDATASHOW+1);
+	// emit Signal_UpdateVehicleMessage("PP:"+QString::number(m_struGSDataFrame.fPP,'f',2)+"\t PB:"+QString::number(m_struGSDataFrame.fPB,'f',2)+"",LINEDATASHOW+2);
+	emit Signal_UpdateVehicleMessage("T:"+QString::number(m_struGSDataFrame.fTemp,'f',2)+"\t PB:"+QString::number(m_struGSDataFrame.fPB,'f',2),LINEDATASHOW+2);
+
+	// emit Signal_UpdateVehicleMessage(qstrMessage);
 	//////////////////////////////////////////////////////////////////////////
 #ifdef ZZ_FLAG_TEST
 	qDebug() << m_struM300RTKDataFrame.stGPSPosition.x << m_struM300RTKDataFrame.stGPSPosition.y << m_struM300RTKDataFrame.stGPSPosition.z
 		     << m_struM300RTKDataFrame.stVelocity.x    << m_struM300RTKDataFrame.stVelocity.y    << m_struM300RTKDataFrame.stVelocity.z;
 #endif
+	if (SavingDate==1)
+	{
+		m_ctrlData.WriteData(m_struM300RTKDataFrame, m_struGSDataFrame, m_struUASDataFrame);
+	}
+
 
-	m_ctrlData.WriteData(m_struM300RTKDataFrame, m_struGSDataFrame, m_struUASDataFrame);
 
 
 #ifdef ZZ_FLAG_TEST
@@ -258,12 +290,13 @@ int CMainAcqThread::Slot_StartCapture()
 
 	m_ctrlData.GenerateFile();
 
-	m_clsCapTimer.start(1000);
+	// m_clsCapTimer.start(1000);
 #ifdef ZZ_FLAG_TEST
 	qDebug() << "CMainAcqThread Test Cap Started";
 #endif // ZZ_FLAG_TEST
 
-	
+	m_iFlagCaptureStatus = 1;
+	SavingDate = 1;
 	
 	return 0;
 }
@@ -275,7 +308,8 @@ int CMainAcqThread::Slot_StopCapture()
 
 	iFlagIsPathGenerated = false;
 
-	m_clsCapTimer.stop();
+	SavingDate=0;
+	//m_clsCapTimer.stop();
 
 	m_ctrlData.CloseData();
 #ifdef ZZ_FLAG_TEST
@@ -283,7 +317,7 @@ int CMainAcqThread::Slot_StopCapture()
 #endif // ZZ_FLAG_TEST
 	
 	QString qstrMessage = QString("Capture Stopped.");
-	emit Signal_UpdateVehicleMessage(qstrMessage);
+	emit Signal_UpdateVehicleMessage(qstrMessage,LINECOMMEND);
 	
 	return 0;
 }
@@ -296,20 +330,26 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 	int waitetime=10;
 	qDebug()<<"GetCommand Worker:"<<Worker<<" Command:"<<Command;
 	if (Worker=="WDA") {
+		m_iFlagCaptureStatus=WADCALI;
+		QThread::msleep(1100);
+
 		//#分割字符comman
 		QStringList arc=Command.split("#");
 		if (arc[0]=="StartCalibrate") {
 			if (arc.length()<2) {
 				emit SendCommand("WDA","Finish");
+				m_iFlagCaptureStatus=NORMAL;
 				return;
 			}
 			m_ctrlWindSensor.CalibrateWDA(arc[1].toDouble());
 			emit SendCommand("WDA","Finish");
+			m_iFlagCaptureStatus=NORMAL;
 		}
 
 
 	}
 	else if (Worker == "GAS") {
+		m_iFlagCaptureStatus = GASGALI;
 		QStringList arc = Command.split("#");
 		qDebug()<<"arc is"<<arc;
 		if (arc[0] == "ZeroCalibrate") {
@@ -349,7 +389,7 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 
 			if (arc.size()<3) {
 				emit SendCommand("GAS", "Finish");
-
+				m_iFlagCaptureStatus=NORMAL;
 				return;
 			}
 			char cChannel=0;
@@ -360,7 +400,7 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 			}
 			else {
 				emit SendCommand("GAS", "Finish");
-
+				m_iFlagCaptureStatus=NORMAL;
 				return;
 			}
 			unsigned int uiPPM=arc[2].toUInt();
@@ -376,6 +416,6 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 
 		}
 
-
+		m_iFlagCaptureStatus=NORMAL;
 	}
 }
diff --git a/Source/MainAcqThread.h b/Source/MainAcqThread.h
index bdf10f9..78ac023 100644
--- a/Source/MainAcqThread.h
+++ b/Source/MainAcqThread.h
@@ -17,6 +17,9 @@ using namespace  ZZ_DATA_DEF::DJI;
 using namespace  ZZ_DATA_DEF::CO2_GAS_SENSOR;
 using namespace  ZZ_DATA_DEF::UA_SENSOR;
 using namespace  ZZ_DATA_DEF::MainConfig;
+#define WADCALI 2;
+#define GASGALI 3;
+#define NORMAL  1;
 
 class CMainAcqThread :public QObject
 {
@@ -28,7 +31,7 @@ public:
 private:
 	QTime lastTime;
 	QTimer m_clsCapTimer;
-	std::atomic<int> m_WorkingState;
+
 	int iFlagIsPathGenerated;
 
 	MiscControls      m_struMiscCtrls;
@@ -65,7 +68,7 @@ private:
 	int RotateWindVec();
 	int FormFixedWindData();
 signals:
-	void Signal_UpdateVehicleMessage(QString qstrMessage);
+	void Signal_UpdateVehicleMessage(QString qstrMessage,int linid);
 	void SendCommand(QString Worker, QString Command);
 public slots:
 	void OnTestTimer();
diff --git a/Source/ZZ_Types.h b/Source/ZZ_Types.h
index dbb934d..4c151ea 100644
--- a/Source/ZZ_Types.h
+++ b/Source/ZZ_Types.h
@@ -117,8 +117,8 @@ namespace ZZ_DATA_DEF
 		{
 			// unsigned long ulCO2;
 			// unsigned long ulH2O;
-			float ulCO2;
-			float ulH2O;
+			double ulCO2;
+			double ulH2O;
 			float fTemp;
 			float fPB;
 			float fPP;