diff --git a/deploy_p600_local.sh b/deploy_p600_local.sh
new file mode 100644
index 00000000..2aeeec1d
--- /dev/null
+++ b/deploy_p600_local.sh
@@ -0,0 +1,79 @@
+#!/bin/bash
+# =============================================================================
+# P600 机载电脑 - 电脑端网页本地部署脚本
+# 用法: P600 上执行: bash deploy_p600_local.sh
+# 效果: 在 P600 上运行 Flask 服务，本地访问 http://192.168.1.14:5000
+#       直接连接 P600 机载电脑的 rosbridge，浏览器不拦截内网连接
+# =============================================================================
+
+set -e
+
+echo "========================================="
+echo "  P600 智途投送电脑端本地部署"
+echo "========================================="
+echo ""
+
+PROJECT_DIR="/opt/zhitu-p600"
+
+# 创建项目目录
+echo "📁 创建项目目录 ${PROJECT_DIR} ..."
+mkdir -p ${PROJECT_DIR}
+
+# 解压文件
+echo "📦 解压文件..."
+tar xzf zhitu-local-deploy.tar.gz -C ${PROJECT_DIR}
+
+# 安装 Python 依赖
+echo "🐍 安装 Python 依赖..."
+cd ${PROJECT_DIR}/server
+pip3 install flask flask-cors werkzeug 2>/dev/null || pip install flask flask-cors werkzeug 2>/dev/null || echo "⚠️  pip 安装失败，手动执行: pip install flask flask-cors"
+
+# 创建 systemd 服务
+echo "📝 创建系统服务 zhitu-p600.service ..."
+
+cat > /etc/systemd/system/zhitu-p600.service << 'EOF'
+[Unit]
+Description=智途投送电脑端 - P600 本地服务
+After=network.target
+
+[Service]
+Type=simple
+User=root
+WorkingDirectory=/opt/zhitu-p600/server
+ExecStart=/usr/bin/python3 app.py
+Restart=always
+RestartSec=5
+StandardOutput=append:/var/log/zhitu-p600.log
+StandardError=append:/var/log/zhitu-p600.log
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+# 重载并启用服务
+systemctl daemon-reload
+systemctl enable zhitu-p600.service
+
+# 启动服务
+echo "🚀 启动服务..."
+systemctl restart zhitu-p600.service
+sleep 2
+
+# 检查状态
+echo ""
+echo "📊 服务状态:"
+systemctl status zhitu-p600.service --no-pager | head -10
+
+echo ""
+echo "========================================="
+echo "  ✅ 部署完成！"
+echo "========================================="
+echo ""
+echo "  访问地址: http://192.168.1.14:5000"
+echo "  rosbridge: 本地自动连接 (无需 WebSocket 跨网)"
+echo ""
+echo "  管理命令:"
+echo "    查看状态: sudo systemctl status zhitu-p600"
+echo "    重启:     sudo systemctl restart zhitu-p600"
+echo "    查看日志: tail -f /var/log/zhitu-p600.log"
+echo ""
diff --git a/setup_p600_tunnel.sh b/setup_p600_tunnel.sh
new file mode 100644
index 00000000..9527e0c5
--- /dev/null
+++ b/setup_p600_tunnel.sh
@@ -0,0 +1,128 @@
+#!/bin/bash
+# =============================================================================
+# P600 机载电脑 - SSH 隧道自启服务安装脚本
+# 用法: 传到 P600 上执行: bash setup_p600_tunnel.sh
+# 功能: 开机自启 rosbridge 隧道，断线自动重连
+# 隧道: P600:8080 → 云服务器 121.41.216.243:9090
+# 网页连接地址: ws://121.41.216.243:9090
+# =============================================================================
+
+set -e
+
+SERVICE_NAME="rosbridge-tunnel.service"
+SERVICE_PATH="/etc/systemd/system/${SERVICE_NAME}"
+SSH_HOST="root@121.41.216.243"
+SSH_PORT="9090"
+LOCAL_PORT="8080"
+
+echo "========================================="
+echo "  P600 SSH 隧道自启服务安装"
+echo "========================================="
+echo ""
+
+# 检查是否以 root 运行
+if [ "$EUID" -ne 0 ]; then
+    echo "❌ 请使用 root 用户运行: sudo bash setup_p600_tunnel.sh"
+    exit 1
+fi
+
+# 检查 SSH 连接是否可用
+echo "🔍 测试 SSH 连接到 ${SSH_HOST} ..."
+if ssh -o StrictHostKeyChecking=no -o ConnectTimeout=10 "${SSH_HOST}" "echo OK" 2>/dev/null; then
+    echo "✅ SSH 连接成功"
+else
+    echo ""
+    echo "⚠️  SSH 连接失败，请确认:"
+    echo "   ① P600 能访问外网"
+    echo "   ② 密码为: pdl@#YwC\$WRWFyHKxC8nyu!4"
+    echo ""
+    echo "   手动测试: ssh ${SSH_HOST}"
+    echo ""
+    read -p "是否继续安装服务？（y/n）" -n 1 -r
+    echo
+    if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+        exit 1
+    fi
+fi
+
+# 检查 sshpass
+SSHPASS_CMD=""
+if command -v sshpass &> /dev/null; then
+    SSHPASS_CMD="sshpass -p 'pdl@#YwC\$WRWFyHKxC8nyu!4'"
+    echo "✅ 已安装 sshpass，将使用密码自动登录"
+else
+    echo ""
+    echo "⚠️  未安装 sshpass，需要先配置 SSH 密钥登录"
+    echo "   执行以下命令配置免密登录:"
+    echo ""
+    echo "   ssh-copy-id ${SSH_HOST}"
+    echo "   # 密码: pdl@#YwC\$WRWFyHKxC8nyu!4"
+    echo ""
+fi
+
+# 创建 systemd 服务
+echo ""
+echo "📝 创建系统服务 ${SERVICE_NAME} ..."
+
+cat > "${SERVICE_PATH}" << SERVICEEOF
+[Unit]
+Description=ROSbridge SSH Tunnel - P600 to Cloud Server
+After=network-online.target
+Wants=network-online.target
+StartLimitIntervalSec=60
+StartLimitBurst=5
+
+[Service]
+Type=simple
+ExecStart=/bin/bash -c '${SSHPASS_CMD} /usr/bin/ssh -NT \
+  -o ServerAliveInterval=30 \
+  -o ServerAliveCountMax=3 \
+  -o StrictHostKeyChecking=no \
+  -o ExitOnForwardFailure=yes \
+  -R ${SSH_PORT}:localhost:${LOCAL_PORT} \
+  ${SSH_HOST}'
+
+Restart=always
+RestartSec=10
+User=root
+
+[Install]
+WantedBy=multi-user.target
+SERVICEEOF
+
+echo "✅ 服务文件已创建"
+
+# 重载 systemd
+echo "🔄 重载 systemd 配置..."
+systemctl daemon-reload
+
+# 启用服务
+echo "🔗 启用开机自启..."
+systemctl enable "${SERVICE_NAME}"
+
+# 启动服务
+echo "🚀 启动隧道服务..."
+systemctl restart "${SERVICE_NAME}"
+
+# 等待 3 秒
+sleep 3
+
+# 检查状态
+echo ""
+echo "📊 服务状态:"
+systemctl status "${SERVICE_NAME}" --no-pager | head -12
+
+echo ""
+echo "========================================="
+echo "  ✅ 安装完成！"
+echo "========================================="
+echo ""
+echo "  服务管理命令:"
+echo "    查看状态: sudo systemctl status ${SERVICE_NAME}"
+echo "    启动:     sudo systemctl start ${SERVICE_NAME}"
+echo "    停止:     sudo systemctl stop ${SERVICE_NAME}"
+echo "    重启:     sudo systemctl restart ${SERVICE_NAME}"
+echo "    查看日志: sudo journalctl -u ${SERVICE_NAME} -f"
+echo ""
+echo "  网页连接地址: ws://121.41.216.243:${SSH_PORT}"
+echo ""
diff --git a/software/src/软件电脑端/js/websocket.js b/software/src/软件电脑端/js/websocket.js
index bdbad8e4..5680b6b5 100644
--- a/software/src/软件电脑端/js/websocket.js
+++ b/software/src/软件电脑端/js/websocket.js
@@ -99,7 +99,9 @@ const WsModule = (() => {
     function connectDrone(url) {
         try {
             if (typeof ROSLIB === 'undefined') {
-                UIModule.onStatus({ type: 'error', message: 'roslibjs 库未加载' });
+                UIModule.onStatus({ type: 'error', message: '❌ [环境检查] roslibjs 库未加载' });
+                UIModule.onStatus({ type: 'warning', message: '  原因: 浏览器可能无法访问 unpkg.com CDN' });
+                UIModule.onStatus({ type: 'warning', message: '  解决: 已在页面中加入 cdnjs 备选地址，刷新重试；或切换网络' });
                 return;
             }
 
@@ -107,18 +109,95 @@ const WsModule = (() => {
                 try { ros.close(); } catch (e) { /* ignore */ }
             }
 
-            UIModule.onStatus({ type: 'info', message: `正在连接 rosbridge: ${url} ...` });
+            // === Step 0: URL 格式检查 ===
+            UIModule.onStatus({ type: 'info', message: '═══════ 无人机连接诊断 ═══════' });
+            UIModule.onStatus({ type: 'info', message: `[Step 0/5] 地址检查: ${url}` });
+            var parsedOk = true;
+            try {
+                var parsed = new URL(url);
+                if (parsed.protocol !== 'ws:' && parsed.protocol !== 'wss:') {
+                    UIModule.onStatus({ type: 'warning', message: '  ⚠️ 协议不是 ws:// 或 wss://，请检查地址格式' });
+                    parsedOk = false;
+                }
+                if (parsed.hostname === '192.168.1.14') {
+                    UIModule.onStatus({ type: 'info', message: '  ⚠️ 当前使用默认地址 192.168.1.14，如果 P600 的 IP 不同请修改' });
+                    UIModule.onStatus({ type: 'info', message: '  💡 在 P600 上执行 hostname -I 查看实际 IP' });
+                }
+            } catch(e) {
+                UIModule.onStatus({ type: 'error', message: '  ❌ 地址格式错误，应为 ws://IP:9090 格式' });
+                parsedOk = false;
+            }
+            if (!parsedOk) return;
+
+            // === Step 1: 尝试 WebSocket 连接 ===
+            UIModule.onStatus({ type: 'info', message: `[Step 1/5] 正在建立 WebSocket 连接到 ${url} ...` });
+            UIModule.onStatus({ type: 'info', message: `  提示: 如果长时间无响应，请逐项排查:` });
+            UIModule.onStatus({ type: 'info', message: `  ① 电脑是否连接到 P600 的 WiFi (或同一局域网)` });
+            UIModule.onStatus({ type: 'info', message: `  ② 在电脑 CMD 中执行: ping ${parsed.hostname}` });
+
+            // 连接超时检测（15秒）
+            var connTimeout = setTimeout(function() {
+                if (!rosConnected) {
+                    UIModule.onStatus({ type: 'warning', message: `⏱ [Step 1/5] 连接超时 (15s)` });
+                    UIModule.onStatus({ type: 'warning', message: `  🔍 排查步骤:` });
+                    UIModule.onStatus({ type: 'warning', message: `  ① 确认电脑 WiFi 已连接到 P600` });
+                    UIModule.onStatus({ type: 'warning', message: `  ② 在 CMD 执行 ping ${parsed.hostname} 检测连通性` });
+                    UIModule.onStatus({ type: 'warning', message: `  ③ SSH 进 P600 确认 rosbridge 是否运行:` });
+                    UIModule.onStatus({ type: 'warning', message: `     ps aux | grep rosbridge` });
+                    UIModule.onStatus({ type: 'warning', message: `  ④ 如果没运行，启动它:` });
+                    UIModule.onStatus({ type: 'warning', message: `     roslaunch rosbridge_server rosbridge_websocket.launch` });
+                    UIModule.onStatus({ type: 'warning', message: `  ⑤ 检查 P600 防火墙: sudo ufw status | grep 9090` });
+                }
+            }, 15000);
 
             ros = new ROSLIB.Ros({ url: url });
 
             ros.on('connection', () => {
+                clearTimeout(connTimeout);
                 rosConnected = true;
-                UIModule.onStatus({ type: 'info', message: 'rosbridge 已连接，正在检测 MAVROS 话题...' });
+                UIModule.onStatus({ type: 'success', message: `[Step 2/5] ✅ WebSocket 连接成功!` });
+                UIModule.onStatus({ type: 'info', message: `  rosbridge 地址: ${url}` });
+                UIModule.onStatus({ type: 'info', message: `[Step 3/5] 正在订阅 MAVROS 话题 (等待 5 秒内收到 state)...` });
+                UIModule.onStatus({ type: 'info', message: `  如果长时间无响应:` });
+                UIModule.onStatus({ type: 'info', message: `  ① 在 P600 上确认 MAVROS 已启动:` });
+                UIModule.onStatus({ type: 'info', message: `     roslaunch mavros px4.launch fcu_url:=/dev/ttyTHS1:921600` });
+                UIModule.onStatus({ type: 'info', message: `  ② 检查话题列表: rostopic list | grep mavros/state` });
+                UIModule.onStatus({ type: 'info', message: `  ③ 话题命名空间可能是 /uav1/mavros/state 或 /mavros/state` });
                 setupSubscriptions();
             });
 
             ros.on('error', (error) => {
-                UIModule.onStatus({ type: 'error', message: `rosbridge 连接错误: ${error || '未知'}` });
+                clearTimeout(connTimeout);
+                var msg = String(error || '');
+                var detail = '';
+                var steps = '';
+
+                if (msg.includes('ECONNREFUSED') || msg.includes('Connection refused')) {
+                    detail = '❌ 连接被拒绝 (ECONNREFUSED)';
+                    steps = '  rosbridge 未在 P600 上运行或端口不是 9090\n  解决: roslaunch rosbridge_server rosbridge_websocket.launch';
+                } else if (msg.includes('ENETUNREACH') || msg.includes('Network is unreachable')) {
+                    detail = '❌ 网络不可达 (ENETUNREACH)';
+                    steps = '  电脑与 P600 不在同一网络\n  解决: 连接 P600 的 WiFi，或检查网络设置';
+                } else if (msg.includes('EHOSTUNREACH') || msg.includes('No route to host')) {
+                    detail = '❌ 主机不可达 (EHOSTUNREACH)';
+                    steps = `  IP 地址 ${parsed.hostname} 可能不正确\n  解决: 在 P600 上执行 hostname -I 获取正确 IP`;
+                } else if (msg.includes('ETIMEDOUT') || msg.includes('timed out')) {
+                    detail = '❌ 连接超时 (ETIMEDOUT)';
+                    steps = `  能 ping 通 ${parsed.hostname} 吗？\n  解决: CMD 中执行 ping ${parsed.hostname}\n  如果不通: 检查网络连接\n  如果通: 检查 P600 上 rosbridge 是否卡住，尝试重启`;
+                } else if (msg.includes('SecurityError') || msg.includes('security')) {
+                    detail = '❌ 安全错误 (SecurityError)';
+                    steps = '  浏览器安全策略阻止了连接\n  解决: 使用 HTTP 页面而非 HTTPS，或使用 localhost';
+                } else {
+                    detail = `❌ 连接失败: ${msg || '未知错误'}`;
+                    steps = '  查看浏览器控制台 (F12 > Console) 获取详细错误\n  或在 CMD 中测试: curl -v http://' + parsed.hostname + ':5000/api/ping';
+                }
+                UIModule.onStatus({ type: 'error', message: `[Step 1/5] ${detail}` });
+                if (steps) {
+                    var parts = steps.split('\n');
+                    for (var si = 0; si < parts.length; si++) {
+                        UIModule.onStatus({ type: (detail.includes('❌') ? 'warning' : 'info'), message: parts[si] });
+                    }
+                }
             });
 
             ros.on('close', () => {
@@ -127,11 +206,12 @@ const WsModule = (() => {
                 droneConnected = false;
                 stopAll();
                 if (wasConnected) {
+                    UIModule.onStatus({ type: 'warning', message: '🔌 与 rosbridge 的连接已断开' });
                     UIModule.onDroneDisconnected();
                 }
             });
         } catch (e) {
-            UIModule.onStatus({ type: 'error', message: `连接失败: ${e.message || e}` });
+            UIModule.onStatus({ type: 'error', message: `❌ 连接异常: ${e.message || e}` });
         }
     }
 
@@ -168,10 +248,13 @@ const WsModule = (() => {
                 // Try without namespace
                 if (tryNS !== '') {
                     uavNS = '';
-                    UIModule.onStatus({ type: 'warning', message: `未收到 ${tryNS}/mavros/state，尝试无命名空间...` });
+                    UIModule.onStatus({ type: 'warning', message: `[Step 3/4] ⏱ 未收到 ${tryNS}/mavros/state (5s 超时)，尝试无命名空间...` });
                     trySubscribesWithFallback();
                 } else {
-                    UIModule.onStatus({ type: 'error', message: '未检测到 MAVROS 话题，请确认仿真/实机已启动' });
+                    UIModule.onStatus({ type: 'error', message: `[Step 3/4] ❌ 未检测到 MAVROS 话题` });
+                    UIModule.onStatus({ type: 'warning', message: `  请确认 P600 上 MAVROS 与 rosbridge 是否正常运行:` });
+                    UIModule.onStatus({ type: 'warning', message: `  roslaunch mavros px4.launch fcu_url:=/dev/ttyTHS1:921600 (或对应设备)` });
+                    UIModule.onStatus({ type: 'warning', message: `  roslaunch rosbridge_server rosbridge_websocket.launch` });
                 }
             }
         }, 5000);
@@ -190,9 +273,12 @@ const WsModule = (() => {
                 droneConnected = true;
                 if (modeValid) {
                     fcuReady = true;
-                    UIModule.onStatus({ type: 'success', message: `无人机已连接 (模式: ${msg.mode}, ${msg.armed ? '已解锁' : '未解锁'})` });
+                    UIModule.onStatus({ type: 'success', message: `[Step 4/4] ✅ 无人机已连接 (命名空间: ${uavNS || '无'})` });
+                    UIModule.onStatus({ type: 'success', message: `  模式: ${msg.mode}, ${msg.armed ? '已解锁' : '未解锁'}` });
                 } else {
-                    UIModule.onStatus({ type: 'warning', message: `MAVROS 已连接，但飞控未就绪 (mode=空)。等待 PX4 初始化...` });
+                    UIModule.onStatus({ type: 'success', message: `[Step 3/4] ✅ MAVROS 已连接，但飞控未就绪 (mode=空)` });
+                    UIModule.onStatus({ type: 'warning', message: `  ⏳ 等待 PX4 飞控初始化 (通常需要 10-30 秒)...` });
+                    UIModule.onStatus({ type: 'info', message: `  也可以在 P600 上手动检查: rostopic echo /mavros/state` });
                 }
                 setDefaultOrigin();
             }
@@ -200,7 +286,7 @@ const WsModule = (() => {
             // Detect when FCU becomes ready
             if (!fcuReady && modeValid) {
                 fcuReady = true;
-                UIModule.onStatus({ type: 'success', message: `飞控已就绪! 当前模式: ${msg.mode}, 状态: ${msg.armed ? '已解锁' : '未解锁'}` });
+                UIModule.onStatus({ type: 'success', message: `✅ 飞控已就绪! 当前模式: ${msg.mode}, 状态: ${msg.armed ? '已解锁' : '未解锁'}` });
             }
         });