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diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/d575f510-ba55-4497-bea3-6e455c12e437.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/d575f510-ba55-4497-bea3-6e455c12e437.vsidx
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diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo
index 299b450be..9ecdb1fa5 100644
Binary files a/AgroBase/.vs/AgroBase/v17/.suo and b/AgroBase/.vs/AgroBase/v17/.suo differ
diff --git a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
index 1cbedfb82..2b9ae4b32 100644
--- a/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
+++ b/AgroBase/AgroBase/Forms/Operacoes/frmOperacaoManual.cs
@@ -107,7 +107,7 @@ namespace AgroBase.Forms.Operacoes
                     // Mostra a mensagem de erro na thread principal
                     btnIniciarOperacao.Invoke((MethodInvoker)delegate
                     {
-                        MessageBox.Show("Finalize a parametrização corretamente para iniciar a operação!", "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                        MessageBox.Show(Variaveis.OperacaoEmAndamento.ErroOperacaoLiberada, "Aviso", MessageBoxButtons.OK, MessageBoxIcon.Error);
                         btnIniciarOperacao.Text = "Iniciar Operação";
                         btnIniciarOperacao.Enabled = true;
                     });
diff --git a/AgroBase/AgroBase/Models/LoRaModel.cs b/AgroBase/AgroBase/Models/LoRaModel.cs
index 1c98bf78b..02808c79a 100644
--- a/AgroBase/AgroBase/Models/LoRaModel.cs
+++ b/AgroBase/AgroBase/Models/LoRaModel.cs
@@ -18,7 +18,7 @@ namespace AgroBase.Models
         {
             get
             {
-                return LoRaService.PortaLoRa?.PortName ?? "";
+                return LoRaService._PortaLoRa?.PortName ?? "";
             }
         }
         public byte baudRate { get; set; }
@@ -163,6 +163,7 @@ namespace AgroBase.Models
     public class LoRaProtocoloTransmissaoModel
     {
         public DateTime Momento { get; set; }
+        public DateTime RecebidoEm { get; set; }
         public byte EnderecoCarro { get; set; }
         public ulong CodigoFalha { get; set; }
         public LoRaProtocoloTransmissaoCoordenadasModel Coordenadas { get; set; }
diff --git a/AgroBase/AgroBase/Models/MapasModel.cs b/AgroBase/AgroBase/Models/MapasModel.cs
index 0ff2cf917..62e94a159 100644
--- a/AgroBase/AgroBase/Models/MapasModel.cs
+++ b/AgroBase/AgroBase/Models/MapasModel.cs
@@ -501,14 +501,9 @@ namespace AgroBase.Models
 
         public void btnCarregar_Click(object sender, EventArgs e, string caminhoArquivo = "", bool monitoramento = false)
         {
-            if (monitoramento)
-            {
-                mapaService.CarregarMapaMonitoramento(MapasVariaveisModel.NomeArquivoMapaInterativo, MapasVariaveisModel.NomeArquivoMapaInterativoSaida, caminhoArquivo);
-            }
-            else
-            {
-                mapaService.CarregarMapa(MapasVariaveisModel.NomeArquivoMapaInterativo, MapasVariaveisModel.NomeArquivoMapaInterativoSaida, caminhoArquivo);
-            }
+            string script = monitoramento ? PythonService.ScriptMapFollower : PythonService.ScriptMapConverter;
+            mapaService.CarregarMapa(script, MapasVariaveisModel.NomeArquivoMapaInterativo, MapasVariaveisModel.NomeArquivoMapaInterativoSaida, caminhoArquivo);
+
             if (mapaService.MapaUrl != "")
             {
                 if (picLoading == null)
diff --git a/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs b/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
index f75229892..9a5debb0e 100644
--- a/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/MovimentacaoUnificadoModel.cs
@@ -919,9 +919,6 @@ namespace AgroBase.Models.Modules
                 }
             }
 
-            // Linha duvidosa kkk
-            AcaoDoFreio = Freio ? AcaoFreio.Ativar : AcaoFreio.Desativar;
-
             if (AcaoDoFreio != AcaoFreio.SemAcao)
             {
                 string Mod_ID = Variaveis.OperacaoEmAndamento.DispMvd.Dados.Modulos.FirstOrDefault(x => x.MovMotor.Endereco == Endereco)?.Modulo_ID ?? "";
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 124518cdf..e364b5fe0 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -269,10 +269,10 @@ namespace AgroBase.Models
         {
             get
             {
-                bool _operacaoLiberada = true;
-
                 (bool _modsConectados, List<T_Code> _modsComFalha) = Variaveis.OperacaoEmAndamento.ModulosConectados;
 
+                bool _operacaoLiberada = _modsConectados;
+
                 if (_operacaoLiberada && Variaveis.OperacaoEmAndamento.ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.CameraSolo && x.Mandatorio) && Variaveis.OperacaoEmAndamento.CamerasSolo.Count(x => x.Iniciada) < Variaveis.OperacaoEmAndamento.QuantidadeCamerasSolo) _operacaoLiberada = false;
                 if (_operacaoLiberada && Variaveis.OperacaoEmAndamento.ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.Kinect && x.Mandatorio) && (Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect == null || !Variaveis.OperacaoEmAndamento.Sensoriamento.SonarFrontal_Kinect.Iniciado)) _operacaoLiberada = false;
                 if (_operacaoLiberada && Variaveis.OperacaoEmAndamento.ParametrosMandatorios.Any(x => x.Parametro == ParametrosOperacao.Mapa && x.Mandatorio) && !Variaveis.OperacaoEmAndamento.Mapa.mapaService.Carregado) _operacaoLiberada = false;
@@ -1660,7 +1660,6 @@ namespace AgroBase.Models
                     DistanciaPercorrida = new List<double>(Variaveis.OperacaoEmAndamento.Sensoriamento.DistanciaPercorrida),
                     AnguloCarroBussola = Variaveis.OperacaoEmAndamento.Sensoriamento.AnguloCarroBussola, 
                     TempoMovimento = Variaveis.OperacaoEmAndamento.DispMvd.Dados.TempoEmAtividade,
-                    StatusOperacao = Variaveis.OperacaoEmAndamento._EtapaAtual, 
                     StatusCarro = Variaveis.OperacaoEmAndamento.OpMapaGPS.ReferencialRuaGPS.StatusAtual,
                     ErvasIdentificadas = Variaveis.OperacaoEmAndamento.OpMapaGPS.Sensoriamento.AtuacoesPorBico.Sum(),
                     ErvasNoRadar = Variaveis.OperacaoEmAndamento.Sensoriamento.ErvasNoRadar,
@@ -2875,7 +2874,13 @@ namespace AgroBase.Models
         }
         public SonarModel SonarFrontal_old { get; set; }
         public double TempoMovimento { get;set; }
-        public StatusOperacao StatusOperacao { get; set; }
+        public StatusOperacao StatusOperacao
+        {
+            get
+            {
+                return Variaveis.OperacaoEmAndamento.StatusAtual;
+            }
+        }
         public StatusCarroMapa StatusCarro { get; set; }
         public int ErvasNoRadar { get; set; } = 0;
         public double HerbicidaConsumido { get; set; } = 0;
diff --git a/AgroBase/AgroBase/Python/Scripts/map-load.py b/AgroBase/AgroBase/Python/Scripts/map-load.py
index 7254dd6e4..7633e2b39 100644
--- a/AgroBase/AgroBase/Python/Scripts/map-load.py
+++ b/AgroBase/AgroBase/Python/Scripts/map-load.py
@@ -216,7 +216,12 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
     <script src="folium/mqtt.min.js"></script>
     <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
-        let posicaoAtual = {{
+        let posicaoAtualEquipamento = {{
+            lat: 0, 
+            long: 0
+        }};
+
+        let posicaoAtualBase = {{
             lat: 0, 
             long: 0
         }};
@@ -228,9 +233,15 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             popupAnchor: [0, -16] 
         }});
         
-        var marcadorDinamico = L.marker([0, 0], {{
+        var marcadorEquipamento = L.marker([0, 0], {{
             icon: customIcon
         }}).addTo({id_mapa});
+        
+        var marcadorBase = L.marker([0, 0], {{}}).addTo({id_mapa});
+        var icon = L.AwesomeMarkers.icon(
+            {{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}}
+        );
+        marcadorBase.setIcon(icon);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -272,22 +283,45 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             else if (topic === "{topico_gps}") {{
                 // A mensagem e um Buffer, converta para string ou objeto conforme necessario
                 //console.log(`Mensagem recebida no topico '${{topic}}': ${{message.toString()}}`);
+                
+                var id = dados.id;
                 var novaLatitude = dados.latitude;
                 var novaLongitude = dados.longitude;
                 var novaPosicao = [novaLatitude, novaLongitude];
-                marcadorDinamico.setLatLng(novaPosicao);
+                var orientacao = dados.orientacao;
+                var foco = dados.foco;
                 
-                // Calcular angulo de rotacao
-                var angulo = dados.orientacao;
-
-                posicaoAtual.lat = novaPosicao[0];
-                posicaoAtual.long = novaPosicao[1];
-
-                // Rotacionar o marcador para o angulo calculado
-                marcadorDinamico.setRotationAngle(angulo);
+                if (id == 1) {{
+                    marcadorBase.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualBase.lat = novaPosicao[0];
+                    posicaoAtualBase.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorBase.setRotationAngle(angulo);
+                }}
+                else {{
+                    marcadorEquipamento.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualEquipamento.lat = novaPosicao[0];
+                    posicaoAtualEquipamento.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorEquipamento.setRotationAngle(angulo);
+                
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                }}
+                
+                if (foco) {{
+                    {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
+                }}
                 
-                adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-                {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
             }}
             else if (topic === '{topico_ruas}') {{
                 var selecionadas = dados;
diff --git a/AgroBase/AgroBase/Services/GPSService.cs b/AgroBase/AgroBase/Services/GPSService.cs
index 56fa09a01..edc4bb5ca 100644
--- a/AgroBase/AgroBase/Services/GPSService.cs
+++ b/AgroBase/AgroBase/Services/GPSService.cs
@@ -596,7 +596,13 @@ namespace AgroBase.Services
 
             int ID = Convert.ToInt32(Variaveis.ConexaoLoRa.parametros.address);
             double angulo = ((Variaveis.OperacaoEmAndamento.Sensoriamento?.AnguloCarro ?? 0) - 180);
-            EnviarCoordenadasParaMapa(UltimaLeitura.Latitude, UltimaLeitura.Longitude, angulo, true, ID);
+            EnviarCoordenadasParaMapa(UltimaLeitura.Latitude, UltimaLeitura.Longitude, angulo, Variaveis.OperacaoEmAndamento.Iniciado, ID);
+
+            if (VariaveisOperacao.PosicaoBase != null)
+            {
+                byte enderecoBase = Variaveis.OperacaoEmAndamento.DispSen.Dados.LoRaParametrosBase.address;
+                EnviarCoordenadasParaMapa(VariaveisOperacao.PosicaoBase.Latitude, VariaveisOperacao.PosicaoBase.Longitude, VariaveisOperacao.PosicaoBase.Orientacao, false, enderecoBase);
+            }
 
             if (Variaveis.OperacaoEmAndamento.Iniciado)
             {
diff --git a/AgroBase/AgroBase/Services/LoRaService.cs b/AgroBase/AgroBase/Services/LoRaService.cs
index 0fa9544f0..6aa98dcd7 100644
--- a/AgroBase/AgroBase/Services/LoRaService.cs
+++ b/AgroBase/AgroBase/Services/LoRaService.cs
@@ -12,24 +12,24 @@ namespace AgroBase.Services
 {
     public class LoRaService
     {
-        public static SerialPort PortaLoRa;
+        public static SerialPort _PortaLoRa;
         public static bool Iniciado
         {
             get
             {
-                if (PortaLoRa != null && !PortaLoRa.IsOpen)
+                if (_PortaLoRa != null && !_PortaLoRa.IsOpen)
                 {
                     try
                     {
-                        PortaLoRa.Open();
+                        _PortaLoRa.Open();
                     }
                     catch (Exception ex)
                     {
                         Console.WriteLine(ex.Message);
-                        PortaLoRa = null;
+                        _PortaLoRa = null;
                     }
                 }
-                return PortaLoRa != null && PortaLoRa.IsOpen;
+                return _PortaLoRa != null && _PortaLoRa.IsOpen;
             }
         }
         private static Dictionary<DateTime, List<byte>> bufferRecebido = new Dictionary<DateTime, List<byte>>();
@@ -169,9 +169,9 @@ namespace AgroBase.Services
 
         public static void AtualizarPortaCOM(SerialPort Porta)
         {
-            if (PortaLoRa == null)
+            if (_PortaLoRa == null)
             {
-                PortaLoRa = new SerialPort()
+                _PortaLoRa = new SerialPort()
                 {
                     Encoding = Encoding.UTF8,
                     ReadBufferSize = 8192,
@@ -180,13 +180,13 @@ namespace AgroBase.Services
             }
             else if (Iniciado)
             {
-                PortaLoRa.Close();
+                _PortaLoRa.Close();
             }
 
-            PortaLoRa.BaudRate = Porta.BaudRate;
-            PortaLoRa.PortName = Porta.PortName;
-            PortaLoRa.DataReceived -= PortaLoRa_DataReceived;
-            PortaLoRa.DataReceived += PortaLoRa_DataReceived;
+            _PortaLoRa.BaudRate = Porta.BaudRate;
+            _PortaLoRa.PortName = Porta.PortName;
+            _PortaLoRa.DataReceived -= PortaLoRa_DataReceived;
+            _PortaLoRa.DataReceived += PortaLoRa_DataReceived;
 
             Porta.Close();
 
@@ -211,7 +211,7 @@ namespace AgroBase.Services
             {
                 SerialService.DispositivosMapeados.Add(new SerialService.DispositivoDetalhesModel()
                 {
-                    PortaCOM = PortaLoRa.PortName,
+                    PortaCOM = _PortaLoRa.PortName,
                     Dispositivo = T_Code.Lra,
                     Erro = !Iniciado,
                     Versao = "220"
@@ -221,7 +221,7 @@ namespace AgroBase.Services
 
         private static void PortaLoRa_DataReceived(object sender, SerialDataReceivedEventArgs e)
         {
-            if (PortaLoRa.IsOpen)
+            if (_PortaLoRa.IsOpen)
             {
                 VerificaProtocoloCompleto();
 
@@ -292,20 +292,20 @@ namespace AgroBase.Services
         private static void VerificaProtocoloCompleto()
         {
             byte[] buffer = new byte[1];
-            PortaLoRa.Read(buffer, 0, 1);
+            _PortaLoRa.Read(buffer, 0, 1);
 
             byte caractere0 = buffer[0];
 
             if (caractere0 == CodigosFuncoes["RespostaConfiguracao"])
             {
                 //buffer = SerialService.VerificarRespostaPortasDesconhecidas(PortaLoRa);
-                buffer = SerialService.LerDadosDaPortaSerial(PortaLoRa, 6);
+                buffer = SerialService.LerDadosDaPortaSerial(_PortaLoRa, 6);
             }
             else
             {
                 /*string leitura = PortaLoRa.ReadLine();
                 buffer = Encoding.UTF8.GetBytes(leitura);*/
-                buffer = SerialService.LerDadosDaPortaSerial(PortaLoRa, 168);
+                buffer = SerialService.LerDadosDaPortaSerial(_PortaLoRa, 168);
             }
 
             // Cria um novo buffer com espaço para o caractere0 no início
@@ -424,10 +424,12 @@ namespace AgroBase.Services
                                 byte[] bufferDados = new byte[resposta.Buffer.Length - 4];
                                 Array.Copy(resposta.Buffer, 4, bufferDados, 0, bufferDados.Length);
                                 LoRaProtocoloTransmissaoModel Dados = LoRaSerializer.DeserializeLoRaProtocoloTransmissaoModel(bufferDados);
+                                Dados.RecebidoEm = DateTime.Now;
                                 lock (_dadosOperacaoLock)
                                 {
                                     LeituraDadosOperacao.Add(Dados);
                                 }
+                                Console.WriteLine($"{Dados.RecebidoEm.ToString("HH:mm:ss.fff")} Dados de operação recebidos: Mod_ID = {Dados.EnderecoCarro}");
                                 break;
                             }
                         case LoRaTipoProtocolo.PosicaoGPS:
@@ -472,7 +474,7 @@ namespace AgroBase.Services
             TimeSpan timeout = TimeSpan.FromSeconds(5);
 
             // Envia o comando para a porta COM
-            EnviarComando(PortaLoRa, command);
+            EnviarComando(_PortaLoRa, command);
 
             // Aguarda a resposta ou até que o timeout seja atingido
             while (DateTime.Now - inicio < timeout)
@@ -530,7 +532,7 @@ namespace AgroBase.Services
             TimeSpan timeout = TimeSpan.FromSeconds(5);
 
             // Envia o comando para a porta COM
-            EnviarComando(PortaLoRa, command);
+            EnviarComando(_PortaLoRa, command);
 
             // Aguarda a resposta ou até que o timeout seja atingido
             while (DateTime.Now - inicio < timeout)
@@ -681,7 +683,7 @@ namespace AgroBase.Services
                 var mensagens = bufferEnvio.ToList();
                 foreach (var buffer in mensagens)
                 {
-                    EnviarComando(PortaLoRa, buffer);
+                    EnviarComando(_PortaLoRa, buffer);
                     await Task.Delay(1500);
                 }
                 mensagens.ForEach(x => bufferEnvio.Remove(x));
diff --git a/AgroBase/AgroBase/Services/MapasService.cs b/AgroBase/AgroBase/Services/MapasService.cs
index 42a183ce2..fe489479f 100644
--- a/AgroBase/AgroBase/Services/MapasService.cs
+++ b/AgroBase/AgroBase/Services/MapasService.cs
@@ -4,9 +4,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
-using System.Net.Http;
 using System.Text;
-using System.Text.Json;
 using System.Windows.Forms;
 
 namespace AgroBase.Services
@@ -36,7 +34,7 @@ namespace AgroBase.Services
         public bool Carregado = false;
 
 
-        public void CarregarMapa(string nomeArquivoMapa, string nomeArquivoSaida, string caminhoArquivo = "")
+        public void CarregarMapa(string script, string nomeArquivoMapa, string nomeArquivoSaida, string caminhoArquivo = "")
         {
             NomeArquivoMapa = nomeArquivoMapa;
             ArquivoSaida = nomeArquivoSaida;
@@ -55,8 +53,8 @@ namespace AgroBase.Services
                 NomeArquivos = caminhoArquivo.Split('\\')[caminhoArquivo.Split('\\').Length - 1].Replace(extensao, "");
                 CaminhoMapa = caminhoArquivo.Replace(NomeArquivos, "").Replace(extensao, "").Replace("\\", "/");
 
-                pythonProcess = PythonService.RunScript(PythonService.ScriptMapConverter, new string[] 
-                { 
+                pythonProcess = PythonService.RunScript(script, new string[] 
+                {
                     CaminhoMapa, 
                     NomeArquivos, 
                     ArquivoSaida, 
@@ -71,43 +69,7 @@ namespace AgroBase.Services
                 CaminhoDadosMapa = CaminhoSaida + ArquivoSaida;
             }
         }
-
-        public void CarregarMapaMonitoramento(string nomeArquivoMapa, string nomeArquivoSaida, string caminhoArquivo = "")
-        {
-            NomeArquivoMapa = nomeArquivoMapa;
-            ArquivoSaida = nomeArquivoSaida;
-
-            opfMapa = new OpenFileDialog
-            {
-                DefaultExt = ".shp",
-                Filter = "Shapefile (*.shp)|*.shp|JSON Files (*.json)|*.json",
-                Title = "Selecionar arquivo de mapa"
-            };
-
-            if (!string.IsNullOrEmpty(caminhoArquivo) || opfMapa.ShowDialog() == DialogResult.OK)
-            {
-                caminhoArquivo = string.IsNullOrEmpty(caminhoArquivo) ? opfMapa.FileName : caminhoArquivo;
-                string extensao = "." + caminhoArquivo.Split('.')[caminhoArquivo.Split('.').Length - 1];
-                NomeArquivos = caminhoArquivo.Split('\\')[caminhoArquivo.Split('\\').Length - 1].Replace(extensao, "");
-                CaminhoMapa = caminhoArquivo.Replace(NomeArquivos, "").Replace(extensao, "").Replace("\\", "/");
-
-                pythonProcess = PythonService.RunScript(PythonService.ScriptMapFollower, new string[]
-                {
-                    CaminhoMapa,
-                    NomeArquivos,
-                    ArquivoSaida,
-                    NomeArquivoMapa,
-                    MapasVariaveisModel.TopicoCoordenadasGPS,
-                    MapasVariaveisModel.TopicoSelecaoRuasMapa,
-                    MapasVariaveisModel.TopicoTrajetoriaDinamica,
-                    caminhoArquivo.Split('.')[1] == "json" ? "1" : "0"
-                });
-
-                MapaUrl = new Uri(CaminhoSaida + NomeArquivoMapa).AbsoluteUri;
-                CaminhoDadosMapa = CaminhoSaida + ArquivoSaida;
-            }
-        }
-
+        
         public void CarregarMapaGPS(string nomeArquivoMapa)
         {
             NomeArquivoMapa = nomeArquivoMapa;
diff --git a/AgroBase/AgroBase/Services/SerialService.cs b/AgroBase/AgroBase/Services/SerialService.cs
index d2da98e32..ab17372f7 100644
--- a/AgroBase/AgroBase/Services/SerialService.cs
+++ b/AgroBase/AgroBase/Services/SerialService.cs
@@ -161,47 +161,51 @@ namespace AgroBase.Services
 
                     try
                     {
-                        bool DispositivoAtu = false;
-                        bool DispositivoSen = false;
-                        bool DispositivoMvd = false;
+                        string ProtocoloCheck = "";
 
-                        string ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispAtu.Dados.ProtocoloVerificacao(true);
-
-                        AtualizarConsole("Procurando dispositivo ATU");
                         _Porta.Open();
-                        _Porta.Write(ProtocoloCheck);
 
-                        await AguardaRespostaPorta(_Porta, 1000);
-
-                        DispositivoAtu = ProcessarRespostaDispositivo(_Porta);
-                        _Porta.Close();
-                        if (!DispositivoAtu)
+                        if (!PortaDispositivoProprio && !Variaveis.OperacaoEmAndamento.DispAtu.Dados.Conectado)
                         {
-                            ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispSen.Dados.ProtocoloVerificacao(true);
+                            ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispAtu.Dados.ProtocoloVerificacao(true);
 
-                            AtualizarConsole("Procurando dispositivo SEN");
-                            _Porta.Open();
+                            AtualizarConsole("Procurando dispositivo ATU");
                             _Porta.Write(ProtocoloCheck);
 
                             await AguardaRespostaPorta(_Porta, 1000);
 
-                            DispositivoSen = ProcessarRespostaDispositivo(_Porta);
-                            _Porta.Close();
-                            if (!DispositivoSen && false)
+                            PortaDispositivoProprio = ProcessarRespostaDispositivo(_Porta);
+                            if (PortaDispositivoProprio)
                             {
-                                DispositivoMvd = await ProcuraDispositivoMvd(_Porta);
+                                AtualizarConsole("Dispositivo ATU encontrado");
                             }
-                            else if (DispositivoSen)
+                        }
+                        if (!PortaDispositivoProprio && !Variaveis.OperacaoEmAndamento.DispSen.Dados.Conectado)
+                        {
+                            ProtocoloCheck = Variaveis.OperacaoEmAndamento.DispSen.Dados.ProtocoloVerificacao(true);
+
+                            AtualizarConsole("Procurando dispositivo SEN");
+                            _Porta.Write(ProtocoloCheck);
+
+                            await AguardaRespostaPorta(_Porta, 1000);
+
+                            PortaDispositivoProprio = ProcessarRespostaDispositivo(_Porta);
+                            if (PortaDispositivoProprio)
                             {
                                 AtualizarConsole("Dispositivo SEN encontrado");
                             }
                         }
-                        else
+                        if (!PortaDispositivoProprio && !GPSService.Iniciado)
                         {
-                            AtualizarConsole("Dispositivo ATU encontrado");
+                            AtualizarConsole("Procurando dispositivo GPS");
+                            await Task.Delay(1000);
+                            bool GPSEncontrado = VerificaRespostaGPS(_Porta);
+                            if (GPSEncontrado)
+                            {
+                                _Porta.Close();
+                                continue;
+                            }
                         }
-
-                        PortaDispositivoProprio = DispositivoMvd || DispositivoAtu || DispositivoSen;
                     }
                     catch (Exception ex)
                     {
@@ -210,6 +214,7 @@ namespace AgroBase.Services
                     finally
                     {
                         _Porta.Close();
+                        await Task.Delay(100);
                     }
 
                     if (!PortaDispositivoProprio)
@@ -265,7 +270,7 @@ namespace AgroBase.Services
         {
             if (Porta.BytesToRead <= 15 || Porta.BytesToRead >= 30)
             {
-                VerificaRespostaGPS(Porta);
+                //VerificaRespostaGPS(Porta);
                 VerificarRespostaPortasDesconhecidas(Porta);
                 return false;
             }
@@ -591,6 +596,11 @@ namespace AgroBase.Services
 
         private static async Task<bool> ProcuraDispositivoLoRa(SerialPort porta)
         {
+            if (LoRaService.Iniciado && porta.PortName != LoRaService._PortaLoRa.PortName)
+            {
+                return false;
+            }
+
             if (!LoRaService.Iniciado)
             {
                 AtualizarConsole("Procurando dispositivo LRA");
@@ -625,7 +635,6 @@ namespace AgroBase.Services
 
         private static bool VerificaRespostaGPS(SerialPort Porta, string Recebido = null)
         {
-            AtualizarConsole("Procurando dispositivo GPS");
             if (string.IsNullOrEmpty(Recebido))
             {
                 //Recebido = Porta.ReadLine();
@@ -633,7 +642,7 @@ namespace AgroBase.Services
                 Recebido = Encoding.ASCII.GetString(buffer);
             }
 
-            if (Recebido.Contains("$GPTXT"))
+            if (Recebido.Contains("$GPTXT") || Recebido.Contains("$GPRMC") || Recebido.Contains("$GPGGA") || Recebido.Contains("$GPGLL"))
             {
                 GPSService.AtualizarPortaCOM(Porta);
                 AtualizarConsole("Dispositivo GPS encontrado");
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
index 529c7e9f7..d79c46edd 100644
Binary files a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb and b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1
index 183f21549..4a1cf55ed 100644
Binary files a/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 and b/AgroBase/AgroBase/bin/Debug/DawnCache/data_1 differ
diff --git a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1
index 41e1212c5..3fff17814 100644
Binary files a/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 and b/AgroBase/AgroBase/bin/Debug/GPUCache/data_1 differ
diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Bld_err.txt b/AgroBase/AgroBase/bin/Debug/Logs/Bld_err.txt
index a9c70c1e9..71fc2d17e 100644
--- a/AgroBase/AgroBase/bin/Debug/Logs/Bld_err.txt
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Bld_err.txt
@@ -27358,3 +27358,87 @@
 03/10/2024 16:44:54:480 - Porta COM68 - 3: Resposta inválida. 
 03/10/2024 16:44:55:486 - Porta COM68 - 2: Resposta inválida. 
 03/10/2024 16:44:56:494 - Porta COM68 - 4: Resposta inválida. 
+04/10/2024 11:11:44:538 - Porta COM20 - 1: Resposta inválida. 
+04/10/2024 11:11:45:601 - Porta COM20 - 3: Resposta inválida. 
+04/10/2024 11:11:46:661 - Porta COM20 - 2: Resposta inválida. 
+04/10/2024 11:11:47:732 - Porta COM20 - 4: Resposta inválida. 
+04/10/2024 13:25:50:498 - Porta COM20 - 1: Resposta inválida. FF-FF-FF
+04/10/2024 13:25:51:553 - Porta COM20 - 3: Resposta inválida. FF-FF-FF
+04/10/2024 13:25:52:570 - Porta COM20 - 2: Resposta inválida. FF-FF-FF
+04/10/2024 13:25:53:573 - Porta COM20 - 4: Resposta inválida. FF-FF-FF
+04/10/2024 13:26:41:226 - Porta COM20 - 1: Resposta inválida. 
+04/10/2024 13:26:42:286 - Porta COM20 - 3: Resposta inválida. 
+04/10/2024 13:26:43:335 - Porta COM20 - 2: Resposta inválida. 
+04/10/2024 13:26:44:337 - Porta COM20 - 4: Resposta inválida. 
+04/10/2024 13:28:45:617 - Porta COM20 - 1: Resposta inválida. 
+04/10/2024 13:28:46:630 - Porta COM20 - 3: Resposta inválida. 
+04/10/2024 13:28:47:649 - Porta COM20 - 2: Resposta inválida. 
+04/10/2024 13:28:48:709 - Porta COM20 - 4: Resposta inválida. 
+04/10/2024 13:30:39:702 - Porta COM20 - 1: Resposta inválida. 
+04/10/2024 13:30:40:757 - Porta COM20 - 3: Resposta inválida. 
+04/10/2024 13:30:41:820 - Porta COM20 - 2: Resposta inválida. 
+04/10/2024 13:30:42:876 - Porta COM20 - 4: Resposta inválida. 
+04/10/2024 13:31:43:399 - Porta COM20 - 1: Resposta inválida. 
+04/10/2024 13:31:44:461 - Porta COM20 - 3: Resposta inválida. 
+04/10/2024 13:31:45:474 - Porta COM20 - 2: Resposta inválida. 
+04/10/2024 13:31:46:493 - Porta COM20 - 4: Resposta inválida. 
+04/10/2024 13:32:12:055 - Porta COM20 - 1: Resposta inválida. 
+04/10/2024 13:32:13:114 - Porta COM20 - 3: Resposta inválida. 
+04/10/2024 13:32:14:116 - Porta COM20 - 2: Resposta inválida. 
+04/10/2024 13:32:15:166 - Porta COM20 - 4: Resposta inválida. 
+04/10/2024 13:32:31:550 - Porta COM20 - 1: Resposta inválida. FF-FF-FF
+04/10/2024 13:32:32:571 - Porta COM20 - 3: Resposta inválida. FF-FF-FF
+04/10/2024 13:32:33:633 - Porta COM20 - 2: Resposta inválida. FF-FF-FF
+04/10/2024 13:32:34:696 - Porta COM20 - 4: Resposta inválida. FF-FF-FF
+04/10/2024 13:36:40:150 - Porta COM3 - 1: Resposta inválida. 
+04/10/2024 13:36:41:212 - Porta COM3 - 3: Resposta inválida. 
+04/10/2024 13:36:42:274 - Porta COM3 - 2: Resposta inválida. 
+04/10/2024 13:36:43:336 - Porta COM3 - 4: Resposta inválida. 
+04/10/2024 13:36:55:851 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 13:36:56:914 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 13:36:57:943 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 13:36:58:960 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 13:37:21:632 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 13:37:22:647 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 13:37:23:705 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 13:37:24:708 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 13:37:34:133 - Porta COM3 - 1: Resposta inválida. 
+04/10/2024 13:37:35:179 - Porta COM3 - 3: Resposta inválida. 
+04/10/2024 13:37:36:193 - Porta COM3 - 2: Resposta inválida. 
+04/10/2024 13:37:37:198 - Porta COM3 - 4: Resposta inválida. 
+04/10/2024 13:37:52:943 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 13:37:54:004 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 13:37:55:006 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 13:37:56:067 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 13:38:05:345 - Porta COM3 - 1: Resposta inválida. 
+04/10/2024 13:38:06:349 - Porta COM3 - 3: Resposta inválida. 
+04/10/2024 13:38:07:351 - Porta COM3 - 2: Resposta inválida. 
+04/10/2024 13:38:08:365 - Porta COM3 - 4: Resposta inválida. 
+04/10/2024 13:42:02:608 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 13:42:03:668 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 13:42:04:726 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 13:42:05:742 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 13:42:18:927 - Porta COM3 - 1: Resposta inválida. 
+04/10/2024 13:42:19:930 - Porta COM3 - 3: Resposta inválida. 
+04/10/2024 13:42:20:994 - Porta COM3 - 2: Resposta inválida. 
+04/10/2024 13:42:22:054 - Porta COM3 - 4: Resposta inválida. 
+04/10/2024 13:57:19:086 - Porta COM67 - 1: Resposta inválida ou código de função incorreto. 24-47-50-52-4D-43-2C-2C-56-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-35-33-0D-0A-24-47-50-56-54-47-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-33-30-0D-0A-24-47-50-47-47-41-2C-2C-2C-2C-2C-2C-30-2C-30-30-2C-39-39-2E-39-39-2C-2C-2C-2C-2C-2C-2A-34-38-0D-0A-24-47-50-47-53-41-2C-41-2C-31-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2A-33-30-0D-0A-24-47-50-47-4C-4C-2C-2C-2C-2C-2C-2C-56-2C-4E-2A-36-34-0D-0A
+04/10/2024 13:57:20:086 - Porta COM67 - 3: Resposta inválida ou código de função incorreto. 24-47-50-52-4D-43-2C-2C-56-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-35-33-0D-0A-24-47-50-56-54-47-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-33-30-0D-0A-24-47-50-47-47-41-2C-2C-2C-2C-2C-2C-30-2C-30-30-2C-39-39-2E-39-39-2C-2C-2C-2C-2C-2C-2A-34-38-0D-0A-24-47-50-47-53-41-2C-41-2C-31-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2A-33-30-0D-0A-24-47-50-47-4C-4C-2C-2C-2C-2C-2C-2C-56-2C-4E-2A-36-34-0D-0A
+04/10/2024 13:57:21:084 - Porta COM67 - 2: Resposta inválida ou código de função incorreto. 24-47-50-52-4D-43-2C-2C-56-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-35-33-0D-0A-24-47-50-56-54-47-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-33-30-0D-0A-24-47-50-47-47-41-2C-2C-2C-2C-2C-2C-30-2C-30-30-2C-39-39-2E-39-39-2C-2C-2C-2C-2C-2C-2A-34-38-0D-0A-24-47-50-47-53-41-2C-41-2C-31-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2A-33-30-0D-0A-24-47-50-47-4C-4C-2C-2C-2C-2C-2C-2C-56-2C-4E-2A-36-34-0D-0A
+04/10/2024 13:57:22:081 - Porta COM67 - 4: Resposta inválida ou código de função incorreto. 24-47-50-52-4D-43-2C-2C-56-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-35-33-0D-0A-24-47-50-56-54-47-2C-2C-2C-2C-2C-2C-2C-2C-2C-4E-2A-33-30-0D-0A-24-47-50-47-47-41-2C-2C-2C-2C-2C-2C-30-2C-30-30-2C-39-39-2E-39-39-2C-2C-2C-2C-2C-2C-2A-34-38-0D-0A-24-47-50-47-53-41-2C-41-2C-31-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2C-39-39-2E-39-39-2A-33-30-0D-0A-24-47-50-47-4C-4C-2C-2C-2C-2C-2C-2C-56-2C-4E-2A-36-34-0D-0A
+04/10/2024 13:57:55:398 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 13:57:56:413 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 13:57:57:430 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 13:57:58:490 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 14:00:11:212 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 14:00:12:214 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 14:00:13:271 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 14:00:14:274 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 14:32:51:914 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 14:32:52:973 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 14:32:53:976 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 14:32:55:040 - Porta COM74 - 4: Resposta inválida. 
+04/10/2024 14:33:15:370 - Porta COM74 - 1: Resposta inválida. 
+04/10/2024 14:33:16:429 - Porta COM74 - 3: Resposta inválida. 
+04/10/2024 14:33:17:431 - Porta COM74 - 2: Resposta inválida. 
+04/10/2024 14:33:18:305 - Porta COM74 - 4: Resposta inválida ou código de função incorreto. 40-01-02-03-00-00-00-00-00-00-00-00-01-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-24-0A
diff --git a/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt b/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
index f03ead1e6..5728c2fc8 100644
--- a/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
+++ b/AgroBase/AgroBase/bin/Debug/Logs/Mks_err.txt
@@ -72517,3 +72517,10 @@
 03/10/2024 15:30:11:900 - Porta COM68 - 0: Erro ao reestabelecer conexão com a porta COM68
 03/10/2024 15:30:12:912 - Porta COM68 - 0: Reiniciando conexão com a porta COM68...
 03/10/2024 15:30:12:913 - Porta COM68 - 0: Erro ao reestabelecer conexão com a porta COM68
+04/10/2024 13:25:53:606 - Porta COM20 - 248: Dados recebidos de um endereço inválido: [248 248 248 0 0 0 0 0 0 0 0]
+04/10/2024 13:25:54:601 - Porta COM20 - 248: Dados recebidos de um endereço inválido: [248 248 248 0 0 0 0 0 0 0 0]
+04/10/2024 13:25:55:613 - Porta COM20 - 248: Dados recebidos de um endereço inválido: [248 248 248 0 0 0 0 0 0 0 0]
+04/10/2024 13:25:56:615 - Porta COM20 - 248: Dados recebidos de um endereço inválido: [248 248 248 0 0 0 0 0 0 0 0]
+04/10/2024 13:36:59:978 - Porta COM74 - 3: Porta serial não está aberta
+04/10/2024 13:37:00:986 - Porta COM74 - 2: Porta serial não está aberta
+04/10/2024 13:37:01:988 - Porta COM74 - 4: Porta serial não está aberta
diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd.par
index 9a4a4ec28..2f1e018aa 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersMvd.par
@@ -1 +1 @@
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+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 90.930130358, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195973777823511, -22.078516788070178 ], [ -47.195970738810288, -22.078516164957005 ], [ -47.195883238305996, -22.078498224002004 ], [ -47.195795737819644, -22.07848028299831 ], [ -47.195708237351184, -22.07846234194588 ], [ -47.195620736900651, -22.078444400844717 ], [ -47.19553323646803, -22.078426459694835 ], [ -47.19544573605333, -22.078408518496243 ], [ -47.195358235656549, -22.078390577248886 ], [ -47.195270735277695, -22.078372635952842 ], [ -47.195183234916755, -22.07835469460808 ], [ -47.195113494776486, -22.078340394836392 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 87.968814029000001, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195958308215872, -22.078527483181787 ], [ -47.195880116329135, -22.078511450848058 ], [ -47.195792615834705, -22.078493509843344 ], [ -47.195705115358173, -22.078475568789894 ], [ -47.195617614899554, -22.078457627687726 ], [ -47.195530114458876, -22.078439686536836 ], [ -47.195442614036089, -22.078421745337227 ], [ -47.19535511363123, -22.078403804088886 ], [ -47.195267613244297, -22.078385862791823 ], [ -47.195180112875271, -22.078367921446038 ], [ -47.19512604187733, -22.078356834535505 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 85.007497694999998, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195942838605802, -22.078538178292135 ], [ -47.195876994351813, -22.078524677694073 ], [ -47.195789493849297, -22.078506736688354 ], [ -47.195701993364693, -22.078488795633902 ], [ -47.195614492898002, -22.078470854530721 ], [ -47.195526992449246, -22.078452913378818 ], [ -47.19543949201838, -22.078434972178201 ], [ -47.195351991605442, -22.078417030928854 ], [ -47.19526449121043, -22.078399089630775 ], [ -47.195176990833325, -22.078381148283988 ], [ -47.195138588981187, -22.078373274233414 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 82.046181364999995, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195927368993367, -22.078548873401179 ], [ -47.19587387237403, -22.078537904540045 ], [ -47.195786371863427, -22.07851996353331 ], [ -47.19569887137073, -22.078502022477853 ], [ -47.195611370895975, -22.078484081373684 ], [ -47.195523870439125, -22.078466140220772 ], [ -47.195436370000195, -22.078448199019139 ], [ -47.195348869579178, -22.078430257768776 ], [ -47.19526136917608, -22.078412316469691 ], [ -47.195173868790917, -22.078394375121885 ], [ -47.195151136088015, -22.078389713930065 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 79.084865031999996, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195911899378515, -22.078559568508947 ], [ -47.195870750395756, -22.078551131386 ], [ -47.195783249877081, -22.078533190378256 ], [ -47.195695749376306, -22.078515249321786 ], [ -47.195608248893478, -22.078497308216608 ], [ -47.195520748428549, -22.078479367062673 ], [ -47.195433247981533, -22.078461425860052 ], [ -47.195345747552437, -22.07844348460868 ], [ -47.195258247141275, -22.078425543308587 ], [ -47.195170746748026, -22.078407601959771 ], [ -47.195163683197862, -22.078406153625501 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 76.173897505, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195896429761284, -22.078570263615426 ], [ -47.195867628417012, -22.078564358231922 ], [ -47.195780127890266, -22.078546417223158 ], [ -47.195692627381426, -22.078528476165676 ], [ -47.195605126890499, -22.078510535059472 ], [ -47.195517626417505, -22.078492593904564 ], [ -47.19543012596241, -22.078474652700912 ], [ -47.195342625525235, -22.078456711448535 ], [ -47.195255125106002, -22.078438770147432 ], [ -47.195175753964655, -22.078422495648141 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 73.313475421000007, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195880960141665, -22.078580958720604 ], [ -47.1958645064378, -22.078577585077802 ], [ -47.195777005902976, -22.078559644068044 ], [ -47.195689505386063, -22.078541703009552 ], [ -47.195602004887057, -22.078523761902339 ], [ -47.195514504405985, -22.078505820746422 ], [ -47.195427003942811, -22.07848787954174 ], [ -47.195339503497557, -22.078469938288372 ], [ -47.195252003070244, -22.07845199698626 ], [ -47.195187346527852, -22.078438739616637 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 70.365539724000001, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195864662558812, -22.078591484060627 ], [ -47.195773883915209, -22.078572870912883 ], [ -47.19568638339021, -22.078554929853382 ], [ -47.195598882883147, -22.078536988745157 ], [ -47.195511382393995, -22.078519047588216 ], [ -47.19542388192275, -22.07850110638255 ], [ -47.195336381469417, -22.078483165128159 ], [ -47.195248881034018, -22.078465223825038 ], [ -47.195198939093792, -22.078454983584077 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 67.118558961000005, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195845535726569, -22.078601429294348 ], [ -47.19577076192698, -22.0785860977577 ], [ -47.195683261393903, -22.078568156697195 ], [ -47.19559576087876, -22.07855021558796 ], [ -47.19550826038153, -22.078532274430014 ], [ -47.195420759902206, -22.078514333223328 ], [ -47.195333259440801, -22.078496391967938 ], [ -47.195245758997324, -22.078478450663791 ], [ -47.195210531662497, -22.078471227550434 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 10.396452589000001, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.19554116539534, -22.078719292053304 ], [ -47.195467674176619, -22.07870422337033 ], [ -47.195442805154286, -22.078699124202906 ] ] } },
+{ "type": "Feature", "properties": { "Id": 1517, "Name": "Curvas", "Length": 3.767831676, "Dist1": 0.0, "Dist2": 0.0 }, "geometry": { "type": "LineString", "coordinates": [ [ -47.195512980813604, -22.078727380055771 ], [ -47.195477333570629, -22.078720070922746 ] ] } }
+]
+}
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
index 5af9171af..0b6a9f16d 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_gps.html
@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_254746023e723b11db94504e9793a478 {
+                #map_cf8fae86d957a7a3939b7c65a7c2f6f9 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_254746023e723b11db94504e9793a478" ></div>
+            <div class="folium-map" id="map_cf8fae86d957a7a3939b7c65a7c2f6f9" ></div>
         
 </body>
 <script>
     
     
-            var map_254746023e723b11db94504e9793a478 = L.map(
-                "map_254746023e723b11db94504e9793a478",
+            var map_cf8fae86d957a7a3939b7c65a7c2f6f9 = L.map(
+                "map_cf8fae86d957a7a3939b7c65a7c2f6f9",
                 {
                     center: [0.0, 0.0],
                     crs: L.CRS.EPSG3857,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_c28f7dbc21dcb3982bcbc94ae97f0fa2 = L.tileLayer(
+            var tile_layer_2abdffe44d7eeb0bdc7f918520a25537 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_c28f7dbc21dcb3982bcbc94ae97f0fa2.addTo(map_254746023e723b11db94504e9793a478);
+            tile_layer_2abdffe44d7eeb0bdc7f918520a25537.addTo(map_cf8fae86d957a7a3939b7c65a7c2f6f9);
         
 </script>
 
@@ -87,7 +87,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_254746023e723b11db94504e9793a478);
+        trajeto_json.addTo(map_cf8fae86d957a7a3939b7c65a7c2f6f9);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -145,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_254746023e723b11db94504e9793a478);
+        }).addTo(map_cf8fae86d957a7a3939b7c65a7c2f6f9);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -183,7 +183,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_254746023e723b11db94504e9793a478.setView(novaPosicao, map_254746023e723b11db94504e9793a478.getZoom());
+            map_cf8fae86d957a7a3939b7c65a7c2f6f9.setView(novaPosicao, map_cf8fae86d957a7a3939b7c65a7c2f6f9.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
index ba0b85627..6ebca6790 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
+++ b/AgroBase/AgroBase/bin/Debug/Python/Output/mapa_interativo.html
@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_1f2ebbfe67d6530478a1f025e04d308d {
+                #map_d6f4492d08a9c83fdc3b2818abf93dd9 {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,16 +39,16 @@
 <body>
     
     
-            <div class="folium-map" id="map_1f2ebbfe67d6530478a1f025e04d308d" ></div>
+            <div class="folium-map" id="map_d6f4492d08a9c83fdc3b2818abf93dd9" ></div>
         
 </body>
 <script>
     
     
-            var map_1f2ebbfe67d6530478a1f025e04d308d = L.map(
-                "map_1f2ebbfe67d6530478a1f025e04d308d",
+            var map_d6f4492d08a9c83fdc3b2818abf93dd9 = L.map(
+                "map_d6f4492d08a9c83fdc3b2818abf93dd9",
                 {
-                    center: [0.0, 0.0],
+                    center: [-22.07700866624257, -47.19598995141658],
                     crs: L.CRS.EPSG3857,
                     zoom: 12,
                     zoomControl: true,
@@ -60,13 +60,13 @@
 
         
     
-            var tile_layer_be37f0921170502c71568d5ecfbbd43b = L.tileLayer(
+            var tile_layer_fe1830f7f255e8e9b69eca66193c0933 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_be37f0921170502c71568d5ecfbbd43b.addTo(map_1f2ebbfe67d6530478a1f025e04d308d);
+            tile_layer_fe1830f7f255e8e9b69eca66193c0933.addTo(map_d6f4492d08a9c83fdc3b2818abf93dd9);
         
     
 
@@ -82,7 +82,7 @@
                 }*/
             });
     }
-    function geo_json_7e08e4bfc6ae2775e5b0362eb053f307_onEachFeature(feature, layer) {
+    function geo_json_f05c2d953d8c25307cbcbf70f08fe47d_onEachFeature(feature, layer) {
             layer.on({
             
     click: function(e) {
@@ -118,20 +118,20 @@
         }*/
     });
         };
-        var geo_json_7e08e4bfc6ae2775e5b0362eb053f307 = L.geoJson(null, {
-                onEachFeature: geo_json_7e08e4bfc6ae2775e5b0362eb053f307_onEachFeature,
+        var geo_json_f05c2d953d8c25307cbcbf70f08fe47d = L.geoJson(null, {
+                onEachFeature: geo_json_f05c2d953d8c25307cbcbf70f08fe47d_onEachFeature,
             
         });
 
-        function geo_json_7e08e4bfc6ae2775e5b0362eb053f307_add (data) {
-            geo_json_7e08e4bfc6ae2775e5b0362eb053f307
+        function geo_json_f05c2d953d8c25307cbcbf70f08fe47d_add (data) {
+            geo_json_f05c2d953d8c25307cbcbf70f08fe47d
                 .addData(data);
         }
-            geo_json_7e08e4bfc6ae2775e5b0362eb053f307_add({"features": [{"geometry": {"coordinates": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], "id": null, "type": "LineString"}, "id": 0, "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": "1517", "Length": 0.0, "Name": "03_10_2024_14_34_20"}, "type": "Feature"}], "type": "FeatureCollection"});
+            geo_json_f05c2d953d8c25307cbcbf70f08fe47d_add({"features": [{"geometry": {"coordinates": [[-47.19774285726267, -22.07749281377239], [-47.19768293088881, -22.0774805271304], [-47.19759543090566, -22.077462587055873], [-47.197507930940425, -22.077444646932662], [-47.19742043099309, -22.0774267067607], [-47.19733293106367, -22.077408766540014], [-47.19724543115216, -22.0773908262706], [-47.19715793125859, -22.077372885952467], [-47.1970704313829, -22.077354945585615], [-47.19698293152512, -22.077337005170033], [-47.19689543168528, -22.07731906470573], [-47.19680793186334, -22.077301124192708], [-47.196720432059315, -22.077283183630975], [-47.196632932273204, -22.077265243020502], [-47.196545432505005, -22.07724730236131], [-47.19645793275472, -22.077229361653394], [-47.19637043302235, -22.077211420896752], [-47.19628293330789, -22.077193480091395], [-47.196195433611365, -22.077175539237324], [-47.19610793393272, -22.077157598334523], [-47.19602043427201, -22.077139657383004], 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-            geo_json_7e08e4bfc6ae2775e5b0362eb053f307.addTo(map_1f2ebbfe67d6530478a1f025e04d308d);
+            geo_json_f05c2d953d8c25307cbcbf70f08fe47d.addTo(map_d6f4492d08a9c83fdc3b2818abf93dd9);
         
 </script>
 
@@ -152,7 +152,7 @@
         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_1f2ebbfe67d6530478a1f025e04d308d);
+        trajeto_json.addTo(map_d6f4492d08a9c83fdc3b2818abf93dd9);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -210,7 +210,7 @@
         }
         trajeto_dinamico_json_add({"features": []});
 
-        trajeto_dinamico_json.addTo(map_1f2ebbfe67d6530478a1f025e04d308d);
+        trajeto_dinamico_json.addTo(map_d6f4492d08a9c83fdc3b2818abf93dd9);
 
         function adicionarGeometriaDinamica(novaGeometria) {
             trajeto_dinamico_json.addData(novaGeometria);
@@ -244,7 +244,12 @@
     <script src="folium/mqtt.min.js"></script>
     <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
-        let posicaoAtual = {
+        let posicaoAtualEquipamento = {
+            lat: 0, 
+            long: 0
+        };
+
+        let posicaoAtualBase = {
             lat: 0, 
             long: 0
         };
@@ -256,9 +261,15 @@
             popupAnchor: [0, -16] 
         });
         
-        var marcadorDinamico = L.marker([0, 0], {
+        var marcadorEquipamento = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_1f2ebbfe67d6530478a1f025e04d308d);
+        }).addTo(map_d6f4492d08a9c83fdc3b2818abf93dd9);
+        
+        var marcadorBase = L.marker([0, 0], {}).addTo(map_d6f4492d08a9c83fdc3b2818abf93dd9);
+        var icon = L.AwesomeMarkers.icon(
+            {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
+        );
+        marcadorBase.setIcon(icon);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -300,22 +311,45 @@
             else if (topic === "coordenadas_gps") {
                 // A mensagem e um Buffer, converta para string ou objeto conforme necessario
                 //console.log(`Mensagem recebida no topico '${topic}': ${message.toString()}`);
+                
+                var id = dados.id;
                 var novaLatitude = dados.latitude;
                 var novaLongitude = dados.longitude;
                 var novaPosicao = [novaLatitude, novaLongitude];
-                marcadorDinamico.setLatLng(novaPosicao);
+                var orientacao = dados.orientacao;
+                var foco = dados.foco;
                 
-                // Calcular angulo de rotacao
-                var angulo = dados.orientacao;
-
-                posicaoAtual.lat = novaPosicao[0];
-                posicaoAtual.long = novaPosicao[1];
-
-                // Rotacionar o marcador para o angulo calculado
-                marcadorDinamico.setRotationAngle(angulo);
+                if (id == 1) {
+                    marcadorBase.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualBase.lat = novaPosicao[0];
+                    posicaoAtualBase.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorBase.setRotationAngle(angulo);
+                }
+                else {
+                    marcadorEquipamento.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualEquipamento.lat = novaPosicao[0];
+                    posicaoAtualEquipamento.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorEquipamento.setRotationAngle(angulo);
+                
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                }
+                
+                if (foco) {
+                    map_d6f4492d08a9c83fdc3b2818abf93dd9.setView(novaPosicao, map_d6f4492d08a9c83fdc3b2818abf93dd9.getZoom());
+                }
                 
-                adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-                map_1f2ebbfe67d6530478a1f025e04d308d.setView(novaPosicao, map_1f2ebbfe67d6530478a1f025e04d308d.getZoom());
             }
             else if (topic === 'selecao_ruas_mapa') {
                 var selecionadas = dados;
@@ -330,7 +364,7 @@
         function atualizarSelecaoRuas(selecionadas) {
             selecionadas = JSON.parse(selecionadas);
             RuasSelecionadas = Array.isArray(selecionadas) ? [...selecionadas] : [];
-            geo_json_7e08e4bfc6ae2775e5b0362eb053f307.eachLayer(function (layer) {
+            geo_json_f05c2d953d8c25307cbcbf70f08fe47d.eachLayer(function (layer) {
                 if (RuasSelecionadas.includes(parseInt(layer.feature.id))) {
                     layer.setStyle({ color: 'blue' });
                 } else {
diff --git a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
index 7254dd6e4..7633e2b39 100644
--- a/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
+++ b/AgroBase/AgroBase/bin/Debug/Python/Scripts/map-load.py
@@ -216,7 +216,12 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
     <script src="folium/mqtt.min.js"></script>
     <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
-        let posicaoAtual = {{
+        let posicaoAtualEquipamento = {{
+            lat: 0, 
+            long: 0
+        }};
+
+        let posicaoAtualBase = {{
             lat: 0, 
             long: 0
         }};
@@ -228,9 +233,15 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             popupAnchor: [0, -16] 
         }});
         
-        var marcadorDinamico = L.marker([0, 0], {{
+        var marcadorEquipamento = L.marker([0, 0], {{
             icon: customIcon
         }}).addTo({id_mapa});
+        
+        var marcadorBase = L.marker([0, 0], {{}}).addTo({id_mapa});
+        var icon = L.AwesomeMarkers.icon(
+            {{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}}
+        );
+        marcadorBase.setIcon(icon);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -272,22 +283,45 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             else if (topic === "{topico_gps}") {{
                 // A mensagem e um Buffer, converta para string ou objeto conforme necessario
                 //console.log(`Mensagem recebida no topico '${{topic}}': ${{message.toString()}}`);
+                
+                var id = dados.id;
                 var novaLatitude = dados.latitude;
                 var novaLongitude = dados.longitude;
                 var novaPosicao = [novaLatitude, novaLongitude];
-                marcadorDinamico.setLatLng(novaPosicao);
+                var orientacao = dados.orientacao;
+                var foco = dados.foco;
                 
-                // Calcular angulo de rotacao
-                var angulo = dados.orientacao;
-
-                posicaoAtual.lat = novaPosicao[0];
-                posicaoAtual.long = novaPosicao[1];
-
-                // Rotacionar o marcador para o angulo calculado
-                marcadorDinamico.setRotationAngle(angulo);
+                if (id == 1) {{
+                    marcadorBase.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualBase.lat = novaPosicao[0];
+                    posicaoAtualBase.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorBase.setRotationAngle(angulo);
+                }}
+                else {{
+                    marcadorEquipamento.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualEquipamento.lat = novaPosicao[0];
+                    posicaoAtualEquipamento.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorEquipamento.setRotationAngle(angulo);
+                
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                }}
+                
+                if (foco) {{
+                    {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
+                }}
                 
-                adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-                {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
             }}
             else if (topic === '{topico_ruas}') {{
                 var selecionadas = dados;
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.pdb b/AgroBase/AgroBase/obj/Debug/AgroBase.pdb
index 529c7e9f7..d79c46edd 100644
Binary files a/AgroBase/AgroBase/obj/Debug/AgroBase.pdb and b/AgroBase/AgroBase/obj/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache
index 5fcda0498..c2fa08af6 100644
Binary files a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache and b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache differ
diff --git a/AgroBase/AgroMonitor/Forms/frmInicial.cs b/AgroBase/AgroMonitor/Forms/frmInicial.cs
index cb50940c2..247728083 100644
--- a/AgroBase/AgroMonitor/Forms/frmInicial.cs
+++ b/AgroBase/AgroMonitor/Forms/frmInicial.cs
@@ -74,7 +74,7 @@ namespace AgroMonitor
             if (!GPSService.Iniciado || !LoRaService.Iniciado)
             {
                 await SerialService.RealizarVarreduraPortasUSB(new System.Timers.Timer());
-                tmr.Interval = 5000;
+                tmr.Interval = SerialService.InteraloVerificacao;
             }
             else
             {
diff --git a/AgroBase/AgroMonitor/Forms/frmMonitoramento.Designer.cs b/AgroBase/AgroMonitor/Forms/frmMonitoramento.Designer.cs
index c9c7baaa2..1bfde0e82 100644
--- a/AgroBase/AgroMonitor/Forms/frmMonitoramento.Designer.cs
+++ b/AgroBase/AgroMonitor/Forms/frmMonitoramento.Designer.cs
@@ -90,6 +90,8 @@
             this.tvwFalhas = new System.Windows.Forms.TreeView();
             this.lblMapa = new System.Windows.Forms.Label();
             this.btnCarregar = new System.Windows.Forms.Button();
+            this.txtCarroConectado = new System.Windows.Forms.TextBox();
+            this.lblCarroConectado = new System.Windows.Forms.Label();
             this.pnlDados.SuspendLayout();
             this.pnlControle.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.tkbAnguloMP)).BeginInit();
@@ -111,7 +113,7 @@
             // 
             this.lblLatitude.AutoSize = true;
             this.lblLatitude.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblLatitude.Location = new System.Drawing.Point(12, 128);
+            this.lblLatitude.Location = new System.Drawing.Point(12, 159);
             this.lblLatitude.Name = "lblLatitude";
             this.lblLatitude.Size = new System.Drawing.Size(59, 17);
             this.lblLatitude.TabIndex = 2;
@@ -121,7 +123,7 @@
             // 
             this.lblLongitude.AutoSize = true;
             this.lblLongitude.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblLongitude.Location = new System.Drawing.Point(117, 128);
+            this.lblLongitude.Location = new System.Drawing.Point(117, 159);
             this.lblLongitude.Name = "lblLongitude";
             this.lblLongitude.Size = new System.Drawing.Size(71, 17);
             this.lblLongitude.TabIndex = 3;
@@ -129,7 +131,7 @@
             // 
             // txtLatitude
             // 
-            this.txtLatitude.Location = new System.Drawing.Point(11, 148);
+            this.txtLatitude.Location = new System.Drawing.Point(11, 179);
             this.txtLatitude.Name = "txtLatitude";
             this.txtLatitude.ReadOnly = true;
             this.txtLatitude.Size = new System.Drawing.Size(100, 20);
@@ -138,7 +140,7 @@
             // 
             // txtLongitude
             // 
-            this.txtLongitude.Location = new System.Drawing.Point(119, 148);
+            this.txtLongitude.Location = new System.Drawing.Point(119, 179);
             this.txtLongitude.Name = "txtLongitude";
             this.txtLongitude.ReadOnly = true;
             this.txtLongitude.Size = new System.Drawing.Size(100, 20);
@@ -148,6 +150,8 @@
             // pnlDados
             // 
             this.pnlDados.AutoScroll = true;
+            this.pnlDados.Controls.Add(this.txtCarroConectado);
+            this.pnlDados.Controls.Add(this.lblCarroConectado);
             this.pnlDados.Controls.Add(this.chbFoco);
             this.pnlDados.Controls.Add(this.txtCodigoFalha);
             this.pnlDados.Controls.Add(this.lblCodigoFalha);
@@ -252,7 +256,7 @@
             this.pnlControle.Controls.Add(this.cmbTipoMovimento);
             this.pnlControle.Controls.Add(this.btnParar);
             this.pnlControle.Controls.Add(this.btnControle);
-            this.pnlControle.Location = new System.Drawing.Point(11, 638);
+            this.pnlControle.Location = new System.Drawing.Point(11, 669);
             this.pnlControle.Name = "pnlControle";
             this.pnlControle.Size = new System.Drawing.Size(233, 292);
             this.pnlControle.TabIndex = 49;
@@ -265,6 +269,7 @@
             this.tkbAnguloMP.Size = new System.Drawing.Size(215, 45);
             this.tkbAnguloMP.TabIndex = 19;
             this.tkbAnguloMP.TickFrequency = 10;
+            this.tkbAnguloMP.ValueChanged += new System.EventHandler(this.tkbAnguloMP_ValueChanged);
             // 
             // tkbVelocidadeSP
             // 
@@ -274,6 +279,7 @@
             this.tkbVelocidadeSP.Size = new System.Drawing.Size(215, 45);
             this.tkbVelocidadeSP.TabIndex = 18;
             this.tkbVelocidadeSP.TickFrequency = 10;
+            this.tkbVelocidadeSP.ValueChanged += new System.EventHandler(this.tkbVelocidadeSP_ValueChanged);
             // 
             // lblAngulo
             // 
@@ -336,7 +342,7 @@
             // 
             this.lblControle.AutoSize = true;
             this.lblControle.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblControle.Location = new System.Drawing.Point(12, 618);
+            this.lblControle.Location = new System.Drawing.Point(12, 649);
             this.lblControle.Name = "lblControle";
             this.lblControle.Size = new System.Drawing.Size(61, 17);
             this.lblControle.TabIndex = 48;
@@ -344,7 +350,7 @@
             // 
             // txtTempoEstimado
             // 
-            this.txtTempoEstimado.Location = new System.Drawing.Point(119, 234);
+            this.txtTempoEstimado.Location = new System.Drawing.Point(119, 265);
             this.txtTempoEstimado.Name = "txtTempoEstimado";
             this.txtTempoEstimado.ReadOnly = true;
             this.txtTempoEstimado.Size = new System.Drawing.Size(100, 20);
@@ -355,7 +361,7 @@
             // 
             this.lblTempoEstimado.AutoSize = true;
             this.lblTempoEstimado.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTempoEstimado.Location = new System.Drawing.Point(117, 214);
+            this.lblTempoEstimado.Location = new System.Drawing.Point(117, 245);
             this.lblTempoEstimado.Name = "lblTempoEstimado";
             this.lblTempoEstimado.Size = new System.Drawing.Size(66, 17);
             this.lblTempoEstimado.TabIndex = 45;
@@ -365,7 +371,7 @@
             // 
             this.lblTempoDecorrido.AutoSize = true;
             this.lblTempoDecorrido.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTempoDecorrido.Location = new System.Drawing.Point(12, 214);
+            this.lblTempoDecorrido.Location = new System.Drawing.Point(12, 245);
             this.lblTempoDecorrido.Name = "lblTempoDecorrido";
             this.lblTempoDecorrido.Size = new System.Drawing.Size(70, 17);
             this.lblTempoDecorrido.TabIndex = 44;
@@ -373,7 +379,7 @@
             // 
             // txtTempoDecorrido
             // 
-            this.txtTempoDecorrido.Location = new System.Drawing.Point(11, 234);
+            this.txtTempoDecorrido.Location = new System.Drawing.Point(11, 265);
             this.txtTempoDecorrido.Name = "txtTempoDecorrido";
             this.txtTempoDecorrido.ReadOnly = true;
             this.txtTempoDecorrido.Size = new System.Drawing.Size(100, 20);
@@ -384,7 +390,7 @@
             // 
             this.lblProgressoRua.AutoSize = true;
             this.lblProgressoRua.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblProgressoRua.Location = new System.Drawing.Point(118, 257);
+            this.lblProgressoRua.Location = new System.Drawing.Point(118, 288);
             this.lblProgressoRua.Name = "lblProgressoRua";
             this.lblProgressoRua.Size = new System.Drawing.Size(50, 17);
             this.lblProgressoRua.TabIndex = 42;
@@ -392,7 +398,7 @@
             // 
             // pgbProgressoRua
             // 
-            this.pgbProgressoRua.Location = new System.Drawing.Point(117, 277);
+            this.pgbProgressoRua.Location = new System.Drawing.Point(117, 308);
             this.pgbProgressoRua.Name = "pgbProgressoRua";
             this.pgbProgressoRua.Size = new System.Drawing.Size(100, 20);
             this.pgbProgressoRua.TabIndex = 41;
@@ -401,7 +407,7 @@
             // 
             this.lblProgressoOperacao.AutoSize = true;
             this.lblProgressoOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblProgressoOperacao.Location = new System.Drawing.Point(12, 257);
+            this.lblProgressoOperacao.Location = new System.Drawing.Point(12, 288);
             this.lblProgressoOperacao.Name = "lblProgressoOperacao";
             this.lblProgressoOperacao.Size = new System.Drawing.Size(87, 17);
             this.lblProgressoOperacao.TabIndex = 40;
@@ -409,14 +415,14 @@
             // 
             // pgbProgressoOperacao
             // 
-            this.pgbProgressoOperacao.Location = new System.Drawing.Point(11, 277);
+            this.pgbProgressoOperacao.Location = new System.Drawing.Point(11, 308);
             this.pgbProgressoOperacao.Name = "pgbProgressoOperacao";
             this.pgbProgressoOperacao.Size = new System.Drawing.Size(100, 20);
             this.pgbProgressoOperacao.TabIndex = 39;
             // 
             // txtStatusCarro
             // 
-            this.txtStatusCarro.Location = new System.Drawing.Point(119, 191);
+            this.txtStatusCarro.Location = new System.Drawing.Point(119, 222);
             this.txtStatusCarro.Name = "txtStatusCarro";
             this.txtStatusCarro.ReadOnly = true;
             this.txtStatusCarro.Size = new System.Drawing.Size(100, 20);
@@ -427,7 +433,7 @@
             // 
             this.lblStatusCarro.AutoSize = true;
             this.lblStatusCarro.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblStatusCarro.Location = new System.Drawing.Point(117, 171);
+            this.lblStatusCarro.Location = new System.Drawing.Point(117, 202);
             this.lblStatusCarro.Name = "lblStatusCarro";
             this.lblStatusCarro.Size = new System.Drawing.Size(43, 17);
             this.lblStatusCarro.TabIndex = 37;
@@ -437,7 +443,7 @@
             // 
             this.lblStatusOperacao.AutoSize = true;
             this.lblStatusOperacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblStatusOperacao.Location = new System.Drawing.Point(12, 171);
+            this.lblStatusOperacao.Location = new System.Drawing.Point(12, 202);
             this.lblStatusOperacao.Name = "lblStatusOperacao";
             this.lblStatusOperacao.Size = new System.Drawing.Size(71, 17);
             this.lblStatusOperacao.TabIndex = 36;
@@ -445,7 +451,7 @@
             // 
             // txtStatusOperacao
             // 
-            this.txtStatusOperacao.Location = new System.Drawing.Point(11, 191);
+            this.txtStatusOperacao.Location = new System.Drawing.Point(11, 222);
             this.txtStatusOperacao.Name = "txtStatusOperacao";
             this.txtStatusOperacao.ReadOnly = true;
             this.txtStatusOperacao.Size = new System.Drawing.Size(100, 20);
@@ -456,7 +462,7 @@
             // 
             this.lblErvasIdentificadas.AutoSize = true;
             this.lblErvasIdentificadas.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblErvasIdentificadas.Location = new System.Drawing.Point(158, 396);
+            this.lblErvasIdentificadas.Location = new System.Drawing.Point(158, 427);
             this.lblErvasIdentificadas.Name = "lblErvasIdentificadas";
             this.lblErvasIdentificadas.Size = new System.Drawing.Size(54, 13);
             this.lblErvasIdentificadas.TabIndex = 34;
@@ -466,7 +472,7 @@
             // 
             this.lblVelocidadeDados.AutoSize = true;
             this.lblVelocidadeDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblVelocidadeDados.Location = new System.Drawing.Point(117, 581);
+            this.lblVelocidadeDados.Location = new System.Drawing.Point(117, 612);
             this.lblVelocidadeDados.Name = "lblVelocidadeDados";
             this.lblVelocidadeDados.Size = new System.Drawing.Size(82, 13);
             this.lblVelocidadeDados.TabIndex = 33;
@@ -476,7 +482,7 @@
             // 
             this.lblVelocidade.AutoSize = true;
             this.lblVelocidade.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblVelocidade.Location = new System.Drawing.Point(12, 558);
+            this.lblVelocidade.Location = new System.Drawing.Point(12, 589);
             this.lblVelocidade.Name = "lblVelocidade";
             this.lblVelocidade.Size = new System.Drawing.Size(78, 17);
             this.lblVelocidade.TabIndex = 32;
@@ -484,7 +490,7 @@
             // 
             // pgbVelocidade
             // 
-            this.pgbVelocidade.Location = new System.Drawing.Point(11, 578);
+            this.pgbVelocidade.Location = new System.Drawing.Point(11, 609);
             this.pgbVelocidade.Maximum = 20;
             this.pgbVelocidade.Name = "pgbVelocidade";
             this.pgbVelocidade.Size = new System.Drawing.Size(100, 20);
@@ -494,7 +500,7 @@
             // 
             this.lblHerbicidaDados.AutoSize = true;
             this.lblHerbicidaDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblHerbicidaDados.Location = new System.Drawing.Point(117, 409);
+            this.lblHerbicidaDados.Location = new System.Drawing.Point(117, 440);
             this.lblHerbicidaDados.Name = "lblHerbicidaDados";
             this.lblHerbicidaDados.Size = new System.Drawing.Size(100, 13);
             this.lblHerbicidaDados.TabIndex = 30;
@@ -504,7 +510,7 @@
             // 
             this.lblHerbicida.AutoSize = true;
             this.lblHerbicida.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblHerbicida.Location = new System.Drawing.Point(12, 386);
+            this.lblHerbicida.Location = new System.Drawing.Point(12, 417);
             this.lblHerbicida.Name = "lblHerbicida";
             this.lblHerbicida.Size = new System.Drawing.Size(126, 17);
             this.lblHerbicida.TabIndex = 29;
@@ -512,7 +518,7 @@
             // 
             // pgbHerbicidaAplicado
             // 
-            this.pgbHerbicidaAplicado.Location = new System.Drawing.Point(11, 406);
+            this.pgbHerbicidaAplicado.Location = new System.Drawing.Point(11, 437);
             this.pgbHerbicidaAplicado.Maximum = 35;
             this.pgbHerbicidaAplicado.Name = "pgbHerbicidaAplicado";
             this.pgbHerbicidaAplicado.Size = new System.Drawing.Size(100, 20);
@@ -522,7 +528,7 @@
             // 
             this.lblPressaoDados.AutoSize = true;
             this.lblPressaoDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblPressaoDados.Location = new System.Drawing.Point(117, 452);
+            this.lblPressaoDados.Location = new System.Drawing.Point(117, 483);
             this.lblPressaoDados.Name = "lblPressaoDados";
             this.lblPressaoDados.Size = new System.Drawing.Size(44, 13);
             this.lblPressaoDados.TabIndex = 27;
@@ -532,7 +538,7 @@
             // 
             this.lblPressao.AutoSize = true;
             this.lblPressao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblPressao.Location = new System.Drawing.Point(12, 429);
+            this.lblPressao.Location = new System.Drawing.Point(12, 460);
             this.lblPressao.Name = "lblPressao";
             this.lblPressao.Size = new System.Drawing.Size(119, 17);
             this.lblPressao.TabIndex = 26;
@@ -540,7 +546,7 @@
             // 
             // pgbPressao
             // 
-            this.pgbPressao.Location = new System.Drawing.Point(11, 449);
+            this.pgbPressao.Location = new System.Drawing.Point(11, 480);
             this.pgbPressao.Maximum = 150;
             this.pgbPressao.Name = "pgbPressao";
             this.pgbPressao.Size = new System.Drawing.Size(100, 20);
@@ -550,7 +556,7 @@
             // 
             this.lblTemperaturaCampoDados.AutoSize = true;
             this.lblTemperaturaCampoDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblTemperaturaCampoDados.Location = new System.Drawing.Point(117, 538);
+            this.lblTemperaturaCampoDados.Location = new System.Drawing.Point(117, 569);
             this.lblTemperaturaCampoDados.Name = "lblTemperaturaCampoDados";
             this.lblTemperaturaCampoDados.Size = new System.Drawing.Size(42, 13);
             this.lblTemperaturaCampoDados.TabIndex = 24;
@@ -560,7 +566,7 @@
             // 
             this.lblTemperaturaCampo.AutoSize = true;
             this.lblTemperaturaCampo.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTemperaturaCampo.Location = new System.Drawing.Point(8, 515);
+            this.lblTemperaturaCampo.Location = new System.Drawing.Point(8, 546);
             this.lblTemperaturaCampo.Name = "lblTemperaturaCampo";
             this.lblTemperaturaCampo.Size = new System.Drawing.Size(138, 17);
             this.lblTemperaturaCampo.TabIndex = 23;
@@ -568,7 +574,7 @@
             // 
             // pgbTemperaturaCampo
             // 
-            this.pgbTemperaturaCampo.Location = new System.Drawing.Point(11, 535);
+            this.pgbTemperaturaCampo.Location = new System.Drawing.Point(11, 566);
             this.pgbTemperaturaCampo.Name = "pgbTemperaturaCampo";
             this.pgbTemperaturaCampo.Size = new System.Drawing.Size(100, 20);
             this.pgbTemperaturaCampo.TabIndex = 22;
@@ -577,7 +583,7 @@
             // 
             this.lblTemperaturaMotoresDados.AutoSize = true;
             this.lblTemperaturaMotoresDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblTemperaturaMotoresDados.Location = new System.Drawing.Point(117, 495);
+            this.lblTemperaturaMotoresDados.Location = new System.Drawing.Point(117, 526);
             this.lblTemperaturaMotoresDados.Name = "lblTemperaturaMotoresDados";
             this.lblTemperaturaMotoresDados.Size = new System.Drawing.Size(42, 13);
             this.lblTemperaturaMotoresDados.TabIndex = 21;
@@ -587,7 +593,7 @@
             // 
             this.lblTemperaturaMotores.AutoSize = true;
             this.lblTemperaturaMotores.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblTemperaturaMotores.Location = new System.Drawing.Point(12, 472);
+            this.lblTemperaturaMotores.Location = new System.Drawing.Point(12, 503);
             this.lblTemperaturaMotores.Name = "lblTemperaturaMotores";
             this.lblTemperaturaMotores.Size = new System.Drawing.Size(145, 17);
             this.lblTemperaturaMotores.TabIndex = 20;
@@ -595,7 +601,7 @@
             // 
             // pgbTemperaturaMotores
             // 
-            this.pgbTemperaturaMotores.Location = new System.Drawing.Point(11, 492);
+            this.pgbTemperaturaMotores.Location = new System.Drawing.Point(11, 523);
             this.pgbTemperaturaMotores.Maximum = 200;
             this.pgbTemperaturaMotores.Name = "pgbTemperaturaMotores";
             this.pgbTemperaturaMotores.Size = new System.Drawing.Size(100, 20);
@@ -605,7 +611,7 @@
             // 
             this.lblReservatorioDados.AutoSize = true;
             this.lblReservatorioDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblReservatorioDados.Location = new System.Drawing.Point(117, 366);
+            this.lblReservatorioDados.Location = new System.Drawing.Point(117, 397);
             this.lblReservatorioDados.Name = "lblReservatorioDados";
             this.lblReservatorioDados.Size = new System.Drawing.Size(75, 13);
             this.lblReservatorioDados.TabIndex = 15;
@@ -615,7 +621,7 @@
             // 
             this.lblBateriaDados.AutoSize = true;
             this.lblBateriaDados.Font = new System.Drawing.Font("Microsoft Sans Serif", 8.25F);
-            this.lblBateriaDados.Location = new System.Drawing.Point(117, 323);
+            this.lblBateriaDados.Location = new System.Drawing.Point(117, 354);
             this.lblBateriaDados.Name = "lblBateriaDados";
             this.lblBateriaDados.Size = new System.Drawing.Size(98, 13);
             this.lblBateriaDados.TabIndex = 14;
@@ -625,7 +631,7 @@
             // 
             this.lblReservatorio.AutoSize = true;
             this.lblReservatorio.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblReservatorio.Location = new System.Drawing.Point(12, 343);
+            this.lblReservatorio.Location = new System.Drawing.Point(12, 374);
             this.lblReservatorio.Name = "lblReservatorio";
             this.lblReservatorio.Size = new System.Drawing.Size(153, 17);
             this.lblReservatorio.TabIndex = 13;
@@ -633,7 +639,7 @@
             // 
             // pgbReservatorio
             // 
-            this.pgbReservatorio.Location = new System.Drawing.Point(11, 363);
+            this.pgbReservatorio.Location = new System.Drawing.Point(11, 394);
             this.pgbReservatorio.Maximum = 35;
             this.pgbReservatorio.Name = "pgbReservatorio";
             this.pgbReservatorio.Size = new System.Drawing.Size(100, 20);
@@ -643,7 +649,7 @@
             // 
             this.lblBateria.AutoSize = true;
             this.lblBateria.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblBateria.Location = new System.Drawing.Point(12, 300);
+            this.lblBateria.Location = new System.Drawing.Point(12, 331);
             this.lblBateria.Name = "lblBateria";
             this.lblBateria.Size = new System.Drawing.Size(53, 17);
             this.lblBateria.TabIndex = 11;
@@ -651,14 +657,14 @@
             // 
             // pgbBateria
             // 
-            this.pgbBateria.Location = new System.Drawing.Point(11, 320);
+            this.pgbBateria.Location = new System.Drawing.Point(11, 351);
             this.pgbBateria.Name = "pgbBateria";
             this.pgbBateria.Size = new System.Drawing.Size(100, 20);
             this.pgbBateria.TabIndex = 10;
             // 
             // txtOrientacao
             // 
-            this.txtOrientacao.Location = new System.Drawing.Point(119, 105);
+            this.txtOrientacao.Location = new System.Drawing.Point(119, 136);
             this.txtOrientacao.Name = "txtOrientacao";
             this.txtOrientacao.ReadOnly = true;
             this.txtOrientacao.Size = new System.Drawing.Size(100, 20);
@@ -669,7 +675,7 @@
             // 
             this.lblOrientacao.AutoSize = true;
             this.lblOrientacao.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblOrientacao.Location = new System.Drawing.Point(117, 85);
+            this.lblOrientacao.Location = new System.Drawing.Point(117, 116);
             this.lblOrientacao.Name = "lblOrientacao";
             this.lblOrientacao.Size = new System.Drawing.Size(78, 17);
             this.lblOrientacao.TabIndex = 8;
@@ -679,7 +685,7 @@
             // 
             this.lblLeitura.AutoSize = true;
             this.lblLeitura.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
-            this.lblLeitura.Location = new System.Drawing.Point(12, 85);
+            this.lblLeitura.Location = new System.Drawing.Point(12, 116);
             this.lblLeitura.Name = "lblLeitura";
             this.lblLeitura.Size = new System.Drawing.Size(52, 17);
             this.lblLeitura.TabIndex = 7;
@@ -687,7 +693,7 @@
             // 
             // txtLeitura
             // 
-            this.txtLeitura.Location = new System.Drawing.Point(11, 105);
+            this.txtLeitura.Location = new System.Drawing.Point(11, 136);
             this.txtLeitura.Name = "txtLeitura";
             this.txtLeitura.ReadOnly = true;
             this.txtLeitura.Size = new System.Drawing.Size(100, 20);
@@ -739,6 +745,25 @@
             this.btnCarregar.UseVisualStyleBackColor = true;
             this.btnCarregar.Click += new System.EventHandler(this.btnCarregar_Click);
             // 
+            // txtCarroConectado
+            // 
+            this.txtCarroConectado.Location = new System.Drawing.Point(113, 75);
+            this.txtCarroConectado.Name = "txtCarroConectado";
+            this.txtCarroConectado.ReadOnly = true;
+            this.txtCarroConectado.Size = new System.Drawing.Size(100, 20);
+            this.txtCarroConectado.TabIndex = 54;
+            this.txtCarroConectado.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
+            // 
+            // lblCarroConectado
+            // 
+            this.lblCarroConectado.AutoSize = true;
+            this.lblCarroConectado.Font = new System.Drawing.Font("Microsoft Sans Serif", 10.25F);
+            this.lblCarroConectado.Location = new System.Drawing.Point(6, 75);
+            this.lblCarroConectado.Name = "lblCarroConectado";
+            this.lblCarroConectado.Size = new System.Drawing.Size(76, 17);
+            this.lblCarroConectado.TabIndex = 53;
+            this.lblCarroConectado.Text = "Conectado";
+            // 
             // frmMonitoramento
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
@@ -827,5 +852,7 @@
         private System.Windows.Forms.TrackBar tkbVelocidadeSP;
         private System.Windows.Forms.TrackBar tkbAnguloMP;
         private System.Windows.Forms.TreeView tvwFalhas;
+        private System.Windows.Forms.TextBox txtCarroConectado;
+        private System.Windows.Forms.Label lblCarroConectado;
     }
 }
\ No newline at end of file
diff --git a/AgroBase/AgroMonitor/Forms/frmMonitoramento.cs b/AgroBase/AgroMonitor/Forms/frmMonitoramento.cs
index dd9dc07cf..9cad6fcfc 100644
--- a/AgroBase/AgroMonitor/Forms/frmMonitoramento.cs
+++ b/AgroBase/AgroMonitor/Forms/frmMonitoramento.cs
@@ -16,6 +16,7 @@ namespace AgroMonitor.Forms
         private MapasModel Mapa;
         Dictionary<byte, List<LoRaProtocoloTransmissaoModel>> Logs = new Dictionary<byte, List<LoRaProtocoloTransmissaoModel>>();
         int ticks = 0;
+        Keys UltimoComandoEnviado = Keys.None;
 
         public frmMonitoramento()
         {
@@ -103,7 +104,7 @@ namespace AgroMonitor.Forms
             {
                 var ultimoLog = equipamento[equipamento.Count - 1];
 
-                int enderecoEquipamentoEmFoco = Convert.ToInt32(cmbEquipamento.Text);
+                int enderecoEquipamentoEmFoco = cmbEquipamento.SelectedIndex > -1 ? Convert.ToInt32(cmbEquipamento.Text) : Convert.ToInt32(Variaveis.ConexaoLoRa.parametros.address);
                 int enderecoEquipamentoLog = Convert.ToInt32(ultimoLog.EnderecoCarro);
 
                 bool foco = enderecoEquipamentoEmFoco == enderecoEquipamentoLog && chbFoco.Checked;
@@ -158,6 +159,9 @@ namespace AgroMonitor.Forms
             {
                 var Equipamento = VariaveisMonitoramento.EquipamentosConectados[Endereco];
 
+                bool Conectado = Equipamento.RecebidoEm.AddMilliseconds(VariaveisEquipamento.TempoEntrePingsConexao) > DateTime.Now;
+                txtCarroConectado.Text = Conectado ? "Sim" : "Não";
+
                 if (Equipamento.Momento > MomentoLog)
                 {
                     MomentoLog = Equipamento.Momento;
@@ -212,8 +216,6 @@ namespace AgroMonitor.Forms
 
         private void EnviarComandoControleEquipamento(Keys Tecla, T_Code Disp = T_Code.Vzo)
         {
-            byte Endereco = Convert.ToByte(cmbEquipamento.Text);
-
             Dictionary<Keys, Keys> DeParaTeclas = new Dictionary<Keys, Keys>()
             {
                 { Keys.W, Keys.Up }, 
@@ -221,15 +223,25 @@ namespace AgroMonitor.Forms
                 { Keys.A, Keys.Left }, 
                 { Keys.D, Keys.Right }, 
                 { Keys.Escape, Keys.Escape }, 
+                { Keys.Space, Keys.Space }, 
             };
 
-            if (!DeParaTeclas.ContainsKey(Tecla))
+            if (Tecla == UltimoComandoEnviado || !DeParaTeclas.ContainsKey(Tecla) || cmbEquipamento.SelectedIndex < 0)
             {
                 return;
             }
 
+            byte Endereco = Convert.ToByte(cmbEquipamento.Text);
+
+            if (Endereco == Variaveis.ConexaoLoRa.parametros.address)
+            {
+                return;
+            }
+
+            UltimoComandoEnviado = Tecla;
+
             Keys[] TeclasDir = { Keys.A, Keys.D };
-            Keys[] TeclasMov = { Keys.W, Keys.S };
+            Keys[] TeclasMov = { Keys.W, Keys.S, Keys.Space };
             
             OperacaoControleBaseModel Controle = new OperacaoControleBaseModel()
             {
@@ -299,5 +311,18 @@ namespace AgroMonitor.Forms
             }
         }
 
+        private void tkbVelocidadeSP_ValueChanged(object sender, EventArgs e)
+        {
+            double Percentual = tkbVelocidadeSP.Value;
+            int RPM = Convert.ToInt32((Percentual / 100.0) * VariaveisEquipamento.RPM_Max_Roda);
+            double Velocidade = MovimentacaoModel.CalculaVelocidadeRPM(RPM);
+
+            lblVelocidadeSP.Text = $"Velocidade: {tkbVelocidadeSP.Value}% {Velocidade.ToString("0.00")} km/h";
+        }
+
+        private void tkbAnguloMP_ValueChanged(object sender, EventArgs e)
+        {
+            lblAngulo.Text = $"Angulo: {tkbAnguloMP.Value}°";
+        }
     }
 }
diff --git a/AgroBase/AgroMonitor/VariaveisMonitoramento.cs b/AgroBase/AgroMonitor/VariaveisMonitoramento.cs
index 356ea4e3c..b3574503b 100644
--- a/AgroBase/AgroMonitor/VariaveisMonitoramento.cs
+++ b/AgroBase/AgroMonitor/VariaveisMonitoramento.cs
@@ -23,11 +23,11 @@ namespace AgroMonitor
                     lock (LoRaService._dadosOperacaoLock)
                     {
                         // Mensagens dos equipamentos conectados dentro dos ultimos 10 segundos
-                        var Mensagens = LoRaService.LeituraDadosOperacao.Where(x => x.Momento.AddMilliseconds(VariaveisEquipamento.TempoEntrePingsConexao) < DateTime.Now).ToList();
+                        var Mensagens = LoRaService.LeituraDadosOperacao.Where(x => x.RecebidoEm.AddMilliseconds(VariaveisEquipamento.TempoEntrePingsConexao) > DateTime.Now).ToList();
                         var _equipamentos = Mensagens
                             .GroupBy(x => x.EnderecoCarro)
                             .OrderBy(x => x.Key)
-                            .ToDictionary(x => x.Key, x => x.OrderByDescending(y => y.Momento).FirstOrDefault());
+                            .ToDictionary(x => x.Key, x => x.OrderByDescending(y => y.RecebidoEm).FirstOrDefault());
                         foreach (var item in _equipamentos)
                         {
                             Equipamentos.Add(item.Key, item.Value);
@@ -50,10 +50,10 @@ namespace AgroMonitor
                 if (LoRaService.Iniciado)
                 {
                     // Mensagens dos equipamentos conectados dentro dos ultimos 10 segundos
-                    var Mensagens = LoRaService.LeituraDadosOperacao.Where(x => x.Momento.AddMilliseconds(VariaveisEquipamento.TempoEntrePingsConexao) < DateTime.Now).ToList();
+                    var Mensagens = LoRaService.LeituraDadosOperacao.Where(x => x.RecebidoEm.AddMilliseconds(VariaveisEquipamento.TempoEntrePingsConexao) > DateTime.Now).ToList();
                     var _equipamentos = Mensagens
                         .GroupBy(x => x.EnderecoCarro)
-                        .ToDictionary(x => x.Key, x => x.OrderBy(y => y.Momento).ToList());
+                        .ToDictionary(x => x.Key, x => x.OrderBy(y => y.RecebidoEm).ToList());
                     foreach (var item in _equipamentos)
                     {
                         Equipamentos.Add(item.Key, item.Value);
diff --git a/AgroBase/AgroMonitor/bin/Debug/AgroBase.pdb b/AgroBase/AgroMonitor/bin/Debug/AgroBase.pdb
index 529c7e9f7..d79c46edd 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/AgroBase.pdb and b/AgroBase/AgroMonitor/bin/Debug/AgroBase.pdb differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/AgroMonitor.pdb b/AgroBase/AgroMonitor/bin/Debug/AgroMonitor.pdb
index 2852f4cbb..0cca4582e 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/AgroMonitor.pdb and b/AgroBase/AgroMonitor/bin/Debug/AgroMonitor.pdb differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/DawnCache/data_1 b/AgroBase/AgroMonitor/bin/Debug/DawnCache/data_1
index 3ea489aec..da272cec3 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/DawnCache/data_1 and b/AgroBase/AgroMonitor/bin/Debug/DawnCache/data_1 differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_0 b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_0
index 10ff06b34..296ab13c7 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_0 and b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_0 differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_1 b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_1
index 9f802b663..32653ffe3 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_1 and b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_1 differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_2 b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_2
index 617e93b51..786cc29dd 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_2 and b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_2 differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_3 b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_3
index acc273b6a..63a9aa1d1 100644
Binary files a/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_3 and b/AgroBase/AgroMonitor/bin/Debug/GPUCache/data_3 differ
diff --git a/AgroBase/AgroMonitor/bin/Debug/Python/Output/mapa_interativo.html b/AgroBase/AgroMonitor/bin/Debug/Python/Output/mapa_interativo.html
index 2a6ee2b36..3d603e9fe 100644
--- a/AgroBase/AgroMonitor/bin/Debug/Python/Output/mapa_interativo.html
+++ b/AgroBase/AgroMonitor/bin/Debug/Python/Output/mapa_interativo.html
@@ -25,7 +25,7 @@
             <meta name="viewport" content="width=device-width,
                 initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
             <style>
-                #map_300fd1bff626eccece7e22d4cec066a3 {
+                #map_e1814c4beefd8a9ca9b403c5cfbf76cd {
                     position: relative;
                     width: 100.0%;
                     height: 100.0%;
@@ -39,14 +39,14 @@
 <body>
     
     
-            <div class="folium-map" id="map_300fd1bff626eccece7e22d4cec066a3" ></div>
+            <div class="folium-map" id="map_e1814c4beefd8a9ca9b403c5cfbf76cd" ></div>
         
 </body>
 <script>
     
     
-            var map_300fd1bff626eccece7e22d4cec066a3 = L.map(
-                "map_300fd1bff626eccece7e22d4cec066a3",
+            var map_e1814c4beefd8a9ca9b403c5cfbf76cd = L.map(
+                "map_e1814c4beefd8a9ca9b403c5cfbf76cd",
                 {
                     center: [-22.07700866624257, -47.19598995141658],
                     crs: L.CRS.EPSG3857,
@@ -60,34 +60,34 @@
 
         
     
-            var tile_layer_da6382b478aa7104b1937c49345d5381 = L.tileLayer(
+            var tile_layer_959eb81f9f5c088d1673cd2c10d0fdf4 = L.tileLayer(
                 "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
                 {"attribution": "\u0026copy; \u003ca href=\"https://www.openstreetmap.org/copyright\"\u003eOpenStreetMap\u003c/a\u003e contributors", "detectRetina": false, "maxNativeZoom": 19, "maxZoom": 19, "minZoom": 0, "noWrap": false, "opacity": 1, "subdomains": "abc", "tms": false}
             );
         
     
-            tile_layer_da6382b478aa7104b1937c49345d5381.addTo(map_300fd1bff626eccece7e22d4cec066a3);
+            tile_layer_959eb81f9f5c088d1673cd2c10d0fdf4.addTo(map_e1814c4beefd8a9ca9b403c5cfbf76cd);
         
     
 
-        function geo_json_4bbb72decf6e2f0062f10d5c74b143a9_onEachFeature(feature, layer) {
+        function geo_json_debbe8a85b00b69515d7c54efd2fa0ca_onEachFeature(feature, layer) {
             layer.on({
             });
         };
-        var geo_json_4bbb72decf6e2f0062f10d5c74b143a9 = L.geoJson(null, {
-                onEachFeature: geo_json_4bbb72decf6e2f0062f10d5c74b143a9_onEachFeature,
+        var geo_json_debbe8a85b00b69515d7c54efd2fa0ca = L.geoJson(null, {
+                onEachFeature: geo_json_debbe8a85b00b69515d7c54efd2fa0ca_onEachFeature,
             
         });
 
-        function geo_json_4bbb72decf6e2f0062f10d5c74b143a9_add (data) {
-            geo_json_4bbb72decf6e2f0062f10d5c74b143a9
+        function geo_json_debbe8a85b00b69515d7c54efd2fa0ca_add (data) {
+            geo_json_debbe8a85b00b69515d7c54efd2fa0ca
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-22.078341467770066], [-47.195100947678625, -22.078323955136018]], "type": "LineString"}, "id": "213", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 93.891446692, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.19597377782351, -22.07851678807018], [-47.19597073881029, -22.078516164957005], [-47.195883238305996, -22.078498224002004], [-47.195795737819644, -22.07848028299831], [-47.195708237351184, -22.07846234194588], [-47.19562073690065, -22.078444400844717], [-47.19553323646803, -22.078426459694835], [-47.19544573605333, -22.078408518496243], [-47.19535823565655, -22.078390577248886], [-47.195270735277695, -22.078372635952842], [-47.195183234916755, -22.07835469460808], [-47.195113494776486, -22.078340394836392]], "type": "LineString"}, "id": "214", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 90.930130358, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.19595830821587, -22.078527483181787], [-47.195880116329135, -22.078511450848058], [-47.195792615834705, -22.078493509843344], [-47.19570511535817, -22.078475568789894], [-47.195617614899554, -22.078457627687726], [-47.195530114458876, -22.078439686536836], [-47.19544261403609, -22.078421745337227], [-47.19535511363123, -22.078403804088886], [-47.1952676132443, -22.078385862791823], [-47.19518011287527, -22.078367921446038], [-47.19512604187733, -22.078356834535505]], "type": "LineString"}, "id": "215", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 87.968814029, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.1959428386058, -22.078538178292135], [-47.19587699435181, -22.078524677694073], [-47.1957894938493, -22.078506736688354], [-47.19570199336469, -22.078488795633902], [-47.195614492898, -22.07847085453072], [-47.195526992449246, -22.07845291337882], [-47.19543949201838, -22.0784349721782], [-47.19535199160544, -22.078417030928854], [-47.19526449121043, -22.078399089630775], [-47.195176990833325, -22.078381148283988], [-47.19513858898119, -22.078373274233414]], "type": "LineString"}, "id": "216", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 85.007497695, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.19592736899337, -22.07854887340118], [-47.19587387237403, -22.078537904540045], [-47.19578637186343, -22.07851996353331], [-47.19569887137073, -22.078502022477853], [-47.195611370895975, -22.078484081373684], [-47.195523870439125, -22.078466140220772], [-47.195436370000195, -22.07844819901914], [-47.19534886957918, -22.078430257768776], [-47.19526136917608, -22.07841231646969], [-47.19517386879092, -22.078394375121885], [-47.195151136088015, -22.078389713930065]], "type": "LineString"}, "id": "217", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 82.046181365, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.195911899378515, -22.078559568508947], [-47.195870750395756, -22.078551131386], [-47.19578324987708, -22.078533190378256], [-47.195695749376306, -22.078515249321786], [-47.19560824889348, -22.07849730821661], [-47.19552074842855, -22.078479367062673], [-47.19543324798153, -22.078461425860052], [-47.19534574755244, -22.07844348460868], [-47.195258247141275, -22.078425543308587], [-47.195170746748026, -22.07840760195977], [-47.19516368319786, -22.0784061536255]], "type": "LineString"}, "id": "218", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 79.084865032, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.195896429761284, -22.078570263615426], [-47.19586762841701, -22.078564358231922], [-47.195780127890266, -22.07854641722316], [-47.195692627381426, -22.078528476165676], [-47.1956051268905, -22.078510535059472], [-47.195517626417505, -22.078492593904564], [-47.19543012596241, -22.078474652700912], [-47.195342625525235, -22.078456711448535], [-47.195255125106, -22.078438770147432], [-47.195175753964655, -22.07842249564814]], "type": "LineString"}, "id": "219", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 76.173897505, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.195880960141665, -22.078580958720604], [-47.1958645064378, -22.078577585077802], [-47.195777005902976, -22.078559644068044], [-47.19568950538606, -22.078541703009552], [-47.19560200488706, -22.07852376190234], [-47.195514504405985, -22.07850582074642], [-47.19542700394281, -22.07848787954174], [-47.19533950349756, -22.07846993828837], [-47.195252003070244, -22.07845199698626], [-47.19518734652785, -22.078438739616637]], "type": "LineString"}, "id": "220", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 73.313475421, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.19586466255881, -22.078591484060627], [-47.19577388391521, -22.078572870912883], [-47.19568638339021, -22.078554929853382], [-47.19559888288315, -22.078536988745157], [-47.195511382393995, -22.078519047588216], [-47.19542388192275, -22.07850110638255], [-47.19533638146942, -22.07848316512816], [-47.19524888103402, -22.078465223825038], [-47.19519893909379, -22.078454983584077]], "type": "LineString"}, "id": "221", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 70.365539724, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.19584553572657, -22.07860142929435], [-47.19577076192698, -22.0785860977577], [-47.1956832613939, -22.078568156697195], [-47.19559576087876, -22.07855021558796], [-47.19550826038153, -22.078532274430014], [-47.195420759902206, -22.07851433322333], [-47.1953332594408, -22.07849639196794], [-47.19524575899732, -22.07847845066379], [-47.1952105316625, -22.078471227550434]], "type": "LineString"}, "id": "222", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 67.118558961, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.19554116539534, -22.078719292053304], [-47.19546767417662, -22.07870422337033], [-47.195442805154286, -22.078699124202906]], "type": "LineString"}, "id": "223", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 10.396452589, "Name": "Curvas"}, "type": "Feature"}, {"geometry": {"coordinates": [[-47.195512980813604, -22.07872738005577], [-47.19547733357063, -22.078720070922746]], "type": "LineString"}, "id": "224", "properties": {"Dist1": 0.0, "Dist2": 0.0, "Id": 1517, "Length": 3.767831676, "Name": "Curvas"}, "type": "Feature"}], "type": "FeatureCollection"});
 
         
     
-            geo_json_4bbb72decf6e2f0062f10d5c74b143a9.addTo(map_300fd1bff626eccece7e22d4cec066a3);
+            geo_json_debbe8a85b00b69515d7c54efd2fa0ca.addTo(map_e1814c4beefd8a9ca9b403c5cfbf76cd);
         
 </script>
 
@@ -101,7 +101,7 @@
             var marcador;
 
             if (id == 1) {
-                marcador = L.marker(coordenadas, {}).addTo(map_300fd1bff626eccece7e22d4cec066a3);
+                marcador = L.marker(coordenadas, {}).addTo(map_e1814c4beefd8a9ca9b403c5cfbf76cd);
                 var icon = L.AwesomeMarkers.icon(
                     {"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}
                 );
@@ -114,7 +114,7 @@
                     iconAnchor: [16, 16], 
                     popupAnchor: [0, -16] 
                 });
-                marcador = L.marker(coordenadas, { icon: customIcon }).addTo(map_300fd1bff626eccece7e22d4cec066a3);
+                marcador = L.marker(coordenadas, { icon: customIcon }).addTo(map_e1814c4beefd8a9ca9b403c5cfbf76cd);
                 marcador.setRotationAngle(orientacao);
             }
 
@@ -131,7 +131,7 @@
                 style: function(feature) {
                     return { color: 'red' };
                 }
-            }).addTo(map_300fd1bff626eccece7e22d4cec066a3);
+            }).addTo(map_e1814c4beefd8a9ca9b403c5cfbf76cd);
         }
 
         function atualizarMarcador(id, coordenadas, orientacao) {
@@ -182,7 +182,7 @@
                 atualizarTrajeto(id, [coordenadas[1], coordenadas[0]]);
             }
             if (foco) {
-                map_300fd1bff626eccece7e22d4cec066a3.setView(coordenadas, map_300fd1bff626eccece7e22d4cec066a3.getZoom());
+                map_e1814c4beefd8a9ca9b403c5cfbf76cd.setView(coordenadas, map_e1814c4beefd8a9ca9b403c5cfbf76cd.getZoom());
             }
         }
 
diff --git a/AgroBase/AgroMonitor/bin/Debug/Python/Scripts/map-load.py b/AgroBase/AgroMonitor/bin/Debug/Python/Scripts/map-load.py
index 7254dd6e4..7633e2b39 100644
--- a/AgroBase/AgroMonitor/bin/Debug/Python/Scripts/map-load.py
+++ b/AgroBase/AgroMonitor/bin/Debug/Python/Scripts/map-load.py
@@ -216,7 +216,12 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
     <script src="folium/mqtt.min.js"></script>
     <script src="folium/leaflet.rotatedMarker.js"></script>
     <script>
-        let posicaoAtual = {{
+        let posicaoAtualEquipamento = {{
+            lat: 0, 
+            long: 0
+        }};
+
+        let posicaoAtualBase = {{
             lat: 0, 
             long: 0
         }};
@@ -228,9 +233,15 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             popupAnchor: [0, -16] 
         }});
         
-        var marcadorDinamico = L.marker([0, 0], {{
+        var marcadorEquipamento = L.marker([0, 0], {{
             icon: customIcon
         }}).addTo({id_mapa});
+        
+        var marcadorBase = L.marker([0, 0], {{}}).addTo({id_mapa});
+        var icon = L.AwesomeMarkers.icon(
+            {{"extraClasses": "fa-rotate-0", "icon": "info-sign", "iconColor": "white", "markerColor": "red", "prefix": "glyphicon"}}
+        );
+        marcadorBase.setIcon(icon);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -272,22 +283,45 @@ with open(caminho_completo_html, 'r+') as arquivo_html:
             else if (topic === "{topico_gps}") {{
                 // A mensagem e um Buffer, converta para string ou objeto conforme necessario
                 //console.log(`Mensagem recebida no topico '${{topic}}': ${{message.toString()}}`);
+                
+                var id = dados.id;
                 var novaLatitude = dados.latitude;
                 var novaLongitude = dados.longitude;
                 var novaPosicao = [novaLatitude, novaLongitude];
-                marcadorDinamico.setLatLng(novaPosicao);
+                var orientacao = dados.orientacao;
+                var foco = dados.foco;
                 
-                // Calcular angulo de rotacao
-                var angulo = dados.orientacao;
-
-                posicaoAtual.lat = novaPosicao[0];
-                posicaoAtual.long = novaPosicao[1];
-
-                // Rotacionar o marcador para o angulo calculado
-                marcadorDinamico.setRotationAngle(angulo);
+                if (id == 1) {{
+                    marcadorBase.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualBase.lat = novaPosicao[0];
+                    posicaoAtualBase.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorBase.setRotationAngle(angulo);
+                }}
+                else {{
+                    marcadorEquipamento.setLatLng(novaPosicao);
+                
+                    // Calcular angulo de rotacao
+                    var angulo = dados.orientacao;
+
+                    posicaoAtualEquipamento.lat = novaPosicao[0];
+                    posicaoAtualEquipamento.long = novaPosicao[1];
+
+                    // Rotacionar o marcador para o angulo calculado
+                    marcadorEquipamento.setRotationAngle(angulo);
+                
+                    adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
+                }}
+                
+                if (foco) {{
+                    {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
+                }}
                 
-                adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-                {id_mapa}.setView(novaPosicao, {id_mapa}.getZoom());
             }}
             else if (topic === '{topico_ruas}') {{
                 var selecionadas = dados;
diff --git a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.AssemblyReference.cache b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.AssemblyReference.cache
index 2081144ad..c614625ac 100644
Binary files a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.AssemblyReference.cache and b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.AssemblyReference.cache differ
diff --git a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.GenerateResource.cache b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.GenerateResource.cache
index 57523c7fb..1fe56dbaa 100644
Binary files a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.GenerateResource.cache and b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.GenerateResource.cache differ
diff --git a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.pdb b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.pdb
index 2852f4cbb..0cca4582e 100644
Binary files a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.pdb and b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.pdb differ