diff --git a/src/qt/Mainwindow.py b/src/qt/Mainwindow.py
new file mode 100644
index 0000000..ae72b35
--- /dev/null
+++ b/src/qt/Mainwindow.py
@@ -0,0 +1,230 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'Mainwindow.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+import sys
+from PyQt5.QtWidgets import *
+from findpath_UI import *
+import qdarkstyle
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1260, 920)
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap("window_png/main-icon.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        MainWindow.setWindowIcon(icon)
+        MainWindow.setAnimated(True)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.frame = QtWidgets.QFrame(self.centralwidget)
+        self.frame.setGeometry(QtCore.QRect(840, 80, 391, 161))
+        self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame.setObjectName("frame")
+        self.label = QtWidgets.QLabel(self.frame)
+        self.label.setGeometry(QtCore.QRect(0, 0, 111, 21))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(14)
+        font.setBold(True)
+        font.setWeight(75)
+        self.label.setFont(font)
+        self.label.setStyleSheet("QLabel\n"
+"{\n"
+"    color:white\n"
+"}")
+        self.label.setObjectName("label")
+        self.label_2 = QtWidgets.QLabel(self.frame)
+        self.label_2.setGeometry(QtCore.QRect(20, 30, 341, 41))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.label_2.setFont(font)
+        self.label_2.setObjectName("label_2")
+        self.label_3 = QtWidgets.QLabel(self.frame)
+        self.label_3.setGeometry(QtCore.QRect(20, 100, 341, 41))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.label_3.setFont(font)
+        self.label_3.setObjectName("label_3")
+        self.frame_2 = QtWidgets.QFrame(self.centralwidget)
+        self.frame_2.setGeometry(QtCore.QRect(840, 250, 391, 421))
+        self.frame_2.setStyleSheet("QPushButton\n"
+"{\n"
+"    color:white\n"
+"}")
+        self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_2.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame_2.setObjectName("frame_2")
+        self.label_4 = QtWidgets.QLabel(self.frame_2)
+        self.label_4.setGeometry(QtCore.QRect(0, 0, 101, 31))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(14)
+        font.setBold(True)
+        font.setWeight(75)
+        self.label_4.setFont(font)
+        self.label_4.setStyleSheet("QLabel\n"
+"{\n"
+"    color:white\n"
+"}\n"
+"")
+        self.label_4.setObjectName("label_4")
+        self.pushButton_3 = QtWidgets.QPushButton(self.frame_2)
+        self.pushButton_3.setGeometry(QtCore.QRect(70, 30, 231, 91))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.pushButton_3.setFont(font)
+        icon1 = QtGui.QIcon()
+        icon1.addPixmap(QtGui.QPixmap("tello_png/qifei.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_3.setIcon(icon1)
+        self.pushButton_3.setIconSize(QtCore.QSize(150, 150))
+        self.pushButton_3.setObjectName("pushButton_3")
+        self.pushButton_6 = QtWidgets.QPushButton(self.frame_2)
+        self.pushButton_6.setGeometry(QtCore.QRect(60, 310, 231, 91))
+        font = QtGui.QFont()
+        font.setFamily("Arial")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setItalic(False)
+        font.setWeight(75)
+        self.pushButton_6.setFont(font)
+        icon2 = QtGui.QIcon()
+        icon2.addPixmap(QtGui.QPixmap("tello_png/jiangluo.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_6.setIcon(icon2)
+        self.pushButton_6.setIconSize(QtCore.QSize(150, 150))
+        self.pushButton_6.setObjectName("pushButton_6")
+        self.pushButton_4 = QtWidgets.QPushButton(self.frame_2)
+        self.pushButton_4.setGeometry(QtCore.QRect(220, 220, 71, 71))
+        self.pushButton_4.setText("")
+        icon3 = QtGui.QIcon()
+        icon3.addPixmap(QtGui.QPixmap("tello_png/right.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_4.setIcon(icon3)
+        self.pushButton_4.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton_4.setObjectName("pushButton_4")
+        self.pushButton_2 = QtWidgets.QPushButton(self.frame_2)
+        self.pushButton_2.setGeometry(QtCore.QRect(60, 220, 71, 71))
+        self.pushButton_2.setText("")
+        icon4 = QtGui.QIcon()
+        icon4.addPixmap(QtGui.QPixmap("tello_png/left.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_2.setIcon(icon4)
+        self.pushButton_2.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.pushButton_5 = QtWidgets.QPushButton(self.frame_2)
+        self.pushButton_5.setGeometry(QtCore.QRect(140, 220, 71, 71))
+        self.pushButton_5.setText("")
+        icon5 = QtGui.QIcon()
+        icon5.addPixmap(QtGui.QPixmap("tello_png/return.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_5.setIcon(icon5)
+        self.pushButton_5.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton_5.setObjectName("pushButton_5")
+        self.pushButton = QtWidgets.QPushButton(self.frame_2)
+        self.pushButton.setGeometry(QtCore.QRect(140, 140, 71, 71))
+        self.pushButton.setText("")
+        icon6 = QtGui.QIcon()
+        icon6.addPixmap(QtGui.QPixmap("tello_png/up.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton.setIcon(icon6)
+        self.pushButton.setIconSize(QtCore.QSize(70, 100))
+        self.pushButton.setObjectName("pushButton")
+        self.frame_3 = QtWidgets.QFrame(self.centralwidget)
+        self.frame_3.setGeometry(QtCore.QRect(840, 680, 391, 80))
+        self.frame_3.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_3.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame_3.setObjectName("frame_3")
+        self.pushButton_7 = QtWidgets.QPushButton(self.frame_3)
+        self.pushButton_7.setGeometry(QtCore.QRect(20, 10, 75, 61))
+        self.pushButton_7.setText("")
+        icon7 = QtGui.QIcon()
+        icon7.addPixmap(QtGui.QPixmap("window_png/连接.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_7.setIcon(icon7)
+        self.pushButton_7.setIconSize(QtCore.QSize(60, 60))
+        self.pushButton_7.setObjectName("pushButton_7")
+        self.label_5 = QtWidgets.QLabel(self.frame_3)
+        self.label_5.setGeometry(QtCore.QRect(120, 15, 231, 51))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(10)
+        font.setBold(True)
+        font.setWeight(75)
+        self.label_5.setFont(font)
+        self.label_5.setObjectName("label_5")
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(MainWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 1260, 23))
+        self.menubar.setObjectName("menubar")
+        self.menu = QtWidgets.QMenu(self.menubar)
+        self.menu.setObjectName("menu")
+        self.menu_2 = QtWidgets.QMenu(self.menubar)
+        self.menu_2.setObjectName("menu_2")
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.toolBar = QtWidgets.QToolBar(MainWindow)
+        self.toolBar.setMinimumSize(QtCore.QSize(0, 0))
+        self.toolBar.setIconSize(QtCore.QSize(50, 24))
+        self.toolBar.setObjectName("toolBar")
+        MainWindow.addToolBar(QtCore.Qt.TopToolBarArea, self.toolBar)
+        self.actionicon = QtWidgets.QAction(MainWindow)
+        icon8 = QtGui.QIcon()
+        icon8.addPixmap(QtGui.QPixmap("window_png/实时画面-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.actionicon.setIcon(icon8)
+        self.actionicon.setObjectName("actionicon")
+        self.actionicon_2 = QtWidgets.QAction(MainWindow)
+        icon9 = QtGui.QIcon()
+        icon9.addPixmap(QtGui.QPixmap("window_png/路径分析-1.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.actionicon_2.setIcon(icon9)
+        self.actionicon_2.setObjectName("actionicon_2")
+        self.menubar.addAction(self.menu.menuAction())
+        self.menubar.addAction(self.menu_2.menuAction())
+        self.toolBar.addAction(self.actionicon)
+        self.toolBar.addAction(self.actionicon_2)
+        self.actionicon_2.triggered.connect(lambda: self.path())
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+    def path(self):
+        self.MainWindow1 = QMainWindow()
+        ui = Ui_MainWindow1()
+        ui.setupUi(self.MainWindow1)
+        self.MainWindow1.show()
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "无人机路径生成系统"))
+        self.label.setText(_translate("MainWindow", "无人机状态"))
+        self.label_2.setText(_translate("MainWindow", "剩余电量："))
+        self.label_3.setText(_translate("MainWindow", "WIFI强度："))
+        self.label_4.setText(_translate("MainWindow", "控制面板"))
+        self.pushButton_3.setText(_translate("MainWindow", "起飞"))
+        self.pushButton_6.setText(_translate("MainWindow", "降落"))
+        self.label_5.setText(_translate("MainWindow", "连接状态："))
+        self.menu.setTitle(_translate("MainWindow", "实时画面"))
+        self.menu_2.setTitle(_translate("MainWindow", "路径分析"))
+        self.toolBar.setWindowTitle(_translate("MainWindow", "toolBar"))
+        self.actionicon.setText(_translate("MainWindow", "实时画面"))
+        self.actionicon_2.setText(_translate("MainWindow", "路径分析"))
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    MainWindow = QMainWindow()
+    ui = Ui_MainWindow()
+    ui.setupUi(MainWindow)
+    app.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
+    MainWindow.show()
+    sys.exit(app.exec_())
\ No newline at end of file
diff --git a/src/qt/findpath_UI.py b/src/qt/findpath_UI.py
new file mode 100644
index 0000000..8cb4358
--- /dev/null
+++ b/src/qt/findpath_UI.py
@@ -0,0 +1,155 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'findpath_UI.ui'
+#
+# Created by: PyQt5 UI code generator 5.15.4
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+from PyQt5.QtMultimediaWidgets import QVideoWidget
+from PyQt5.QtMultimedia import QMediaContent, QMediaPlayer
+from PyQt5.QtWidgets import QFileDialog
+
+class Ui_MainWindow1(object):
+    def setupUi(self, MainWindow):
+        MainWindow.setObjectName("MainWindow")
+        MainWindow.resize(1262, 867)
+        self.centralwidget = QtWidgets.QWidget(MainWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.frame = QtWidgets.QFrame(self.centralwidget)
+        self.frame.setGeometry(QtCore.QRect(370, 770, 421, 71))
+        self.frame.setStyleSheet("QPushButton{\n"
+"    border:none\n"
+"}")
+        self.frame.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame.setObjectName("frame")
+        self.horizontalLayout = QtWidgets.QHBoxLayout(self.frame)
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        self.pushButton = QtWidgets.QPushButton(self.frame)
+        self.pushButton.setMinimumSize(QtCore.QSize(50, 50))
+        self.pushButton.setMaximumSize(QtCore.QSize(50, 50))
+        self.pushButton.setText("")
+        icon = QtGui.QIcon()
+        icon.addPixmap(QtGui.QPixmap("window_png/快退.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton.setIcon(icon)
+        self.pushButton.setIconSize(QtCore.QSize(50, 50))
+        self.pushButton.setObjectName("pushButton")
+        self.horizontalLayout.addWidget(self.pushButton)
+        self.pushButton_2 = QtWidgets.QPushButton(self.frame)
+        self.pushButton_2.setMinimumSize(QtCore.QSize(50, 50))
+        self.pushButton_2.setMaximumSize(QtCore.QSize(50, 50))
+        self.pushButton_2.setText("")
+        icon1 = QtGui.QIcon()
+        icon1.addPixmap(QtGui.QPixmap("window_png/播放.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_2.setIcon(icon1)
+        self.pushButton_2.setIconSize(QtCore.QSize(50, 50))
+        self.pushButton_2.setObjectName("pushButton_2")
+        self.horizontalLayout.addWidget(self.pushButton_2)
+        self.pushButton_3 = QtWidgets.QPushButton(self.frame)
+        self.pushButton_3.setMinimumSize(QtCore.QSize(50, 50))
+        self.pushButton_3.setMaximumSize(QtCore.QSize(50, 50))
+        self.pushButton_3.setText("")
+        icon2 = QtGui.QIcon()
+        icon2.addPixmap(QtGui.QPixmap("window_png/快进.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.pushButton_3.setIcon(icon2)
+        self.pushButton_3.setIconSize(QtCore.QSize(50, 50))
+        self.pushButton_3.setObjectName("pushButton_3")
+        self.horizontalLayout.addWidget(self.pushButton_3)
+        self.widget = QVideoWidget(self.centralwidget)
+        self.widget.setGeometry(QtCore.QRect(10, 20, 1191, 691))
+        self.widget.setObjectName("widget")
+        self.frame_2 = QtWidgets.QFrame(self.centralwidget)
+        self.frame_2.setGeometry(QtCore.QRect(10, 710, 1201, 61))
+        self.frame_2.setFrameShape(QtWidgets.QFrame.StyledPanel)
+        self.frame_2.setFrameShadow(QtWidgets.QFrame.Raised)
+        self.frame_2.setObjectName("frame_2")
+        self.sld_duration = QtWidgets.QSlider(self.frame_2)
+        self.sld_duration.setGeometry(QtCore.QRect(20, 20, 1051, 22))
+        self.sld_duration.setOrientation(QtCore.Qt.Horizontal)
+        self.sld_duration.setObjectName("sld_duration")
+        self.lab_duration = QtWidgets.QLabel(self.frame_2)
+        self.lab_duration.setGeometry(QtCore.QRect(1100, 20, 81, 21))
+        font = QtGui.QFont()
+        font.setFamily("微软雅黑")
+        font.setPointSize(13)
+        font.setBold(False)
+        font.setWeight(50)
+        font.setStyleStrategy(QtGui.QFont.PreferAntialias)
+        self.lab_duration.setFont(font)
+        self.lab_duration.setStyleSheet("QLabel\n"
+"{\n"
+"    color:white\n"
+"}")
+        self.lab_duration.setObjectName("lab_duration")
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.statusbar = QtWidgets.QStatusBar(MainWindow)
+        self.statusbar.setObjectName("statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+        self.toolBar = QtWidgets.QToolBar(MainWindow)
+        self.toolBar.setIconSize(QtCore.QSize(40, 40))
+        self.toolBar.setObjectName("toolBar")
+        MainWindow.addToolBar(QtCore.Qt.LeftToolBarArea, self.toolBar)
+        self.actionl1 = QtWidgets.QAction(MainWindow)
+        icon3 = QtGui.QIcon()
+        icon3.addPixmap(QtGui.QPixmap("window_png/添加文件.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.actionl1.setIcon(icon3)
+        self.actionl1.setObjectName("actionl1")
+        self.actionl1_2 = QtWidgets.QAction(MainWindow)
+        icon4 = QtGui.QIcon()
+        icon4.addPixmap(QtGui.QPixmap("window_png/路径分析-2.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+        self.actionl1_2.setIcon(icon4)
+        self.actionl1_2.setObjectName("actionl1_2")
+        self.toolBar.addAction(self.actionl1)
+        self.toolBar.addAction(self.actionl1_2)
+
+        self.retranslateUi(MainWindow)
+        QtCore.QMetaObject.connectSlotsByName(MainWindow)
+
+        self.player = QMediaPlayer()
+        self.player.setVideoOutput(self.widget)
+        self.actionl1.triggered.connect(lambda: self.openfile())
+        self.displayTime()
+        self.pushButton_2.clicked.connect(lambda: self.playpause())
+
+    def openfile(self):
+        self.player.setMedia(QMediaContent(QFileDialog.getOpenFileUrl()[0]))
+        self.player.play()
+        self.player.pause()
+
+    def playpause(self):
+            if self.player.state() == 1:
+                self.player.pause()
+                icon9 = QtGui.QIcon()
+                icon9.addPixmap(QtGui.QPixmap("window_png/播放.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+                self.pushButton_2.setIcon(icon9)
+                self.pushButton_2.setIconSize(QtCore.QSize(50, 50))
+            else:
+                self.player.play()
+                icon9 = QtGui.QIcon()
+                icon9.addPixmap(QtGui.QPixmap("window_png/暂停.png"), QtGui.QIcon.Normal, QtGui.QIcon.Off)
+                self.pushButton_2.setIcon(icon9)
+                self.pushButton_2.setIconSize(QtCore.QSize(50, 50))
+    def getms(self):
+        a = self.player.duration()
+        self.sld_duration.setRange(0, a)
+        self.sld_duration.setEnabled(True)
+        return a
+    def displayTime(self):
+        ms = self.getms()
+        minutes = int(ms / 60000)
+        seconds = int((ms - minutes * 60000) / 1000)
+        self.lab_duration.setText('{}:{}'.format(minutes, seconds))
+
+
+    def retranslateUi(self, MainWindow):
+        _translate = QtCore.QCoreApplication.translate
+        MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow"))
+        self.lab_duration.setText(_translate("MainWindow", "----/----"))
+        self.toolBar.setWindowTitle(_translate("MainWindow", "toolBar"))
+        self.actionl1.setText(_translate("MainWindow", "添加文件"))
+        self.actionl1_2.setText(_translate("MainWindow", "开始分析"))
+
diff --git a/test.zip b/test.zip
new file mode 100644
index 0000000..adb848b
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