From 1be5691402e278d86bfd66a82ea1df8e706f1554 Mon Sep 17 00:00:00 2001
From: Diego Freitas <diego-xbm@hotmail.com>
Date: Thu, 26 Mar 2026 17:10:03 -0300
Subject: [PATCH] Ajuste no retorno a base em modo manual e controle da base

---
 AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs |  12 +-
 .../AgroBase/Forms/IHM/frmInicioOperacao.cs   |   2 +-
 .../Operacoes/frmParametrizacaoOperacao.cs    |   6 +-
 .../Forms/Operacoes/frmResultadosOperacao.cs  |   7 +-
 .../Forms/Simuladores/frmSimulacaoMapaGPS.cs  |   2 +-
 .../AgroBase/Forms/frmPrincipal.Designer.cs   |  26 +-
 AgroBase/AgroBase/Forms/frmPrincipal.cs       |   2 +-
 AgroBase/AgroBase/Models/Enums.cs             |   3 +-
 AgroBase/AgroBase/Models/GeneralJoystick.cs   |   4 +-
 .../Models/Operacoes/OperacaoModel.cs         | 320 ++++++++++++++++--
 .../Operacoes/OperacaoParametrosModel.cs      |   4 +-
 .../Models/TrajetoriaMapaOperacaoModel.cs     |  11 +-
 AgroBase/AgroBase/Models/Variaveis.cs         |   2 +-
 .../Operadores/HealthWorkerService.cs         |   4 +-
 AgroBase/AgroBase/Services/SerialService.cs   |   8 +-
 .../manager_worker/modulos/direcional.py      |   2 +-
 .../manager_worker/modulos/movimentacao.py    |   2 +-
 .../workers/shared/contexto_global_redis.py   |   2 +-
 .../Python/Scripts/workers/shared/enums.py    |   1 +
 .../Monitoramento/ControleManualViewModel.cs  |   7 +-
 .../-47.19313E-22.09470N600H.pos              |   0
 Mapas/SAO_MANOEL_PIVO/LineFeature.dbf         | Bin 0 -> 5329 bytes
 Mapas/SAO_MANOEL_PIVO/LineFeature.shp         | Bin 0 -> 19940 bytes
 Mapas/SAO_MANOEL_PIVO/LineFeature.shx         | Bin 0 -> 228 bytes
 24 files changed, 354 insertions(+), 73 deletions(-)
 create mode 100644 Mapas/SAO_MANOEL_PIVO/-47.19313E-22.09470N600H.pos
 create mode 100644 Mapas/SAO_MANOEL_PIVO/LineFeature.dbf
 create mode 100644 Mapas/SAO_MANOEL_PIVO/LineFeature.shp
 create mode 100644 Mapas/SAO_MANOEL_PIVO/LineFeature.shx

diff --git a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs
index 1fd5c914f..ec69d5306 100644
--- a/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs
+++ b/AgroBase/AgroBase/Forms/IHM/frmDialogoMapa.cs
@@ -76,7 +76,7 @@ namespace AgroBase.Forms.IHM
                     if (res == DialogResult.Yes)
                     {
                         Task.Run(async () => await Variaveis.OperacaoEmAndamento.FinalizarOperacao());
-                        if (Variaveis.OperacaoEmAndamento.Modo == Enums.ModoOperacao.Manual)
+                        if (Variaveis.OperacaoEmAndamento.Parametros?.Modo == Enums.ModoOperacao.Manual)
                         {
                             this.Close();
                         }
@@ -168,7 +168,7 @@ namespace AgroBase.Forms.IHM
 
             lblMapaCarregado.Text = "Operação: " + Variaveis.OperacaoEmAndamento.Descricao;
 
-            txtModoOperacao.Text = Variaveis.OperacaoEmAndamento.Modo.ToString();
+            txtModoOperacao.Text = (Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido).ToString();
             bool opLiberada = _Sensoriamento.OperacaoLiberada;
             txtOperacaoLiberada.Text = opLiberada ? "Sim" : "Não";
             txtOperacaoLiberada.ForeColor = opLiberada ? Color.Black : Color.Red;
@@ -197,7 +197,7 @@ namespace AgroBase.Forms.IHM
             lblCorrecaoGPS.Text = (_Sensoriamento.Gps.Ntrip_ativado ? "N " : "B ") + _Sensoriamento.Gps.IdadeCorrecao + ": " + _Sensoriamento.Gps.QualidadeFix.ToString();
             lblPrecisaoGPS.Text = $"Precisão: {_Sensoriamento.Gps.PrecisaoCm.ToString("0.00")} cm";
 
-            bool automatico = Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.Manual;
+            bool automatico = Variaveis.OperacaoEmAndamento.Parametros?.ControleAutomatico ?? false;
             cmbModoControle.Enabled = !automatico;
             tkbVelocidade.Enabled = !automatico;
             tkbAnguloDirecional.Enabled = !automatico;
@@ -527,7 +527,7 @@ namespace AgroBase.Forms.IHM
         // Iniciar o arraste
         private void BrakePanel_MouseDown(object sender, MouseEventArgs e)
         {
-            if (Variaveis.OperacaoEmAndamento.Modo != Enums.ModoOperacao.Manual)
+            if (Variaveis.OperacaoEmAndamento.Parametros?.Modo != Enums.ModoOperacao.Manual)
             {
                 return;
             }
@@ -541,7 +541,7 @@ namespace AgroBase.Forms.IHM
         // Movimentar o botão de freio
         private void BrakePanel_MouseMove(object sender, MouseEventArgs e)
         {
-            if (Variaveis.OperacaoEmAndamento.Modo != Enums.ModoOperacao.Manual)
+            if (Variaveis.OperacaoEmAndamento.Parametros?.Modo != Enums.ModoOperacao.Manual)
             {
                 return;
             }
@@ -583,7 +583,7 @@ namespace AgroBase.Forms.IHM
         // Soltar o botão de freio
         private void BrakePanel_MouseUp(object sender, MouseEventArgs e)
         {
-            if (Variaveis.OperacaoEmAndamento.Modo != Enums.ModoOperacao.Manual)
+            if (Variaveis.OperacaoEmAndamento.Parametros?.Modo != Enums.ModoOperacao.Manual)
             {
                 return;
             }
diff --git a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs
index f1c201a15..f0ac375c5 100644
--- a/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs
+++ b/AgroBase/AgroBase/Forms/IHM/frmInicioOperacao.cs
@@ -230,7 +230,7 @@ namespace AgroBase.Forms.Operacoes
                     chb.Checked = Variaveis.OperacaoEmAndamento.Parametros.ModulosMandatorios.Any(x => x.Dispositivo == Dispositivo && x.Mandatorio);
                 }
 
-                txtModoOperacao.Text = Variaveis.OperacaoEmAndamento.Modo.ToString();
+                txtModoOperacao.Text = (Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido).ToString();
                 txtDescricao.Text = Variaveis.OperacaoEmAndamento.Descricao;
                 txtCriadoEm.Text = new FileInfo(path).CreationTime.ToString("dd/MM/yyyy HH:mm");
                 txtRuasPercorrer.Text = (Variaveis.OperacaoEmAndamento.Trajetoria?.Corredores?.Count() ?? 0).ToString();
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs
index a00fb5592..887843214 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmParametrizacaoOperacao.cs
@@ -29,7 +29,7 @@ namespace AgroBase.Forms.Operacoes
 
             cmbOperacao.Items.Clear();
             cmbOperacao.Items.AddRange(Enum.GetNames(typeof(ModoOperacao)));
-            cmbOperacao.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Modo;
+            cmbOperacao.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Parametros?.Modo;
 
             var chbModulos = gpbModulos.Controls.OfType<CheckBox>().Where(x => x.Name.Contains("chbD_")).ToList();
             chbModulos.ForEach(chb =>
@@ -151,7 +151,7 @@ namespace AgroBase.Forms.Operacoes
             if (chbSalvar.Checked)
             {
                 //OperacaoModel.SalvarOperacaoPersonalizada(Variaveis.OperacaoEmAndamento);
-                MessageBox.Show("Operação " + Enum.GetName(typeof(ModoOperacao), Variaveis.OperacaoEmAndamento.Modo) + " salva com sucesso!", "Sucesso");
+                MessageBox.Show($"Operação {Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido} salva com sucesso!", "Sucesso");
             }
         }
 
@@ -164,7 +164,7 @@ namespace AgroBase.Forms.Operacoes
             {
                 string operacaoPath = ofd.FileName;
                 //Variaveis.OperacaoEmAndamento = OperacaoModel.CarregarOperacaoPersonalizada(operacaoPath);
-                MessageBox.Show("Operação " + Enum.GetName(typeof(ModoOperacao), Variaveis.OperacaoEmAndamento.Modo) + " carregada com sucesso!", "Sucesso");
+                MessageBox.Show($"Operação {Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido} carregada com sucesso!", "Sucesso");
 
                 CarregarParametros();
             }
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
index 84a07071f..466633514 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmResultadosOperacao.cs
@@ -30,7 +30,7 @@ namespace AgroBase.Forms.Operacoes
         List<PictureBox> picsCamSoloSeg = new List<PictureBox>();
         List<PictureBox> picsCamSoloOverlay = new List<PictureBox>();
         List<CameraWorkerItemModel> LogsCam_Caminho = new List<CameraWorkerItemModel>();
-        OperacaoModel operacaoSelecionada = new OperacaoModel(Enums.ModoOperacao.NaoDefinido);
+        OperacaoModel operacaoSelecionada = new OperacaoModel();
         private readonly TopDownBboxView view_top_down = new TopDownBboxView();
         private readonly FrontalBboxView view_frontal = new FrontalBboxView();
         private readonly Bbox3DViewer view_3d = new Bbox3DViewer();
@@ -1168,8 +1168,9 @@ namespace AgroBase.Forms.Operacoes
             lblPercentualOperacao.Text = $"Operação {Log.Trajetoria.ProgressoTrajeto.ToString("0.00")}%";
             FuncoesGlobais.PreencheValorProgressBar(pgbPercentualOperacao, Log.Trajetoria.ProgressoTrajeto);
 
-            double distanciaAtual = Log.Modo == Enums.ModoOperacao.MapaGPS ? Log.Trajetoria.DistanciaPercorrida : Log.Movimentacao.DistanciaPercorridaTotal;
-            double distanciaTotal = Log.Modo == Enums.ModoOperacao.MapaGPS ? LogsOperacao[LogsOperacao.Count - 1].Trajetoria.DistanciaTotal : LogsOperacao[LogsOperacao.Count - 1].Movimentacao.DistanciaPercorridaTotal;
+            bool comTrajetoria = new List<Enums.ModoOperacao>() { Enums.ModoOperacao.MapaGPS, Enums.ModoOperacao.RetornoBase }.Contains(Log.Modo);
+            double distanciaAtual = comTrajetoria ? Log.Trajetoria.DistanciaPercorrida : Log.Movimentacao.DistanciaPercorridaTotal;
+            double distanciaTotal = comTrajetoria ? LogsOperacao[LogsOperacao.Count - 1].Trajetoria.DistanciaTotal : LogsOperacao[LogsOperacao.Count - 1].Movimentacao.DistanciaPercorridaTotal;
             txtDistanciaPercorrida.Text = distanciaAtual.ToString("0.00") + " m / " + distanciaTotal.ToString("0.00") + " m";
 
             double percentualRua = Log.Trajetoria.CorredorAtual.Progresso;
diff --git a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs
index 0db2ed74f..11e098f78 100644
--- a/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs
+++ b/AgroBase/AgroBase/Forms/Simuladores/frmSimulacaoMapaGPS.cs
@@ -1,6 +1,5 @@
 using AgroBase.Models;
 using AgroBase.Services;
-using AgroBase.Services.Operadores;
 using Newtonsoft.Json;
 using Newtonsoft.Json.Linq;
 using System;
@@ -551,6 +550,7 @@ namespace AgroBase.Forms
 
         private void btnRetornarBase_Click(object sender, EventArgs e)
         {
+            //OperacaoModel.CarregarParametrosOperacaoPadrao(ModoOperacao.RetornoBase, true);
             Variaveis.OperacaoEmAndamento.Trajetoria.IniciarRetornoBase(VariaveisOperacao.PosicaoBase);
             Variaveis.OperacaoEmAndamento.Simulando = true;
         }
diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs
index 84b52d11b..e8294831f 100644
--- a/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs
+++ b/AgroBase/AgroBase/Forms/frmPrincipal.Designer.cs
@@ -66,6 +66,7 @@ namespace AgroBase
             this.gpbControleDirecional = new System.Windows.Forms.GroupBox();
             this.gpbAtalhos = new System.Windows.Forms.GroupBox();
             this.pnlAtalhos = new System.Windows.Forms.Panel();
+            this.btnSimuladorMapeamentoVisual = new System.Windows.Forms.Button();
             this.btnVisualWorker = new System.Windows.Forms.Button();
             this.btnTreinamentoIA = new System.Windows.Forms.Button();
             this.btnOID = new System.Windows.Forms.Button();
@@ -93,7 +94,6 @@ namespace AgroBase
             this.btnForcarAtualizacao = new System.Windows.Forms.Button();
             this.clbRotinas = new System.Windows.Forms.CheckedListBox();
             this.btnAtualizarRotinas = new System.Windows.Forms.Button();
-            this.btnSimuladorMapeamentoVisual = new System.Windows.Forms.Button();
             this.gpbAcoes.SuspendLayout();
             this.erroStrip.SuspendLayout();
             this.pnlLateral.SuspendLayout();
@@ -517,6 +517,17 @@ namespace AgroBase
             this.pnlAtalhos.Size = new System.Drawing.Size(112, 286);
             this.pnlAtalhos.TabIndex = 0;
             // 
+            // btnSimuladorMapeamentoVisual
+            // 
+            this.btnSimuladorMapeamentoVisual.Location = new System.Drawing.Point(5, 487);
+            this.btnSimuladorMapeamentoVisual.Margin = new System.Windows.Forms.Padding(2);
+            this.btnSimuladorMapeamentoVisual.Name = "btnSimuladorMapeamentoVisual";
+            this.btnSimuladorMapeamentoVisual.Size = new System.Drawing.Size(84, 20);
+            this.btnSimuladorMapeamentoVisual.TabIndex = 34;
+            this.btnSimuladorMapeamentoVisual.Text = "Mapeamento";
+            this.btnSimuladorMapeamentoVisual.UseVisualStyleBackColor = true;
+            this.btnSimuladorMapeamentoVisual.Click += new System.EventHandler(this.btnSimuladorMapeamentoVisual_Click);
+            // 
             // btnVisualWorker
             // 
             this.btnVisualWorker.Location = new System.Drawing.Point(5, 463);
@@ -818,17 +829,6 @@ namespace AgroBase
             this.btnAtualizarRotinas.UseVisualStyleBackColor = true;
             this.btnAtualizarRotinas.Click += new System.EventHandler(this.btnAtualizarRotinas_Click);
             // 
-            // btnSimuladorMapeamentoVisual
-            // 
-            this.btnSimuladorMapeamentoVisual.Location = new System.Drawing.Point(5, 487);
-            this.btnSimuladorMapeamentoVisual.Margin = new System.Windows.Forms.Padding(2);
-            this.btnSimuladorMapeamentoVisual.Name = "btnSimuladorMapeamentoVisual";
-            this.btnSimuladorMapeamentoVisual.Size = new System.Drawing.Size(84, 20);
-            this.btnSimuladorMapeamentoVisual.TabIndex = 34;
-            this.btnSimuladorMapeamentoVisual.Text = "Mapeamento";
-            this.btnSimuladorMapeamentoVisual.UseVisualStyleBackColor = true;
-            this.btnSimuladorMapeamentoVisual.Click += new System.EventHandler(this.btnSimuladorMapeamentoVisual_Click);
-            // 
             // frmPrincipal
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -910,7 +910,6 @@ namespace AgroBase
         private System.Windows.Forms.GroupBox gpbAtalhos;
         private System.Windows.Forms.GroupBox gpbOperacao;
         private System.Windows.Forms.Label lblModoOperacao;
-        private System.Windows.Forms.ComboBox cmbModoOperacao;
         private System.Windows.Forms.Button btnIniciarOperacao;
         private System.Windows.Forms.Label lblKmh;
         public System.Windows.Forms.TrackBar trkKmh;
@@ -945,6 +944,7 @@ namespace AgroBase
         private System.Windows.Forms.Button btnTreinamentoIA;
         private System.Windows.Forms.Button btnVisualWorker;
         private System.Windows.Forms.Button btnSimuladorMapeamentoVisual;
+        public System.Windows.Forms.ComboBox cmbModoOperacao;
     }
 }
 
diff --git a/AgroBase/AgroBase/Forms/frmPrincipal.cs b/AgroBase/AgroBase/Forms/frmPrincipal.cs
index 7a8573f9c..58e4ec878 100644
--- a/AgroBase/AgroBase/Forms/frmPrincipal.cs
+++ b/AgroBase/AgroBase/Forms/frmPrincipal.cs
@@ -34,7 +34,7 @@ namespace AgroBase
 
             cmbModoOperacao.Items.Clear();
             cmbModoOperacao.Items.AddRange(Enum.GetNames(typeof(ModoOperacao)));
-            cmbModoOperacao.SelectedIndex = (int)Variaveis.OperacaoEmAndamento.Modo;
+            cmbModoOperacao.SelectedIndex = (int)(Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido);
         }
 
         private async void frmPrincipal_FormClosing(object sender, FormClosingEventArgs e)
diff --git a/AgroBase/AgroBase/Models/Enums.cs b/AgroBase/AgroBase/Models/Enums.cs
index 7f4e33404..33abf90c6 100644
--- a/AgroBase/AgroBase/Models/Enums.cs
+++ b/AgroBase/AgroBase/Models/Enums.cs
@@ -176,7 +176,8 @@
             Manual = 1, 
             MapaGPS = 2,
             TreinamentoIA = 3,
-            MapeamentoVisual = 4
+            MapeamentoVisual = 4,
+            RetornoBase = 5
         }
 
         public enum StatusOperacao
diff --git a/AgroBase/AgroBase/Models/GeneralJoystick.cs b/AgroBase/AgroBase/Models/GeneralJoystick.cs
index c08d29dc2..e1aeafde0 100644
--- a/AgroBase/AgroBase/Models/GeneralJoystick.cs
+++ b/AgroBase/AgroBase/Models/GeneralJoystick.cs
@@ -595,7 +595,7 @@ namespace AgroBase
             bool deveInterromper =
                 !Forms.IHM.frmDiagnosticos.Diagnosticando && !ForcarComando &&
                 (
-                    Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual && (
+                    Variaveis.OperacaoEmAndamento.Parametros?.Modo == ModoOperacao.Manual && (
                         Variaveis.OperacaoEmAndamento.Calibrando ||
                         !Variaveis.OperacaoEmAndamento.OperacaoLiberada ||
                         !Variaveis.OperacaoEmAndamento.Iniciado ||
@@ -949,6 +949,8 @@ namespace AgroBase
             var pControle = Variaveis.OperacaoEmAndamento.Parametros.Controle;
             var controle = Variaveis.OperacaoEmAndamento.Controle;
 
+            if (pControle == null || controle == null) return;
+
             double velMin = pControle.MovVelocidadeCErvasPercent;
             double velMax = pControle.MovVelocidadeSErvasPercent;
 
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 8378c3f1c..143ee8981 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -18,16 +18,15 @@ using AgroBase.Models.Operadores;
 using AgroBase.Services.Operadores;
 using AgroMonitor;
 using Newtonsoft.Json.Linq;
+using System.Globalization;
 
 namespace AgroBase.Models
 {
     public class OperacaoModel
     {
 
-        public OperacaoModel(ModoOperacao Modo) 
+        public OperacaoModel() 
         {
-            this.Modo = Modo;
-
             if (Variaveis.OperacaoEmAndamento != null)
             {
                 tmrLogs?.Dispose();
@@ -45,7 +44,6 @@ namespace AgroBase.Models
 
         
 
-        public ModoOperacao Modo { get; set; }
         public StatusModulo Status { get; set; }
         public string Descricao { get; set; }
         public string OprPath { get; set; }
@@ -222,7 +220,6 @@ namespace AgroBase.Models
 
             OperacaoParametrosModel Parametros = new OperacaoParametrosModel()
             {
-                Modo = Variaveis.OperacaoEmAndamento.Modo,
                 Descricao = descricao,
                 CapacidadeReservatorio = capacidadeReservatorio,
                 Controle = new OperacaoParametrosControleModel()
@@ -356,7 +353,7 @@ namespace AgroBase.Models
                 var AtuConectado = (DispositivosService<AtuadorModel>)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == T_Code.Atu);
                 var MvdConectado = (DispositivosService<MovimentacaoUnificadaModel>)Variaveis.DispositivosConectados.FirstOrDefault(x => x.Dispositivo == T_Code.Mvd);
                 tmrLogs?.Stop();
-                Variaveis.OperacaoEmAndamento = new OperacaoModel(Modo)
+                Variaveis.OperacaoEmAndamento = new OperacaoModel()
                 {
                     Iniciado = false,
                     DataInicio = DateTime.MinValue,
@@ -374,6 +371,9 @@ namespace AgroBase.Models
 
             switch (Modo)
             {
+                case ModoOperacao.NaoDefinido:
+                    p.ModulosMandatorios = new List<OperacaoModulosMandatoriosModel>();
+                    break;
                 case ModoOperacao.Manual:
                     p.Controle = new OperacaoParametrosControleModel()
                     {
@@ -853,6 +853,122 @@ namespace AgroBase.Models
                         };
                     }
                     break;
+                case ModoOperacao.RetornoBase:
+                    p.Controle = new OperacaoParametrosControleModel()
+                    {
+                        RegistrarDadosPosProcessamento = false,
+
+                        MovimentoAutomatico = true,
+                        DirecionalAutomatico = true,
+                        PulverizadorAutomatico = false,
+
+                        SonarAtivado = false,
+                        FrenagemAutomaticaAoParar = true,
+                        ImuParadaPorInclinacao = true,
+                        OakParadaPorObstaculo = true,
+                        MpcMatrizCusto = false,
+                        MpcHorizonte = 4.0,
+
+                        MovVelocidadeSErvasPercent = 60,
+                        MovVelocidadeCErvasPercent = 20,
+                        DirAnguloMaximo = 30,
+                        DirVelocidadeMovimento = 50,
+
+                        DirTipoMovimento = TiposControladorDirecional.MPC,
+
+                        AtuAlturaAreaPulverizacao = 10,
+                        AtuDuracaoAtuacao = 200,
+                        AtuPercentualErvasBicoOff = 2,
+                        AtuPercentualErvasBicoOn = 1,
+                        AtuPercentualInicioPulverizacao = 70,
+                        AtuPressaoLinha = 85,
+                    };
+                    p.ModulosMandatorios = new List<OperacaoModulosMandatoriosModel>()
+                    {
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Ipb,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Mov,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Dir,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Sen,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Atu,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Gps,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                        new OperacaoModulosMandatoriosModel()
+                        {
+                            Dispositivo = T_Code.Snr,
+                            Mandatorio = true,
+                            Utilizar = true,
+                        },
+                    };
+                    p.ParametrosMandatorios = new List<OperacaoParametrosMandatoriosModel>();
+                    if (isagrobase)
+                    {
+                        Variaveis.OperacaoEmAndamento.frmOperacao = new frmOperacaoMapaGPS();
+                        Variaveis.OperacaoEmAndamento.ControleAnterior = new OperacaoControleModel();
+                        Variaveis.OperacaoEmAndamento.Controle = new OperacaoControleModel()
+                        {
+                            TipoMovimento = TipoMovimentoDirecional.RodasDianteiras,
+                            Angulo = 0,
+                            EmFreio = false,
+                            PercentualVelocidadeSP = 0,
+                            AlturaBarra = 50,
+                            TiposControle = new List<OperacaoControleTipoModel>()
+                            {
+                                new OperacaoControleTipoModel()
+                                {
+                                    Tipo = T_Code.Mov,
+                                    DelayEnvioComandoBase = 500,
+                                    DelayEnvioComando = 500,
+                                    DelayEnvioComandoExtra = 0,
+                                    Comandos = new List<string>(),
+                                    UltimoComando = DateTime.Now,
+                                    DirecaoAtual = Direcao.Parado,
+                                    UltimaDirecao = Direcao.Parado
+                                },
+                                new OperacaoControleTipoModel()
+                                {
+                                    Tipo = T_Code.Dir,
+                                    DelayEnvioComandoBase = 300,
+                                    DelayEnvioComando = 300,
+                                    DelayEnvioComandoExtra = 0,
+                                    Comandos = new List<string>(),
+                                    UltimoComando = DateTime.Now,
+                                    DirecaoAtual = Direcao.Parado,
+                                    UltimaDirecao = Direcao.Parado
+                                },
+                            },
+                        };
+                    }
+                    break;
+
             }
 
             p.ModulosMandatorios.Add(new OperacaoModulosMandatoriosModel() { Dispositivo = T_Code.Npc, Mandatorio = true, Utilizar = true });
@@ -1044,7 +1160,7 @@ namespace AgroBase.Models
             DataFim = DateTime.MinValue;
             idxLog = 0;
 
-            ID = DataInicio.ToString("dd_MM_yyyy_HH_mm_ss") + "_" + Modo.ToString();
+            ID = DataInicio.ToString("dd_MM_yyyy_HH_mm_ss") + "_" + (Parametros?.Modo ?? ModoOperacao.NaoDefinido).ToString();
             Directory.CreateDirectory(Variaveis.CaminhoOperacoes + ID + "/");
 
             SalvarOperacao();
@@ -1262,17 +1378,55 @@ namespace AgroBase.Models
 
         public static string DeserializarDadosOperacao(string caminho, string arquivo)
         {
-            string opPath = caminho.Replace("data.lgop", arquivo) + ".json";
-            string opStr = "";
-            if (File.Exists(opPath))
-                opStr = File.ReadAllText(opPath);
-            else
-                opStr = "[";
-            if (opStr != "" && !opStr.EndsWith("]"))
+            string pastaBase = Path.GetDirectoryName(caminho) ?? "";
+
+            // compatibilidade com o modelo antigo:
+            // data.lgop -> {arquivo}.json
+            string caminhoJsonAntigo = Path.Combine(pastaBase, arquivo + ".json");
+            if (File.Exists(caminhoJsonAntigo))
             {
-                opStr += "]";
+                string opStr = File.ReadAllText(caminhoJsonAntigo);
+                if (!string.IsNullOrWhiteSpace(opStr) && !opStr.TrimEnd().EndsWith("]"))
+                    opStr += "]";
+
+                return string.IsNullOrWhiteSpace(opStr) ? "[]" : opStr;
             }
-            return opStr;
+
+            // novo modelo:
+            // {arquivo}_{idx}_{datahora}.jsonl
+            string[] arquivosJsonl = Directory.Exists(pastaBase)
+                ? Directory.GetFiles(pastaBase, $"{arquivo}_*.jsonl")
+                    .OrderBy(f => f, StringComparer.OrdinalIgnoreCase)
+                    .ToArray()
+                : Array.Empty<string>();
+
+            if (arquivosJsonl.Length == 0)
+                return "[]";
+
+            var sb = new StringBuilder();
+            sb.Append("[");
+
+            bool primeiro = true;
+
+            foreach (string arq in arquivosJsonl)
+            {
+                foreach (string linha in File.ReadLines(arq))
+                {
+                    string json = linha?.Trim();
+
+                    if (string.IsNullOrWhiteSpace(json))
+                        continue;
+
+                    if (!primeiro)
+                        sb.Append(",");
+
+                    sb.Append(json);
+                    primeiro = false;
+                }
+            }
+
+            sb.Append("]");
+            return sb.ToString();
         }
 
         private void SalvarOperacao()
@@ -1463,12 +1617,12 @@ namespace AgroBase.Models
                 return;
             }
 
-            Variaveis.OperacaoEmAndamento.Sensoriamento.AtualizarDados();
+            Variaveis.OperacaoEmAndamento.Sensoriamento?.AtualizarDados();
             //Variaveis.LoraService?.EnviarDadosParaBase();
 
-            if (Variaveis.OperacaoEmAndamento.Modo == ModoOperacao.Manual)
+            if (Variaveis.OperacaoEmAndamento.Parametros?.Modo == ModoOperacao.Manual)
             {
-                var Sonar = Variaveis.OperacaoEmAndamento.Sensoriamento.OperadorVisual;
+                var Sonar = Variaveis.OperacaoEmAndamento.Sensoriamento?.OperadorVisual;
                 Sonar?.Resumo?.AtualizarStatusBloqueio(true);
                 if (Sonar?.Resumo?.EnviarComandoParada ?? false)
                 {
@@ -1781,7 +1935,7 @@ namespace AgroBase.Models
 
                     OperacaoSensoriamentoLogModel logGeral = Variaveis.OperacaoEmAndamento.Sensoriamento.Clone();
                     logGeral.Momento = Agora;
-                    SalvarLog("operacao", logGeral, Fim);
+                    SalvarLogLine("operacao", logGeral);
                     Variaveis.OperacaoEmAndamento.Sensoriamento.UltimoRegistroLog = DateTime.Now;
                     Variaveis.OperacaoEmAndamento.Controle.TiposControle.ForEach(x => x.Comandos.Clear());
 
@@ -1812,7 +1966,7 @@ namespace AgroBase.Models
                             Potencia = Modulo.MovMotor.Potencia,
                             CicloTrabalho = Modulo.MovMotor.CicloTrabalho
                         };
-                        SalvarLog(T_Code.Mov.ToString(), logMov, false);
+                        SalvarLogLine(T_Code.Mov.ToString(), logMov);
 
                         DirSensoriamentoLogModel logDir = new DirSensoriamentoLogModel()
                         {
@@ -1831,7 +1985,7 @@ namespace AgroBase.Models
                             AnguloFolgaCompensar = Modulo.DirMotor.AnguloFolgaCompensar,
                             AnguloReal = Modulo.DirMotor.AnguloReal
                         };
-                        SalvarLog(T_Code.Dir.ToString(), logDir, false);
+                        SalvarLogLine(T_Code.Dir.ToString(), logDir);
                     });
 
                     AtuSensoriamentoLogModel logAtu = new AtuSensoriamentoLogModel()
@@ -1866,7 +2020,7 @@ namespace AgroBase.Models
                         }).ToList(),
                         UltimoComandoRespondido = Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento,
                     };
-                    SalvarLog(T_Code.Atu.ToString(), logAtu, false);
+                    SalvarLogLine(T_Code.Atu.ToString(), logAtu);
 
                     var senLeitura = Variaveis.OperacaoEmAndamento.DispSen.Dados;
                     SensoriamentoMensagemJsonModel logSen = new SensoriamentoMensagemJsonModel()
@@ -1882,7 +2036,7 @@ namespace AgroBase.Models
                         Servos = new List<SensorServoModel>(senLeitura.Servos),
                         Sinaleiros = new List<SensorSinaleiroModel>(senLeitura.Sinaleiros),
                     };
-                    SalvarLog(T_Code.Sen.ToString(), logSen, false);
+                    SalvarLogLine(T_Code.Sen.ToString(), logSen);
 
                     SalvarLogCameraSolo();
                     SalvarLogCameraCaminho();
@@ -1955,7 +2109,7 @@ namespace AgroBase.Models
                 if (conectada)
                 {
                     var cam_data = JsonConvert.DeserializeObject<Dictionary<string, object>>(RedisService.Get(RedisService.CamKey(Camera.Id)));
-                    SalvarLog(camera_name, cam_data, false);
+                    SalvarLogLine(camera_name, cam_data);
                 }
             }
         }
@@ -1980,11 +2134,112 @@ namespace AgroBase.Models
             if (conectada)
             {
                 var cam_data = JsonConvert.DeserializeObject<Dictionary<string, object>>(RedisService.Get(RedisService.CamKey(Camera.Id)));
-                SalvarLog(Camera.Dispositivo.ToString(), cam_data, false);
+                SalvarLogLine(Camera.Dispositivo.ToString(), cam_data);
             }
         }
 
 
+
+
+        private static readonly object _lockLog = new object();
+
+        const long TAMANHO_MAX_LOG_BYTES = 50 * 1024 * 1024; // 50 MB
+
+        private void SalvarLogLine<T>(string arquivo, T objeto)
+        {
+            try
+            {
+                var pasta = Path.Combine(
+                    Variaveis.CaminhoOperacoes,
+                    Variaveis.OperacaoEmAndamento.ID
+                );
+
+                if (!Directory.Exists(pasta))
+                    Directory.CreateDirectory(pasta);
+
+                string json = JsonConvert.SerializeObject(objeto, Formatting.None);
+
+                lock (_lockLog)
+                {
+                    string caminhoAtual = ObterOuCriarArquivoLogAtual(pasta, arquivo, json);
+
+                    File.AppendAllText(caminhoAtual, json + Environment.NewLine);
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Erro ao salvar log '{arquivo}': {ex.Message}");
+            }
+        }
+
+        private string ObterOuCriarArquivoLogAtual(string pasta, string arquivoBase, string proximoJson)
+        {
+            var arquivosExistentes = Directory
+                .GetFiles(pasta, $"{arquivoBase}_*.jsonl")
+                .OrderBy(x => x, StringComparer.OrdinalIgnoreCase)
+                .ToList();
+
+            string ultimoArquivo = arquivosExistentes.LastOrDefault();
+
+            if (string.IsNullOrWhiteSpace(ultimoArquivo))
+                return CriarNovoArquivoLog(pasta, arquivoBase, 1);
+
+            var info = new FileInfo(ultimoArquivo);
+
+            long tamanhoAposAppend =
+                info.Exists
+                    ? info.Length + System.Text.Encoding.UTF8.GetByteCount(proximoJson + Environment.NewLine)
+                    : System.Text.Encoding.UTF8.GetByteCount(proximoJson + Environment.NewLine);
+
+            if (tamanhoAposAppend > TAMANHO_MAX_LOG_BYTES)
+            {
+                int proximoIdx = ExtrairIndiceArquivo(ultimoArquivo, arquivoBase) + 1;
+                return CriarNovoArquivoLog(pasta, arquivoBase, proximoIdx);
+            }
+
+            return ultimoArquivo;
+        }
+
+        private string CriarNovoArquivoLog(string pasta, string arquivoBase, int idx)
+        {
+            string horario = DateTime.Now.ToString("yyyyMMdd_HHmmss", CultureInfo.InvariantCulture);
+            string nomeArquivo = $"{arquivoBase}_{idx:0000}_{horario}.jsonl";
+            string caminho = Path.Combine(pasta, nomeArquivo);
+
+            // já cria vazio para “reservar” o nome
+            using (File.Create(caminho)) { }
+
+            return caminho;
+        }
+
+        private int ExtrairIndiceArquivo(string caminhoArquivo, string arquivoBase)
+        {
+            try
+            {
+                string nome = Path.GetFileNameWithoutExtension(caminhoArquivo);
+
+                // esperado: {arquivo}_{idx}_{horario}
+                string prefixo = arquivoBase + "_";
+                if (!nome.StartsWith(prefixo, StringComparison.OrdinalIgnoreCase))
+                    return 0;
+
+                string restante = nome.Substring(prefixo.Length);
+                string[] partes = restante.Split('_');
+
+                if (partes.Length < 2)
+                    return 0;
+
+                if (int.TryParse(partes[0], out int idx))
+                    return idx;
+
+                return 0;
+            }
+            catch
+            {
+                return 0;
+            }
+        }
+
         #endregion
 
         #region FORMULARIO
@@ -1994,8 +2249,8 @@ namespace AgroBase.Models
             if (Variaveis.OperacaoEmAndamento.OperacaoLiberada)
             {
                 frmOperacao =
-                    Modo == ModoOperacao.Manual ? new frmOperacaoManual() :
-                    Modo == ModoOperacao.MapaGPS ? new frmOperacaoMapaGPS() :
+                    Parametros?.Modo == ModoOperacao.Manual ? new frmOperacaoManual() :
+                    Parametros?.Modo == ModoOperacao.MapaGPS ? new frmOperacaoMapaGPS() :
                     new Form();
 
                 frmOperacao.Show();
@@ -2318,6 +2573,7 @@ namespace AgroBase.Models
     {
         public DateTime Momento { get; set; }
         public ModoOperacao Modo { get; set; }
+        public bool ControleAutomatico { get; set; }
         public StatusModulo Status { get; set; }
         public string ErroOperacaoLiberada { get; set; }
         public bool OperacaoLiberada { get; set; }
@@ -2400,7 +2656,7 @@ namespace AgroBase.Models
 
             double tmp_max = Math.Max(Variaveis.OperacaoEmAndamento.DadosPerformance?.GPU_temp ?? 0, Variaveis.OperacaoEmAndamento.DadosPerformance?.CPU_temp ?? 0);
             _DispMvd?.Dados?.AtualizarDadosFreio();
-            _DispSen?.Dados?.AtualizarStatusSinaleiros(Variaveis.OperacaoEmAndamento.Modo, Variaveis.OperacaoEmAndamento.StatusAtual);
+            _DispSen?.Dados?.AtualizarStatusSinaleiros(Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido, Variaveis.OperacaoEmAndamento.StatusAtual);
             _DispAtu?.Dados?.AtualizaTempoAtuadoGeral();
             _Cooler?.Atualizar(tmp_max, DateTime.Now);
             _Bateria?.AtualizarConsumo(_DispMvd?.Dados?.DistanciaPercorridaTotal ?? 0);
@@ -2614,7 +2870,8 @@ namespace AgroBase.Models
             OperacaoSensoriamentoLogModel dadosAtualizados = new OperacaoSensoriamentoLogModel()
             {
                 Momento = DateTime.Now,
-                Modo = Variaveis.OperacaoEmAndamento.Modo, 
+                Modo = Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido, 
+                ControleAutomatico = Variaveis.OperacaoEmAndamento.Parametros?.ControleAutomatico ?? false,
                 Status = Variaveis.OperacaoEmAndamento.Status,
                 OperacaoLiberada = Variaveis.OperacaoEmAndamento.OperacaoLiberada,
                 OperacaoIniciada = Variaveis.OperacaoEmAndamento.Iniciado,
@@ -2645,7 +2902,7 @@ namespace AgroBase.Models
                 ModulosSaude = HealthWorkerService.ModulosSaude.ToList(), 
                 DispositivosMapeados = new List<DispositivoDetalhesModel>(SerialService.DispositivosMapeados),
                 ModsCalibragem = new Dictionary<T_Code, Dictionary<string, bool>>(Variaveis.OperacaoEmAndamento.ModsCalibragem),
-                Logs = Logs != null ? Logs.Where(x => x.Momento >= UltimoRegistroLog).ToList() : new List<OperacaoSensoriamentoLogErrosModel>(),
+                Logs = Logs != null ? Logs.Where(x => x?.Momento >= UltimoRegistroLog).ToList() : new List<OperacaoSensoriamentoLogErrosModel>(),
                 CoolerControl = dadosCooler
             };
 
@@ -2664,6 +2921,7 @@ namespace AgroBase.Models
             return new OperacaoSensoriamentoLogModel()
             {
                 Modo = Modo, 
+                ControleAutomatico = ControleAutomatico, 
                 Status = Status,
                 Momento = Momento,
                 ErroOperacaoLiberada = ErroOperacaoLiberada,
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
index 645a76881..4074d0f66 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
@@ -68,6 +68,8 @@ namespace AgroBase.Models.Operacoes
             }
         }
 
+        public bool ControleAutomatico => new List<ModoOperacao>() { ModoOperacao.MapaGPS, ModoOperacao.RetornoBase }.Contains(Modo ?? ModoOperacao.NaoDefinido);
+
         private string _descricao;
         public string Descricao
         {
@@ -511,7 +513,7 @@ namespace AgroBase.Models.Operacoes
                  Iniciada = op.Iniciado,
                  Liberada = op.OperacaoLiberada,
                  Status = op.StatusAtual,
-                 Modo = op.Modo,
+                 Modo = op.Parametros?.Modo ?? ModoOperacao.NaoDefinido,
                  ImpedimentoErro = op.ErroOperacaoLiberada,
                  TempoAguardandoSegs = op.TempoAguardandoSegs,
                  TempoDecorridoSegs = op.TempoDecorridoSegs,
diff --git a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
index 21320b9cd..556fa20d0 100644
--- a/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/TrajetoriaMapaOperacaoModel.cs
@@ -979,7 +979,7 @@ namespace AgroBase.Models
 
         public void LoopAtualizaDados()
         {
-            if (Variaveis.OperacaoEmAndamento.Modo != ModoOperacao.MapaGPS)
+            if (!(Variaveis.OperacaoEmAndamento.Parametros?.ControleAutomatico ?? false))
                 return;
 
             AtualizarPropriedadesPontosTrajetoria();
@@ -1778,7 +1778,10 @@ namespace AgroBase.Models
             if (!valido || pontosRetorno == null || pontosRetorno.Count < 1)
                 Variaveis.OperacaoEmAndamento.Sensoriamento?.InserirLog(T_Code.Trj, StatusModulo.Falha, 0, "Trajetória de retorno inválida.");
             else
+            {
                 AplicarTrajetoriaFixaRetorno(pontosRetorno, "RetornoBase");
+                AtualizarDadosOperacaoParaRetorno();
+            }
         }
 
         private void AplicarTrajetoriaFixaRetorno(List<GPSModel> pontos, string motivo)
@@ -1827,13 +1830,19 @@ namespace AgroBase.Models
             _TrajetoriaFixa = traj;
 
             Variaveis.OperacaoEmAndamento.Sensoriamento?.InserirLog(T_Code.Trj, StatusModulo.Operante, 100, $"[RETORNO] Trajetória aplicada ({motivo}) - Pontos: {traj.Count}");
+        }
 
+        private void AtualizarDadosOperacaoParaRetorno()
+        {
             AutonomiaCorredor.Parar();
 
             AtualizarDadosTrajetoria();
 
             LoopAtualizaDados();
 
+            var _p = OperacaoModel.CarregarParametrosOperacaoPadrao(ModoOperacao.RetornoBase, false);
+            Variaveis.OperacaoEmAndamento.Parametros = _p;
+            
             if (!Variaveis.OperacaoEmAndamento.Iniciado)
             {
                 Variaveis.OperacaoEmAndamento.Iniciado = true;
diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs
index c0e95167e..147cfa68e 100644
--- a/AgroBase/AgroBase/Models/Variaveis.cs
+++ b/AgroBase/AgroBase/Models/Variaveis.cs
@@ -57,7 +57,7 @@ namespace AgroBase.Models
         public static string CaminhoParametros { get; } = "Parametros/";
         public static string CaminhoModelos { get; } = "C:\\AgroBaseModels\\";
         public static List<IDispositivosService> DispositivosConectados { get; set; } = new List<IDispositivosService>();
-        public static OperacaoModel OperacaoEmAndamento { get; set; } = new OperacaoModel(ModoOperacao.MapaGPS);
+        public static OperacaoModel OperacaoEmAndamento { get; set; } = new OperacaoModel();
         public static MqttService MqttServiceLocal { get; set; }
         public static MqttService MqttServiceBase { get; set; }
         public static LoRaEspService LoraService
diff --git a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
index d2951f42a..0a21dda73 100644
--- a/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
+++ b/AgroBase/AgroBase/Services/Operadores/HealthWorkerService.cs
@@ -261,7 +261,7 @@ namespace AgroBase.Services.Operadores
                 RedisService.AtualizarCampos(
                     CtxKey.DadosOperacao,
                     ("configurado", true),
-                    ("modo", Variaveis.OperacaoEmAndamento.Modo),
+                    ("modo", Variaveis.OperacaoEmAndamento.Parametros?.Modo ?? ModoOperacao.NaoDefinido),
                     ("tempo_aguardar_inicio_operacao", Variaveis.OperacaoEmAndamento.TempoIniciarOperacao),
                     ("modulos_mandatorios", _Parametros.ModulosMandatorios.Where(x => x.Mandatorio && x.Utilizar).Select(x => (int)x.Dispositivo).ToArray()),
                     ("modulos_opcionais", _Parametros.ModulosMandatorios.Where(x => !x.Mandatorio && x.Utilizar).Select(x => (int)x.Dispositivo).ToArray()),
@@ -319,7 +319,7 @@ namespace AgroBase.Services.Operadores
                     )
                 );
 
-                if (Variaveis.OperacaoEmAndamento.Modo == Enums.ModoOperacao.MapaGPS && (Variaveis.OperacaoEmAndamento.Trajetoria?._TrajetoriaFixa?.Any() ?? false))
+                if ((Variaveis.OperacaoEmAndamento.Parametros?.ControleAutomatico ?? false) && (Variaveis.OperacaoEmAndamento.Trajetoria?._TrajetoriaFixa?.Any() ?? false))
                 {
                     var comando = new
                     {
diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs
index 70b94f47d..b211799fb 100644
--- a/AgroBase/AgroBase/Services/SerialService.cs
+++ b/AgroBase/AgroBase/Services/SerialService.cs
@@ -379,7 +379,13 @@ namespace AgroBase.Services
             });
             if (PrimeiraExecucao)
             {
-                OperacaoModel.CarregarParametrosOperacaoPadrao(ModoOperacao.MapaGPS, true);
+                //OperacaoModel.CarregarParametrosOperacaoPadrao(ModoOperacao.MapaGPS, true);
+                Func<bool> func = new Func<bool>(() =>
+                {
+                    frmInstancial.frmPrincipal.cmbModoOperacao.SelectedIndex = (int)ModoOperacao.MapaGPS;
+                    return true;
+                });
+                FuncoesGlobais.ExecutarMetodoComVerificacaoCrossThread(frmInstancial.frmPrincipal.cmbModoOperacao, func);
             }
 
             //DispositivosMapeados.ForEach(d => d.AtualizarDados());
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py
index ace6da613..49c449415 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/direcional.py
@@ -105,7 +105,7 @@ def definir_comando(pid: PIDAdaptativo, envio_necessario: bool):
 
         if _tipo_controle == TiposControladorDirecional.MPC:
             op_modo = ModoOperacao(_operacao.get("modo", ModoOperacao.NaoDefinido.value))
-            if op_modo == ModoOperacao.MapaGPS:
+            if op_modo in [ModoOperacao.MapaGPS, ModoOperacao.RetornoBase]:
                 return _comando_mapa_gps_mpc(contexto)
             elif op_modo == ModoOperacao.MapeamentoVisual:
                 return _comando_mapeamento_visual(contexto)
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py
index 7fadcc896..299e12046 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/manager_worker/modulos/movimentacao.py
@@ -36,7 +36,7 @@ def definir_comando(filtro_vel: FiltroVelocidade, erro_orientacao: float = None)
         reduzir_para_pulverizar = False
         pontos_fim_corredor = -1
 
-        if op_modo == ModoOperacao.MapaGPS:
+        if op_modo in [ModoOperacao.MapaGPS, ModoOperacao.RetornoBase]:
             _trajetoria = _contexto.get("Trajetoria", {})
             status_carro = StatusCarroMapa(_trajetoria.get("status", StatusCarroMapa.Parado.value))
             if erro_orientacao is None: erro_orientacao = _trajetoria.get("erro_angular", 0)
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py
index a55b4d99d..cb03cc862 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/contexto_global_redis.py
@@ -478,7 +478,7 @@ class ContextoGlobalRedis:
                 return
 
             # 🔸 Modo MAPA GPS ou IA
-            if modo in [ModoOperacao.MapaGPS, ModoOperacao.TreinamentoIA, ModoOperacao.MapeamentoVisual]:
+            if modo in [ModoOperacao.MapaGPS, ModoOperacao.TreinamentoIA, ModoOperacao.MapeamentoVisual, ModoOperacao.RetornoBase]:
                 # Iniciando operacao
                 if (iniciado and not status_iniciado_anterior):
                     cls._iniciar_operacao()
diff --git a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/enums.py b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/enums.py
index 4ad3ae4f8..2c2ed34e1 100644
--- a/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/enums.py
+++ b/AgroBase/AgroBase/bin/x64/Debug/Python/Scripts/workers/shared/enums.py
@@ -39,6 +39,7 @@ class ModoOperacao(IntEnum):
     MapaGPS = 2
     TreinamentoIA = 3
     MapeamentoVisual = 4
+    RetornoBase = 5
 
 class StatusOperacao(IntEnum):
     NaoIniciado = 0
diff --git a/AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/ControleManualViewModel.cs b/AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/ControleManualViewModel.cs
index 55ace7825..ef4cfbc82 100644
--- a/AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/ControleManualViewModel.cs
+++ b/AgroBase/OperationControl/ViewModels/Views/Operacao/Monitoramento/ControleManualViewModel.cs
@@ -39,10 +39,11 @@ namespace OperationControl.ViewModels.Views.Operacao.Monitoramento
                     OnPropertyChanged(nameof(TextoAjuda));
                     OnPropertyChanged(nameof(StatusBrush));
 
-                    if (VariaveisControleOperacao.RoverEmFoco != null)
+                    var r = VariaveisControleOperacao.RoverEmFoco;
+                    if (r != null)
                     {
-                        VariaveisControleOperacao.RoverEmFoco.Controle.MovimentoAutomatico = !value;
-                        VariaveisControleOperacao.RoverEmFoco.Controle.DirecionalAutomatico = !value;
+                        r.Controle.MovimentoAutomatico = value ? false : r.ControleAutomatico;
+                        r.Controle.DirecionalAutomatico = value ? false : r.ControleAutomatico;
                         VariaveisControleOperacao.EnviarParametrosOperacao(new AgroBase.Models.Operacoes.OperacaoParametrosModel()
                         {
                             Controle = VariaveisControleOperacao.RoverEmFoco?.Controle
diff --git a/Mapas/SAO_MANOEL_PIVO/-47.19313E-22.09470N600H.pos b/Mapas/SAO_MANOEL_PIVO/-47.19313E-22.09470N600H.pos
new file mode 100644
index 000000000..e69de29bb
diff --git a/Mapas/SAO_MANOEL_PIVO/LineFeature.dbf b/Mapas/SAO_MANOEL_PIVO/LineFeature.dbf
new file mode 100644
index 0000000000000000000000000000000000000000..0be64ed50bde8fdc41f490dbdf4569c74da0ae50
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/Mapas/SAO_MANOEL_PIVO/LineFeature.shp b/Mapas/SAO_MANOEL_PIVO/LineFeature.shp
new file mode 100644
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GIT binary patch
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diff --git a/Mapas/SAO_MANOEL_PIVO/LineFeature.shx b/Mapas/SAO_MANOEL_PIVO/LineFeature.shx
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