feat: 航线 Y 偏移 1/2 幅宽、推荐帧率/曝光时间计算、速度默认值调整

- 第一条航线 Y 坐标偏移 1/2 幅宽，不再紧贴绘制区域边缘 - 生成航线时自动计算推荐帧率和曝光时间（Pika L 900像元 / Pika NIR 320像元） - 推荐帧率×曝光时间=999，Pika L 最大帧率限制 250fps - 生成航线后自动填入子任务帧率和曝光时间 - Y 轴定位速度默认 10cm/s，X 扫描 3cm/s，X 回起点 10cm/s
feat: scan canvas scanConfig support, aspect ratio fix, param panel layout
2026-06-25 16:30:21 +08:00 · 2026-06-25 15:45:28 +08:00 · 2026-06-22 10:30:27 +08:00
17 changed files with 252 additions and 60 deletions
--- a/CLAUDE.md
+++ b/CLAUDE.md
@ -0,0 +1,16 @@
+# Spectral Insight Mission Plan
+
+## 版本管理
+
+每次 `git commit` 时需要同时更新版本号和 update.md：
+
+1. **更新版本号**：Cargo.toml、tauri.conf.json、package.json 中 PATCH+1
+2. **更新 update.md**：在文件头部插入新版本条目
+3. **变更内容由模型根据实际改动总结**，需注明需求来源（如某人提出）
+
+### update.md 格式
+```
+## vX.Y.Z (YYYY-MM-DD)
+
+- 改动描述（致谢）
+```
--- a/package.json
+++ b/package.json
@ -1,7 +1,7 @@
 {
  "name": "happa-mission-plan",
  "private": true,
-  "version": "0.0.7",
+  "version": "0.0.10",
  "type": "module",
  "scripts": {
    "dev": "vite",
--- a/src-tauri/Cargo.lock
+++ b/src-tauri/Cargo.lock
@ -3180,7 +3180,7 @@ dependencies = [

 [[package]]
 name = "spectral-insight-mission-plan"
-version = "0.0.5"
+version = "0.0.9"
 dependencies = [
 "byteorder",
 "chrono",
--- a/src-tauri/Cargo.toml
+++ b/src-tauri/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name = "spectral-insight-mission-plan"
-version = "0.0.7"
+version = "0.0.10"
 description = "Spectral Insight Mission Plan"
 authors = ["you"]
 edition = "2021"
--- a/src-tauri/src/commands/path_commands.rs
+++ b/src-tauri/src/commands/path_commands.rs
@ -4,6 +4,7 @@ use crate::error::AppError;
 use crate::io;
 use crate::models::{PathLineFile, ScanParams, ScanRegion, CameraParams, ScanMode};
 use crate::services;
+use crate::services::camera_recommender::RecommendedCameraParams;

 #[command]
 pub fn load_path_line(path: String) -> Result<PathLineFile, AppError> {
@ -63,3 +64,15 @@ pub fn estimate_scan_time_multi_minutes(
        speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode,
    )
 }
+
+#[command]
+pub fn recommend_hyperspectral_params(
+    device_type: String,
+    height_cm: f64,
+    fov_degrees: f64,
+    scan_speed_cm_s: f64,
+) -> RecommendedCameraParams {
+    services::camera_recommender::recommend_hyperspectral_params(
+        &device_type, height_cm, fov_degrees, scan_speed_cm_s,
+    )
+}
--- a/src-tauri/src/lib.rs
+++ b/src-tauri/src/lib.rs
@ -40,6 +40,7 @@ pub fn run() {
            commands::path_commands::estimate_scan_time_minutes,
            commands::path_commands::generate_scan_paths_multi,
            commands::path_commands::estimate_scan_time_multi_minutes,
+            commands::path_commands::recommend_hyperspectral_params,
            commands::devtools_commands::toggle_devtools,
            commands::defaults_commands::save_default_scan_config,
            commands::defaults_commands::load_default_scan_config,
--- a/src-tauri/src/models/path_plan.rs
+++ b/src-tauri/src/models/path_plan.rs
@ -68,9 +68,9 @@ impl Default for PlannerDefaults {
            fov_degrees: 30.0,
            height_cm: 50.0,
            coverage_rate: 30.0,
-            speed_y_cm_s: 5.0,
-            speed_x_start_cm_s: 20.0,
-            speed_x_scan_cm_s: 10.0,
+            speed_y_cm_s: 10.0,
+            speed_x_start_cm_s: 10.0,
+            speed_x_scan_cm_s: 3.0,
            mode: "OneWay".to_string(),
        }
    }
--- a/src-tauri/src/services/camera_recommender.rs
+++ b/src-tauri/src/services/camera_recommender.rs
@ -0,0 +1,54 @@
+use serde::Serialize;
+
+use super::path_generator::calc_footprint;
+
+#[derive(Debug, Clone, Serialize)]
+pub struct RecommendedCameraParams {
+    #[serde(rename = "recommendedFrameRate")]
+    pub recommended_frame_rate: u32,
+    #[serde(rename = "recommendedExposureTime")]
+    pub recommended_exposure_time: u32,
+}
+
+/// Calculate recommended frame rate and maximum exposure time for hyperspectral cameras.
+///
+/// Formula:
+///   across-track pixel size = footprint / num_pixels
+///   along-track pixel size = scan_speed / frame_rate
+///   Square pixels: footprint / num_pixels = scan_speed / frame_rate
+///   => frame_rate = scan_speed * num_pixels / footprint
+///   => exposure_time = 999 / frame_rate
+///
+/// Device limits:
+///   Pika L  max frame rate = 250 fps
+pub fn recommend_hyperspectral_params(
+    device_type: &str,
+    height_cm: f64,
+    fov_degrees: f64,
+    scan_speed_cm_s: f64,
+) -> RecommendedCameraParams {
+    let (num_pixels, max_fps) = match device_type {
+        "HyperSpectual400_1000nm" => (900.0, 250),   // Pika L
+        "HyperSpectual1000_1700nm" => (320.0, u32::MAX),   // Pika NIR
+        _ => return RecommendedCameraParams {
+            recommended_frame_rate: 0,
+            recommended_exposure_time: 0,
+        },
+    };
+
+    if scan_speed_cm_s <= 0.0 || height_cm <= 0.0 || fov_degrees <= 0.0 {
+        return RecommendedCameraParams {
+            recommended_frame_rate: 0,
+            recommended_exposure_time: 0,
+        };
+    }
+
+    let footprint = calc_footprint(height_cm, fov_degrees);
+    let frame_rate = ((scan_speed_cm_s * num_pixels / footprint).round() as u32).max(1).min(max_fps);
+    let exposure_time = 999 / frame_rate;
+
+    RecommendedCameraParams {
+        recommended_frame_rate: frame_rate,
+        recommended_exposure_time: exposure_time,
+    }
+}
--- a/src-tauri/src/services/mod.rs
+++ b/src-tauri/src/services/mod.rs
@ -1,3 +1,4 @@
 pub mod scheduler;
 pub mod validator;
+pub mod camera_recommender;
 pub mod path_generator;
--- a/src-tauri/src/services/path_generator.rs
+++ b/src-tauri/src/services/path_generator.rs
@ -18,10 +18,15 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
    let y_min = params.region.y_min;
    let y_max = params.region.y_max;

-    let line_count = if step <= 0.0 {
+    let half_fp = footprint / 2.0;
+    let y_start = y_min + half_fp;
+    let y_end = y_max - half_fp;
+
+    let single_line = step <= 0.0 || y_end <= y_start;
+    let line_count = if single_line {
        1
    } else {
-        ((y_max - y_min) / step).ceil() as u64 + 1
+        ((y_end - y_start) / step).ceil() as u64 + 1
    };

    let mut records = Vec::with_capacity(line_count as usize);
@ -29,8 +34,12 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
    match params.mode {
        ScanMode::Zigzag => {
            for i in 0..line_count {
-                let y = y_min + (i as f64) * step;
-                if y > y_max {
+                let y = if single_line {
+                    (y_min + y_max) / 2.0
+                } else {
+                    y_start + (i as f64) * step
+                };
+                if !single_line && y > y_end {
                    break;
                }

@ -53,8 +62,12 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
        }
        ScanMode::OneWay => {
            for i in 0..line_count {
-                let y = y_min + (i as f64) * step;
-                if y > y_max {
+                let y = if single_line {
+                    (y_min + y_max) / 2.0
+                } else {
+                    y_start + (i as f64) * step
+                };
+                if !single_line && y > y_end {
                    break;
                }

@ -117,13 +130,26 @@ pub fn generate_paths_multi(
    let mut all_records = Vec::new();
    for (i, region) in regions.iter().enumerate() {
        let is_circle = shapes.get(i).map(|s| s == "Circle").unwrap_or(false);
-        let step = calc_footprint(camera.height_cm, camera.fov_degrees)
-            * (1.0 - coverage_rate / 100.0);
-        let line_count = if step <= 0.0 { 1 } else { ((region.y_max - region.y_min) / step).ceil() as u64 + 1 };
+        let footprint = calc_footprint(camera.height_cm, camera.fov_degrees);
+        let step = footprint * (1.0 - coverage_rate / 100.0);
+        let half_fp = footprint / 2.0;
+        let y_start = region.y_min + half_fp;
+        let y_end = region.y_max - half_fp;
+
+        let single_line = step <= 0.0 || y_end <= y_start;
+        let line_count = if single_line {
+            1
+        } else {
+            ((y_end - y_start) / step).ceil() as u64 + 1
+        };

        for li in 0..line_count {
-            let y = region.y_min + (li as f64) * step;
-            if y > region.y_max { break; }
+            let y = if single_line {
+                (region.y_min + region.y_max) / 2.0
+            } else {
+                y_start + (li as f64) * step
+            };
+            if !single_line && y > y_end { break; }

            let (x_start, x_end) = if is_circle {
                let cx = (region.x_min + region.x_max) / 2.0;
--- a/src-tauri/tauri.conf.json
+++ b/src-tauri/tauri.conf.json
@ -1,7 +1,7 @@
 {
  "$schema": "https://schema.tauri.app/config/2",
  "productName": "Spectral Insight Mission Plan",
-  "version": "0.0.7",
+  "version": "0.0.10",
  "identifier": "com.spectral-insight.mission-plan",
  "build": {
    "beforeDevCommand": "npm run dev",
--- a/src/components/planner/ScanCanvas.vue
+++ b/src/components/planner/ScanCanvas.vue
@ -11,10 +11,11 @@ import { ref, onMounted, watch } from 'vue';
 import type { ScanRegion, ScanMode, ScanShape } from '../../types/path-plan';
 import type { PathLineRecord } from '../../types/path-line';

-const props = defineProps<{
+const props = withDefaults(defineProps<{
  records: PathLineRecord[]; mode: ScanMode; backgroundImage?: string;
  drawingMode: boolean; drawingShape?: ScanShape; selectedIndex?: number;
-}>();
+  xMin?: number; xMax?: number; yMin?: number; yMax?: number;
+}>(), { xMin: 0, xMax: 100, yMin: 0, yMax: 100 });
 const regions = defineModel<ScanRegion[]>('regions', { required: true });
 const emit = defineEmits<{ 'add-region': [region: ScanRegion]; 'select-region': [index: number]; 'deselect': [] }>();

@ -23,13 +24,13 @@ const isDrawing = ref(false); const isDragging = ref(false); const isResizing =
 const resizeCorner = ref(''); const dragTarget = ref(-1);
 const dragStart = ref({ x: 0, y: 0 }); const regionStart = ref<ScanRegion | null>(null);
 const drawingRect = ref<ScanRegion | null>(null); const bgImage = ref<HTMLImageElement | null>(null);
-const padding = 40;
+let padding = 40;
 const COLORS = ['#2080f0', '#f0a020', '#18a058', '#d03050', '#a060e0', '#e06080'];

 function gs() { const r = canvasContainer.value?.getBoundingClientRect(); return { w: r?.width || 600, h: r?.height || 400 }; }
 function tc(cx: number, cy: number) { const r = canvas.value!.getBoundingClientRect(); return { x: cx - r.left, y: cy - r.top }; }
-function tw(cx: number, cy: number) { const { w, h } = gs(); const dw = w - padding * 2, dh = h - padding * 2; return { x: Math.max(0, Math.min(100, (cx - padding) / dw * 100)), y: Math.max(0, Math.min(100, 100 - (cy - padding) / dh * 100)) }; }
-function w2c(wx: number, wy: number) { const { w, h } = gs(); const dw = w - padding * 2, dh = h - padding * 2; return { x: padding + (wx / 100) * dw, y: padding + ((100 - wy) / 100) * dh }; }
+function tw(cx: number, cy: number) { const { w, h } = gs(); const dw = w - padding * 2, dh = h - padding * 2, rx = props.xMax - props.xMin, ry = props.yMax - props.yMin; const da = rx / ry, ca = dw / dh, drawW = da > ca ? dw : dh * da, drawH = da > ca ? dw / da : dh, offX = da > ca ? 0 : (dw - drawW) / 2, offY = da > ca ? (dh - drawH) / 2 : 0; return { x: Math.max(props.xMin, Math.min(props.xMax, props.xMin + (cx - padding - offX) / drawW * rx)), y: Math.max(props.yMin, Math.min(props.yMax, props.yMax - (cy - padding - offY) / drawH * ry)) }; }
+function w2c(wx: number, wy: number) { const { w, h } = gs(); const dw = w - padding * 2, dh = h - padding * 2, rx = props.xMax - props.xMin, ry = props.yMax - props.yMin; const da = rx / ry, ca = dw / dh, drawW = da > ca ? dw : dh * da, drawH = da > ca ? dw / da : dh, offX = da > ca ? 0 : (dw - drawW) / 2, offY = da > ca ? (dh - drawH) / 2 : 0; return { x: padding + offX + ((wx - props.xMin) / rx) * drawW, y: padding + offY + ((props.yMax - wy) / ry) * drawH }; }
 function findR(p: { x: number; y: number }): number { const r = regions.value; for (let i = r.length - 1; i >= 0; i--) { if (p.x >= r[i].xMin && p.x <= r[i].xMax && p.y >= r[i].yMin && p.y <= r[i].yMax) return i; } return -1; }
 function findC(p: { x: number; y: number }): { i: number; c: string } | null { const th = 3; for (let i = 0; i < regions.value.length; i++) { const r = regions.value[i]; for (const [c, cx, cy] of [['tl', r.xMin, r.yMax] as const, ['tr', r.xMax, r.yMax] as const, ['bl', r.xMin, r.yMin] as const, ['br', r.xMax, r.yMin] as const]) { if (Math.abs(p.x - cx) < th && Math.abs(p.y - cy) < th) return { i, c }; } } return null; }

@ -45,22 +46,31 @@ function draw() {
  canvas.value!.style.width = w + 'px'; canvas.value!.style.height = h + 'px';
  ctx.scale(dpr, dpr); ctx.fillStyle = '#f8f8f8'; ctx.fillRect(0, 0, w, h);
  if (bgImage.value) { ctx.globalAlpha = 0.5; ctx.drawImage(bgImage.value, 0, 0, w, h); ctx.globalAlpha = 1.0; }
+  ctx.font = '10px sans-serif';
+  const maxYLabel = Math.max(
+    ctx.measureText(props.yMin.toFixed(1)).width,
+    ctx.measureText(props.yMax.toFixed(1)).width
+  );
+  padding = Math.max(40, Math.ceil(24 + 4 + maxYLabel + 4 + 16 + 2));
  const dw = w - padding * 2, dh = h - padding * 2, ax = 16;
+  const rx = props.xMax - props.xMin, ry = props.yMax - props.yMin;
+  const da = rx / ry, ca = dw / dh;
+  const drawW = da > ca ? dw : dh * da, drawH = da > ca ? dw / da : dh;
+  const offX = da > ca ? 0 : (dw - drawW) / 2, offY = da > ca ? (dh - drawH) / 2 : 0;

  ctx.strokeStyle = '#e8e8e8'; ctx.lineWidth = 1;
-  for (let i = 0; i <= 10; i++) { const x = padding + (i / 10) * dw; ctx.beginPath(); ctx.moveTo(x, padding); ctx.lineTo(x, padding + dh); ctx.stroke(); }
-  for (let i = 0; i <= 10; i++) { const y = padding + (i / 10) * dh; ctx.beginPath(); ctx.moveTo(padding, y); ctx.lineTo(padding + dw, y); ctx.stroke(); }
+  for (let i = 0; i <= 10; i++) { const x = padding + offX + (i / 10) * drawW; ctx.beginPath(); ctx.moveTo(x, padding + offY); ctx.lineTo(x, padding + offY + drawH); ctx.stroke(); }
+  for (let i = 0; i <= 10; i++) { const y = padding + offY + (i / 10) * drawH; ctx.beginPath(); ctx.moveTo(padding + offX, y); ctx.lineTo(padding + offX + drawW, y); ctx.stroke(); }
  ctx.strokeStyle = '#666'; ctx.lineWidth = 1.5;
-  ctx.beginPath(); ctx.moveTo(padding - ax, padding + dh); ctx.lineTo(padding + dw + ax, padding + dh); ctx.stroke();
-  ctx.beginPath(); ctx.moveTo(padding, padding + dh + ax); ctx.lineTo(padding, padding - ax); ctx.stroke();
+  ctx.beginPath(); ctx.moveTo(padding + offX - ax, padding + offY + drawH); ctx.lineTo(padding + offX + drawW + ax, padding + offY + drawH); ctx.stroke();
+  ctx.beginPath(); ctx.moveTo(padding + offX, padding + offY + drawH + ax); ctx.lineTo(padding + offX, padding + offY - ax); ctx.stroke();
  ctx.fillStyle = '#888'; ctx.font = '10px sans-serif'; ctx.textAlign = 'center';
-  for (let i = 0; i <= 10; i++) { const x = padding + (i / 10) * dw; ctx.fillText(String(i * 10), x, padding + dh + ax + 12); ctx.beginPath(); ctx.moveTo(x, padding + dh + ax - 3); ctx.lineTo(x, padding + dh + ax + 3); ctx.stroke(); }
+  for (let i = 0; i <= 10; i++) { const x = padding + offX + (i / 10) * drawW; ctx.fillText((props.xMin + (i / 10) * rx).toFixed(1), x, padding + offY + drawH + ax + 12); ctx.beginPath(); ctx.moveTo(x, padding + offY + drawH + ax - 3); ctx.lineTo(x, padding + offY + drawH + ax + 3); ctx.stroke(); }
  ctx.textAlign = 'right';
-  for (let i = 0; i <= 10; i++) { const y = padding + (i / 10) * dh; ctx.fillText(String((10 - i) * 10), padding - ax - 4, y + 4); ctx.beginPath(); ctx.moveTo(padding - ax - 3, y); ctx.lineTo(padding - ax + 3, y); ctx.stroke(); }
+  for (let i = 0; i <= 10; i++) { const y = padding + offY + (i / 10) * drawH; ctx.fillText((props.yMin + (1 - i / 10) * ry).toFixed(1), padding + offX - ax - 4, y + 4); ctx.beginPath(); ctx.moveTo(padding + offX - ax - 3, y); ctx.lineTo(padding + offX - ax + 3, y); ctx.stroke(); }
  ctx.textAlign = 'start'; ctx.font = '11px sans-serif';
-  ctx.fillText('X (cm)', padding + dw + ax - 10, padding + dh + ax + 24);
-  ctx.save(); ctx.translate(padding - ax - 24, 10); ctx.rotate(-Math.PI / 2); ctx.fillText('Y (cm)', 0, 0); ctx.restore();
-  ctx.strokeStyle = '#f0a020'; ctx.lineWidth = 1; ctx.setLineDash([4, 4]); const z1 = w2c(0, 0), z2 = w2c(100, 100); ctx.strokeRect(z1.x, z1.y, z2.x - z1.x, z2.y - z1.y); ctx.setLineDash([]);
+  ctx.fillText('X (cm)', padding + offX + drawW + ax - 10, padding + offY + drawH + ax + 24);
+  ctx.save(); ctx.translate(padding + offX - ax - 24, 10); ctx.rotate(-Math.PI / 2); ctx.fillText('Y (cm)', 0, 0); ctx.restore();

  for (let i = 0; i < regions.value.length; i++) {
    const r = regions.value[i]; const p1 = w2c(r.xMin, r.yMin), p2 = w2c(r.xMax, r.yMax);
@ -102,8 +112,8 @@ function onMouseDown(e: MouseEvent) {
 function onMouseMove(e: MouseEvent) {
  const cp = tc(e.clientX, e.clientY);
  if (isDrawing.value && props.drawingMode) { const p1 = tw(dragStart.value.x, dragStart.value.y), p2 = tw(cp.x, cp.y); drawingRect.value = { shape: props.drawingShape || 'Rect', xMin: Math.min(p1.x, p2.x), xMax: Math.max(p1.x, p2.x), yMin: Math.min(p1.y, p2.y), yMax: Math.max(p1.y, p2.y) }; draw(); return; }
-  if (isDragging.value && dragTarget.value >= 0 && regionStart.value) { const dx = (cp.x - dragStart.value.x) / (gs().w - padding * 2) * 100, dy = -(cp.y - dragStart.value.y) / (gs().h - padding * 2) * 100; const rs = regionStart.value, rw = rs.xMax - rs.xMin, rh = rs.yMax - rs.yMin; const arr = [...regions.value]; arr[dragTarget.value] = { ...arr[dragTarget.value], xMin: Math.max(0, Math.min(100 - rw, rs.xMin + dx)), xMax: Math.max(rs.xMin + dx + 1, Math.min(100, rs.xMax + dx)), yMin: Math.max(0, Math.min(100 - rh, rs.yMin + dy)), yMax: Math.max(rs.yMin + dy + 1, Math.min(100, rs.yMax + dy)) }; regions.value = arr; draw(); return; }
-  if (isResizing.value && dragTarget.value >= 0 && regionStart.value) { const p1 = tw(dragStart.value.x, dragStart.value.y), p2 = tw(cp.x, cp.y); const dx = p2.x - p1.x, dy = p2.y - p1.y, rs = regionStart.value; let xMin = rs.xMin, xMax = rs.xMax, yMin = rs.yMin, yMax = rs.yMax; const c = resizeCorner.value; if (c.includes('l')) xMin = Math.min(rs.xMin + dx, rs.xMax - 1); if (c.includes('r')) xMax = Math.max(rs.xMax + dx, rs.xMin + 1); if (c.includes('b')) yMin = Math.min(rs.yMin + dy, rs.yMax - 1); if (c.includes('t')) yMax = Math.max(rs.yMax + dy, rs.yMin + 1); xMin = Math.max(0, xMin); xMax = Math.min(100, xMax); yMin = Math.max(0, yMin); yMax = Math.min(100, yMax); if (xMax - xMin > 1 && yMax - yMin > 1) { const arr = [...regions.value]; arr[dragTarget.value] = { ...arr[dragTarget.value], xMin, xMax, yMin, yMax }; regions.value = arr; draw(); } }
+  if (isDragging.value && dragTarget.value >= 0 && regionStart.value) { const rx = props.xMax - props.xMin, ry = props.yMax - props.yMin; const dw = gs().w - padding * 2, dh = gs().h - padding * 2, da = rx / ry, ca = dw / dh; const drawW = da > ca ? dw : dh * da, drawH = da > ca ? dw / da : dh; const dx = (cp.x - dragStart.value.x) / drawW * rx, dy = -(cp.y - dragStart.value.y) / drawH * ry; const rs = regionStart.value, rw = rs.xMax - rs.xMin, rh = rs.yMax - rs.yMin; const arr = [...regions.value]; arr[dragTarget.value] = { ...arr[dragTarget.value], xMin: Math.max(props.xMin, Math.min(props.xMax - rw, rs.xMin + dx)), xMax: Math.max(rs.xMin + dx + 1, Math.min(props.xMax, rs.xMax + dx)), yMin: Math.max(props.yMin, Math.min(props.yMax - rh, rs.yMin + dy)), yMax: Math.max(rs.yMin + dy + 1, Math.min(props.yMax, rs.yMax + dy)) }; regions.value = arr; draw(); return; }
+  if (isResizing.value && dragTarget.value >= 0 && regionStart.value) { const p1 = tw(dragStart.value.x, dragStart.value.y), p2 = tw(cp.x, cp.y); const dx = p2.x - p1.x, dy = p2.y - p1.y, rs = regionStart.value; let xMin = rs.xMin, xMax = rs.xMax, yMin = rs.yMin, yMax = rs.yMax; const c = resizeCorner.value; if (c.includes('l')) xMin = Math.min(rs.xMin + dx, rs.xMax - 1); if (c.includes('r')) xMax = Math.max(rs.xMax + dx, rs.xMin + 1); if (c.includes('b')) yMin = Math.min(rs.yMin + dy, rs.yMax - 1); if (c.includes('t')) yMax = Math.max(rs.yMax + dy, rs.yMin + 1); xMin = Math.max(props.xMin, xMin); xMax = Math.min(props.xMax, xMax); yMin = Math.max(props.yMin, yMin); yMax = Math.min(props.yMax, yMax); if (xMax - xMin > 1 && yMax - yMin > 1) { const arr = [...regions.value]; arr[dragTarget.value] = { ...arr[dragTarget.value], xMin, xMax, yMin, yMax }; regions.value = arr; draw(); } }
 }

 function onMouseUp() {
@ -112,7 +122,7 @@ function onMouseUp() {
 }

 onMounted(() => { loadBG(props.backgroundImage); window.addEventListener('resize', draw); });
-watch(() => [regions.value, props.records, props.mode, props.drawingMode, props.drawingShape, props.selectedIndex], () => { draw(); });
+watch(() => [regions.value, props.records, props.mode, props.drawingMode, props.drawingShape, props.selectedIndex, props.xMin, props.xMax, props.yMin, props.yMax], () => { draw(); });
 watch(() => props.backgroundImage, (v) => { loadBG(v); });
 </script>

--- a/src/components/planner/ScanParamPanel.vue
+++ b/src/components/planner/ScanParamPanel.vue
@ -2,20 +2,14 @@
  <div class="param-panel">
    <n-form size="small" label-placement="top" label-width="auto">
      <n-card title="相机参数" size="small">
-        <n-grid :cols="2" :x-gap="8">
-          <n-gi>
-            <n-form-item>
-              <template #label>FOV (°) <HelpIcon helpKey="planner.fov" /></template>
-              <n-input-number v-model:value="localCamera.fovDegrees" :min="1" :max="180" />
-            </n-form-item>
-          </n-gi>
-          <n-gi>
-            <n-form-item>
-              <template #label>高度 (cm) <HelpIcon helpKey="planner.height" /></template>
-              <n-input-number v-model:value="localCamera.heightCm" :min="1" />
-            </n-form-item>
-          </n-gi>
-        </n-grid>
+        <n-form-item>
+          <template #label>FOV (°) <HelpIcon helpKey="planner.fov" /></template>
+          <n-input-number v-model:value="localCamera.fovDegrees" :min="1" :max="180" />
+        </n-form-item>
+        <n-form-item>
+          <template #label>高度 (cm) <HelpIcon helpKey="planner.height" /></template>
+          <n-input-number v-model:value="localCamera.heightCm" :min="1" />
+        </n-form-item>
        <n-form-item>
          <template #label>覆盖率 (%) <HelpIcon helpKey="planner.coverage" /></template>
          <n-slider v-model:value="localCoverageRate" :min="0" :max="100" :step="1" />
@ -55,6 +49,8 @@
        <n-descriptions label-placement="left" :column="1">
          <n-descriptions-item label="扫描线数">{{ lineCount }}</n-descriptions-item>
          <n-descriptions-item label="预估耗时">{{ estTimeFormatted }}</n-descriptions-item>
+          <n-descriptions-item v-if="recommendedFrameRate && recommendedFrameRate > 0" label="推荐帧率">{{ recommendedFrameRate }} fps</n-descriptions-item>
+          <n-descriptions-item v-if="recommendedExposureTime && recommendedExposureTime > 0" label="推荐曝光时间">{{ recommendedExposureTime }} ms</n-descriptions-item>
        </n-descriptions>
      </n-card>
    </n-form>
@ -67,7 +63,7 @@ import type { CameraParams, ScanMode } from '../../types/path-plan';
 import { formatDuration } from '../../utils/constants';
 import HelpIcon from '../common/HelpIcon.vue';

-const props = defineProps<{
+const props = withDefaults(defineProps<{
  camera: CameraParams;
  coverageRate: number;
  speedY: number;
@ -76,7 +72,12 @@ const props = defineProps<{
  mode: ScanMode;
  lineCount: number;
  estTime: number;
-}>();
+  recommendedFrameRate?: number;
+  recommendedExposureTime?: number;
+}>(), {
+  recommendedFrameRate: undefined,
+  recommendedExposureTime: undefined,
+});

 const emit = defineEmits<{
  update: [params: any];
--- a/src/types/mission.ts
+++ b/src/types/mission.ts
@ -33,7 +33,7 @@ export function createDefaultPlannerParams(): PlannerDefaults {
  return {
    fovDegrees: 30, heightCm: 50,
    coverageRate: 30,
-    speedYCmS: 5, speedXStartCmS: 20, speedXScanCmS: 10,
+    speedYCmS: 10, speedXStartCmS: 10, speedXScanCmS: 3,
    mode: 'Zigzag',
  };
 }
--- a/src/views/MissionEditorView.vue
+++ b/src/views/MissionEditorView.vue
@ -99,12 +99,13 @@
              </n-grid>
            </n-form>

-            <n-collapse>
+            <n-collapse class="subtask-collapse">
              <n-collapse-item
                v-for="sub in task.subTasks"
                :key="sub.id"
                :title="getSubTaskLabel(sub.type)"
                :name="sub.id"
+                :style="subtaskStyle(sub.type)"
              >
                <template #header-extra>
                  <n-button text type="error" size="tiny" @click.stop="handleRemoveSubTask(task.id, sub.id)">删除</n-button>
@ -218,7 +219,7 @@ import {
 import { invoke } from '@tauri-apps/api/core';
 import { useMissionStore } from '../stores/mission';
 import { useValidationStore } from '../stores/validation';
-import { SUBTASK_TYPE_LABELS } from '../utils/constants';
+import { SUBTASK_TYPE_LABELS, SUBTASK_TYPE_COLORS } from '../utils/constants';
 import { formatDuration, formatDateTime } from '../utils/constants';
 import { isHyperspectral, SubTaskType } from '../types/task';
 import type { SubTask } from '../types/task';
@ -263,6 +264,16 @@ function getSubTaskLabel(type: string): string {
  return SUBTASK_TYPE_LABELS[type] || type;
 }

+function subtaskStyle(type: string) {
+  const color = SUBTASK_TYPE_COLORS[type] || '#888';
+  return {
+    borderLeft: `3px solid ${color}`,
+    background: `${color}1a`,
+    borderRadius: '3px',
+    marginBottom: '4px',
+  };
+}
+
 const showPathModal = ref(false);
 const pathViewRecords = ref<PathLineRecord[]>([]);
 const pathPreviewContainer = ref<HTMLDivElement>();
@ -410,7 +421,8 @@ async function drawPathPreview() {
  const ctx = canvas.getContext('2d');
  if (!ctx) return; ctx.scale(dpr, dpr);
  ctx.fillStyle = '#f8f8f8'; ctx.fillRect(0, 0, w, h);
-  let xMin = Infinity, xMax = -Infinity, yMin = Infinity, yMax = -Infinity;
+  const sc = missionStore.mission.scanConfig;
+  let xMin = sc.xMin, xMax = sc.xMax, yMin = sc.yMin, yMax = sc.yMax;
  for (const r of records) { xMin = Math.min(xMin, r.targetXMinPosition, r.targetXMaxPosition); xMax = Math.max(xMax, r.targetXMinPosition, r.targetXMaxPosition); yMin = Math.min(yMin, r.targetYPosition); yMax = Math.max(yMax, r.targetYPosition); }
  const rangeX = xMax - xMin || 1, rangeY = yMax - yMin || 1, pad = 30, drawW = w - pad * 2, drawH = h - pad * 2;
  const toCanvas = (wx: number, wy: number) => ({ x: pad + ((wx - xMin) / rangeX) * drawW, y: pad + ((yMax - wy) / rangeY) * drawH });
@ -458,4 +470,5 @@ async function viewPathFile(filePath: string) { if (filePath) await openPathFile
 <style scoped>
 .mission-editor { height: 100vh; overflow: hidden; display: flex; flex-direction: column; }
 .main-panel { flex: 1; overflow-y: auto; }
+.subtask-collapse :deep(.n-collapse-item__header) { padding-top: 0 !important; }
 </style>
--- a/src/views/PathPlannerView.vue
+++ b/src/views/PathPlannerView.vue
@ -31,7 +31,7 @@
      </n-button>
    </n-space>

-    <n-split direction="horizontal" :default-size="0.6">
+    <n-split direction="horizontal" :default-size="0.85">
      <template #1>
        <ScanCanvas
          v-model:regions="regions"
@ -41,6 +41,10 @@
          :drawing-mode="drawingMode"
          :drawing-shape="currentShape"
          :selected-index="selectedIndex"
+          :x-min="missionStore.mission.scanConfig.xMin"
+          :x-max="missionStore.mission.scanConfig.xMax"
+          :y-min="missionStore.mission.scanConfig.yMin"
+          :y-max="missionStore.mission.scanConfig.yMax"
          @select-region="selectedIndex = $event"
          @deselect="selectedIndex = -1"
          @add-region="onAddRegion"
@ -56,6 +60,8 @@
          :mode="scanMode"
          :line-count="generatedRecords.length"
          :est-time="estimatedTime"
+          :recommended-frame-rate="recommendedParams?.recommendedFrameRate ?? undefined"
+          :recommended-exposure-time="recommendedParams?.recommendedExposureTime ?? undefined"
          @update="onParamChange"
        />
      </template>
@ -99,14 +105,15 @@ function getDeviceFov(): number {
 const regions = ref<ScanRegion[]>([]);
 const camera = ref<CameraParams>({ fovDegrees: getDeviceFov(), heightCm: 50 });
 const coverageRate = ref(30);
-const speedY = ref(5);
-const speedXScan = ref(10);
-const speedXStart = ref(20);
+const speedY = ref(10);
+const speedXScan = ref(3);
+const speedXStart = ref(10);
 const scanMode = ref<ScanMode>('OneWay');

 const generatedRecords = ref<PathLineRecord[]>([]);
 const previewRecords = computed(() => generatedRecords.value);
 const estimatedTime = ref(0);
+const recommendedParams = ref<{recommendedFrameRate: number, recommendedExposureTime: number} | null>(null);

 invoke<PlannerDefaults>('load_planner_defaults').then(p => {
  coverageRate.value = p.coverageRate;
@ -171,6 +178,27 @@ async function generatePath() {
      speedYCmS: speedY.value, speedXStartCmS: speedXStart.value, speedXScanCmS: speedXScan.value, mode: scanMode.value,
    });
    estimatedTime.value = estTime;
+
+    // 获取推荐相机参数
+    if (props.taskId !== null && props.subTaskId !== null) {
+      const task = missionStore.mission.tasks.find(t => t.id === props.taskId);
+      const sub = task?.subTasks.find(s => s.id === props.subTaskId);
+      if (sub) {
+        recommendedParams.value = await invoke<{recommendedFrameRate: number, recommendedExposureTime: number}>('recommend_hyperspectral_params', {
+          deviceType: sub.type,
+          heightCm: camera.value.heightCm,
+          fovDegrees: camera.value.fovDegrees,
+          scanSpeedCmS: speedXScan.value,
+        });
+        // 将推荐参数立即写入子任务
+        if (recommendedParams.value && DEVICE_FOV[sub.type]) {
+          sub.frameRate = recommendedParams.value.recommendedFrameRate;
+          sub.exposureTime = recommendedParams.value.recommendedExposureTime;
+          await missionStore.updateSubTask(props.taskId, { ...sub });
+        }
+      }
+    }
+
    message.success(`航线生成完成: ${file.count} 条记录`);
  } catch (e) { message.error('航线生成失败: ' + e); }
 }
@ -187,7 +215,15 @@ async function savePath() {
      if (props.taskId !== null && props.subTaskId !== null) {
        const task = missionStore.mission.tasks.find(t => t.id === props.taskId);
        const sub = task?.subTasks.find(s => s.id === props.subTaskId);
-        if (sub) { sub.pathLineFilePath = finalPath; await missionStore.updateSubTask(props.taskId, { ...sub }); message.success('已自动填入子任务航线路径'); }
+        if (sub) {
+          sub.pathLineFilePath = finalPath;
+          if (recommendedParams.value) {
+            sub.frameRate = recommendedParams.value.recommendedFrameRate;
+            sub.exposureTime = recommendedParams.value.recommendedExposureTime;
+          }
+          await missionStore.updateSubTask(props.taskId, { ...sub });
+          message.success('已自动填入子任务航线路径及推荐相机参数');
+        }
      }
    }
  } catch (e) { message.error('保存失败: ' + e); }
--- a/update.md
+++ b/update.md
@ -1,5 +1,26 @@
 # Spectral Insight Mission Plan - 更新日志

+## v0.0.10 (2026-06-25)
+
+- 第一条航线 Y 坐标偏移 1/2 幅宽，不再紧贴绘制区域边缘
+- 生成航线时自动计算推荐帧率和曝光时间（Pika L 900像元 / Pika NIR 320 像元，帧率×曝光时间=999）
+- 生成航线后自动填入子任务帧率和曝光时间
+- Pika L 最大帧率限制 250fps（唐超）
+- Y 轴定位速度默认值修改为 10cm/s，X 扫描速度 3cm/s，X 回起点速度 10cm/s
+
+## v0.0.9 (2026-06-25)
+
+- 航线生成画布支持 scanConfig 坐标范围（修改 X/Y 范围后画布随之更新）
+- 修复 Y 轴标签位数超过 3 位时溢出画布边框的问题
+- 画布按扫描区域宽高比等比例显示（x:y 不再强制 1:1）
+- 相机参数（FOV / 高度）改为纵向排列，右侧参数面板更窄
+- 画布占比提升至 85%
+
+## v0.0.8 (2026-06-22)
+
+- 子任务按设备类型显示不同背景色和左侧色条（Pika L 绿 / Pika NIR 蓝 / 单反 橙 / 深度相机 红）
+- 修复折叠时子任务标题高度不一致的问题
+
 ## v0.0.7 (2026-06-18)

 - fix: correct update.md v0.0.6 entry with proper 唐超 credit