Lawnmower_STM32H7.git

			@@ -339,14 +339,27 @@
			self.view.sceneMouseMoved.connect(self._update_mouse_pos)
			left_layout.addWidget(self.view, stretch=1)

			# Bottom bar for map controls
			bottom_bar = QtWidgets.QWidget()
			bottom_layout = QtWidgets.QHBoxLayout(bottom_bar)
			bottom_layout.setContentsMargins(0, 4, 0, 0)

			self.follow_checkbox = QtWidgets.QCheckBox("自动跟随车辆")
			self.follow_checkbox.setChecked(True)
			self.follow_checkbox.toggled.connect(self._on_follow_toggled)
			left_layout.addWidget(self.follow_checkbox, alignment=QtCore.Qt.AlignLeft)
			bottom_layout.addWidget(self.follow_checkbox)

			self.clear_trail_btn = QtWidgets.QPushButton("清除轨迹")
			self.clear_trail_btn.clicked.connect(self._clear_trail)
			bottom_layout.addWidget(self.clear_trail_btn)

			bottom_layout.addStretch(1)

			self.mouse_pos_label = QtWidgets.QLabel("E: 0.00 N: 0.00")
			self.mouse_pos_label.setStyleSheet("color:#222; background:rgba(255,255,255,190); padding:2px 6px; border-radius:4px;")
			left_layout.addWidget(self.mouse_pos_label, alignment=QtCore.Qt.AlignRight)
			bottom_layout.addWidget(self.mouse_pos_label)

			left_layout.addWidget(bottom_bar)

			layout.addWidget(left_panel, stretch=3)

			@@ -402,9 +415,11 @@
			self.origin_text = QtWidgets.QLineEdit(default_origin_short)
			self.origin_text.setPlaceholderText("3949.9120,N,11616.8544,E[,alt]")
			self.origin_btn = QtWidgets.QPushButton("更新原点")
			self.copy_origin_btn = QtWidgets.QPushButton("复制宏定义") # 新增按钮
			grid.addWidget(QtWidgets.QLabel("坐标 (lat,N,lon,E):"), 0, 0, 1, 2)
			grid.addWidget(self.origin_text, 0, 2, 1, 2)
			grid.addWidget(self.origin_btn, 0, 4)
			grid.addWidget(self.copy_origin_btn, 0, 5) # 添加到布局

			labels = ["E (m)", "N (m)", "U (m)", "Heading (deg)"]
			self.pos_spin: List[QtWidgets.QDoubleSpinBox] = []
			@@ -428,12 +443,13 @@
			status_layout = QtWidgets.QVBoxLayout(status_group)
			self.info_label = QtWidgets.QLabel("等待数据...")
			self.info_label.setAlignment(QtCore.Qt.AlignTop \| QtCore.Qt.AlignLeft)
			self.info_label.setStyleSheet("font-family: Consolas, 'Courier New'; font-size: 12px;")
			self.info_label.setStyleSheet("font-family: Consolas, 'Courier New'; font-size: 14px;")
			info_scroll = QtWidgets.QScrollArea()
			info_scroll.setWidgetResizable(True)
			info_scroll.setWidget(self.info_label)
			info_scroll.setMinimumHeight(500) # 进一步增加最小高度
			status_layout.addWidget(info_scroll)
			right_layout.addWidget(status_group, stretch=1)
			right_layout.addWidget(status_group, stretch=4) # 进一步增加布局权重，从2增加到4

			# Stack table
			stack_group = QtWidgets.QGroupBox("堆栈监测")
			@@ -484,6 +500,7 @@
			self.path_load_btn.clicked.connect(self._load_path_from_text)
			self.path_export_btn.clicked.connect(self._export_path_to_mcu)
			self.origin_btn.clicked.connect(self._update_origin)
			self.copy_origin_btn.clicked.connect(self._copy_origin_macro) # 绑定事件
			self.reset_pose_btn.clicked.connect(self._reset_position)
			self.port_refresh_btn.clicked.connect(self._refresh_serial_ports)
			self.serial_toggle_btn.clicked.connect(self._toggle_serial)
			@@ -492,6 +509,55 @@
			self._set_controls_enabled(False)
			self._update_serial_ui()

			def _copy_origin_macro(self):
			text = self.origin_text.text().strip()
			if not text:
			QtWidgets.QMessageBox.warning(self, "复制", "原点输入框为空")
			return

			# 格式: lat_val,N,lon_val,E,alt
			# 例如: 3949.9120,N,11616.8544,E,47.5
			parts = [p.strip() for p in text.split(",")]
			if len(parts) < 4:
			QtWidgets.QMessageBox.warning(self, "复制", "原点格式错误，需至少包含经纬度")
			return

			try:
			# 解析 DDMM.MMMM 格式转 DD.DDDD
			# 纬度
			lat_raw = parts[0]
			lat_deg_int = int(float(lat_raw) / 100)
			lat_min = float(lat_raw) % 100
			lat_dd = lat_deg_int + lat_min / 60.0
			if parts[1].upper() == 'S':
			lat_dd = -lat_dd

			# 经度
			lon_raw = parts[2]
			lon_deg_int = int(float(lon_raw) / 100)
			lon_min = float(lon_raw) % 100
			lon_dd = lon_deg_int + lon_min / 60.0
			if parts[3].upper() == 'W':
			lon_dd = -lon_dd

			# 高度
			alt = "0.0"
			if len(parts) >= 5:
			alt = parts[4]

			macro = (
			f"#define MC_CFG_ORIGIN_LAT_DEG ({lat_dd:.6f})\n"
			f"#define MC_CFG_ORIGIN_LON_DEG ({lon_dd:.6f})\n"
			f"#define MC_CFG_ORIGIN_ALT_M ({alt})"
			)

			clipboard = QtWidgets.QApplication.clipboard()
			clipboard.setText(macro)
			QtWidgets.QMessageBox.information(self, "复制", "已复制宏定义到剪贴板！")

			except ValueError as e:
			QtWidgets.QMessageBox.warning(self, "复制", f"数值解析错误: {e}")

			def _handle_user_pan(self):
			if self._auto_follow:
			self.follow_checkbox.blockSignals(True)
			@@ -504,6 +570,12 @@
			if checked and self.pose_status:
			self.view.centerOn(self.pose_status.east, -self.pose_status.north)

			def _clear_trail(self):
			"""清除地图上的轨迹点"""
			self.trail_points = []
			# Update scene to remove trail
			self._update_scene()

			def _update_mouse_pos(self, east: float, scene_y: float):
			north = -scene_y
			self.mouse_pos_label.setText(f"E: {east: .2f} N: {north: .2f}")
			@@ -722,6 +794,7 @@
			(height if height > 0 else 1.0) + pad_y * 2.0,
			)
			self.scene.setSceneRect(scene_rect)
			self.view.fitInView(scene_rect, QtCore.Qt.KeepAspectRatio)

			def _append_log(self, text: str):
			self.log_view.appendPlainText(text)