diff --git a/AgroBase/AgroBase/Forms/frmInstancial.cs b/AgroBase/AgroBase/Forms/frmInstancial.cs
index 16b3ec5cf..c5de4459a 100644
--- a/AgroBase/AgroBase/Forms/frmInstancial.cs
+++ b/AgroBase/AgroBase/Forms/frmInstancial.cs
@@ -29,7 +29,7 @@ namespace AgroBase.Forms
 
             Variaveis.IniciarMQTT();
 
-            Variaveis.IniciarUDP();
+            //Variaveis.IniciarUDP();
 
             APIService.IniciarRotinas();
             
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index a4d04552f..8d32aa788 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -1543,6 +1543,19 @@ namespace AgroBase.Models
                 return;
             }
 
+            if (controleBase.Dispositivo == T_Code.Ipb)
+            {
+                if (controleBase._comp_value == true)
+                {
+                    Variaveis.IniciarUDP();
+                }
+                else
+                {
+                    Variaveis.StopUdpChannel();
+                }
+                return;
+            }
+
             if (controleBase.Dispositivo == T_Code.Gps)
             {
                 var (la_frontal, la_lateral) = ((JObject)controleBase._comp_value).ToObject<(double?, double?)>();
diff --git a/AgroBase/AgroBase/Models/Variaveis.cs b/AgroBase/AgroBase/Models/Variaveis.cs
index 228a486f1..8a867b304 100644
--- a/AgroBase/AgroBase/Models/Variaveis.cs
+++ b/AgroBase/AgroBase/Models/Variaveis.cs
@@ -215,12 +215,7 @@ namespace AgroBase.Models
 
         private static void StartUdpChannel()
         {
-            try
-            {
-                UdpChannel?.Stop();
-                UdpChannel?.Dispose();
-            }
-            catch { }
+            StopUdpChannel();
 
             UdpChannel = new UdpReliableChannel();
             UdpChannel.Start(VariaveisPortas.Ethernet_UDP_RX);
@@ -232,6 +227,16 @@ namespace AgroBase.Models
             Interlocked.Exchange(ref _lastPacketTicksUtc, DateTime.UtcNow.Ticks);
         }
 
+        public static void StopUdpChannel()
+        {
+            try
+            {
+                UdpChannel?.Stop();
+                UdpChannel?.Dispose();
+            }
+            catch { }
+        }
+
         private static void OnUdpPacket(byte type, byte[] payload, IPEndPoint from)
         {
             // Qualquer pacote marca link vivo (inclusive heartbeat)
@@ -384,6 +389,7 @@ namespace AgroBase.Models
             await Task.CompletedTask;
         }
 
+        
 
 
     }
diff --git a/AgroBase/AgroBase/Services/UdpReliableChannel.cs b/AgroBase/AgroBase/Services/UdpReliableChannel.cs
index fc6d2911b..1ac1b4763 100644
--- a/AgroBase/AgroBase/Services/UdpReliableChannel.cs
+++ b/AgroBase/AgroBase/Services/UdpReliableChannel.cs
@@ -44,11 +44,18 @@ public sealed class UdpReliableChannel : IDisposable
 
     public void SetRemote(string ip, int port)
     {
-        var addr = IPAddress.Parse(ip);
-
-        if (Remote == null || !Remote.Address.Equals(addr) || Remote.Port != port)
+        if (string.IsNullOrEmpty(ip))
         {
-            Remote = new IPEndPoint(addr, port);
+            Remote = null;
+        }
+        else
+        {
+            var addr = IPAddress.Parse(ip);
+
+            if (Remote == null || !Remote.Address.Equals(addr) || Remote.Port != port)
+            {
+                Remote = new IPEndPoint(addr, port);
+            }
         }
     }
 
diff --git a/AgroBase/OperationControl/Controls/ManualControlPad.xaml.cs b/AgroBase/OperationControl/Controls/ManualControlPad.xaml.cs
index 2e81fb09a..357a20652 100644
--- a/AgroBase/OperationControl/Controls/ManualControlPad.xaml.cs
+++ b/AgroBase/OperationControl/Controls/ManualControlPad.xaml.cs
@@ -297,7 +297,7 @@ namespace OperationControl.Controls
         {
             EmergencyActivated = !EmergencyActivated;
             //VariaveisControleOperacao.EnviarComandoParada(emergencia: EmergencyActivated);
-            _ = VariaveisControleOperacao.EnviarComandoParadaUDP(ipRover: VariaveisControleOperacao.RoverEmFoco?.IP, emergencia: EmergencyActivated);
+            _ = VariaveisControleOperacao.EnviarComandoParadaUDP(emergencia: EmergencyActivated);
         }
 
         private void ManualControlPad_PauseClicked(object? sender, EventArgs e)
@@ -342,7 +342,7 @@ namespace OperationControl.Controls
             if (_lastDirKey != dir)
             {
                 //VariaveisControleOperacao.EnviarComandoDirecional(dir, Convert.ToInt32(AngleControl), MoveTypeControl);
-                VariaveisControleOperacao.EnviarComandoDirecionalUDP(ipRover: VariaveisControleOperacao.RoverEmFoco?.IP, dir, Convert.ToInt32(AngleControl), MoveTypeControl);
+                VariaveisControleOperacao.EnviarComandoDirecionalUDP(dir, Convert.ToInt32(AngleControl), MoveTypeControl);
                 _lastDirKey = dir;
             }
 
@@ -353,7 +353,7 @@ namespace OperationControl.Controls
             if (_lastMovKey != mov)
             {
                 //VariaveisControleOperacao.EnviarComandoMovimentacao(mov, Convert.ToInt32(SpeedControl));
-                VariaveisControleOperacao.EnviarComandoMovimentacaoUDP(ipRover: VariaveisControleOperacao.RoverEmFoco?.IP, mov, Convert.ToInt32(SpeedControl));
+                VariaveisControleOperacao.EnviarComandoMovimentacaoUDP(mov, Convert.ToInt32(SpeedControl));
                 _lastMovKey = mov;
             }
         }
diff --git a/AgroBase/OperationControl/Models/Variaveis.cs b/AgroBase/OperationControl/Models/Variaveis.cs
index 5f21962bb..d7fd724c4 100644
--- a/AgroBase/OperationControl/Models/Variaveis.cs
+++ b/AgroBase/OperationControl/Models/Variaveis.cs
@@ -289,6 +289,21 @@ namespace OperationControl.Models
 
         #region Controle
 
+        public static void EnviarComandoIniciarUDP(string ipRover, bool iniciar)
+        {
+            if (iniciar)
+                Variaveis.UdpChannel.SetRemote(ipRover, VariaveisPortas.Ethernet_UDP_RX);
+            else
+                Variaveis.UdpChannel.SetRemote(null, VariaveisPortas.Ethernet_UDP_RX);
+
+            EnviarDadosControle(SelectedRoverId, new OperacaoComandoBaseModel()
+            {
+                Momento = DateTime.Now,
+                Dispositivo = AgroBase.Models.Enums.T_Code.Ipb,
+                _comp_value = iniciar
+            });
+        }
+
         public static void EnviarComandoIniciarOperacao(bool iniciar, bool simulador = false)
         {
             EnviarDadosControle(SelectedRoverId, new OperacaoComandoBaseModel()
@@ -319,11 +334,8 @@ namespace OperationControl.Models
                 EnviarDadosControle(SelectedRoverId, cmd);
         }
 
-        public static Task EnviarComandoParadaUDP(string ipRover, bool emergencia = false, bool pausa = false)
+        public static Task EnviarComandoParadaUDP(bool emergencia = false, bool pausa = false)
         {
-            if (string.IsNullOrEmpty(ipRover)) return Task.CompletedTask;
-            Variaveis.UdpChannel.SetRemote(ipRover, VariaveisPortas.Ethernet_UDP_RX);
-
             var msg = new UdpCtrlMessage
             {
                 Device = (byte)AgroBase.Models.Enums.T_Code.Vzo,
@@ -433,10 +445,8 @@ namespace OperationControl.Models
             });
         }
 
-        public static void EnviarComandoDirecionalUDP(string ipRover, AgroBase.Models.Enums.Direcao direcao, double angulo, AgroBase.Models.Enums.TipoMovimentoDirecional tipoMov)
+        public static void EnviarComandoDirecionalUDP(AgroBase.Models.Enums.Direcao direcao, double angulo, AgroBase.Models.Enums.TipoMovimentoDirecional tipoMov)
         {
-            if (string.IsNullOrEmpty(ipRover)) return;
-            Variaveis.UdpChannel.SetRemote(ipRover, VariaveisPortas.Ethernet_UDP_RX);
             var key = DeParaDirecaoTecla(direcao);
 
             var msg = new UdpCtrlMessage
@@ -466,10 +476,8 @@ namespace OperationControl.Models
             });
         }
 
-        public static void EnviarComandoMovimentacaoUDP(string ipRover, AgroBase.Models.Enums.Direcao direcao, double velPct)
+        public static void EnviarComandoMovimentacaoUDP(AgroBase.Models.Enums.Direcao direcao, double velPct)
         {
-            if (string.IsNullOrEmpty(ipRover)) return;
-            Variaveis.UdpChannel.SetRemote(ipRover, VariaveisPortas.Ethernet_UDP_RX);
             var key = DeParaDirecaoTecla(direcao);
 
             var msg = new UdpCtrlMessage
diff --git a/AgroBase/OperationControl/Windows/MainWindow.xaml.cs b/AgroBase/OperationControl/Windows/MainWindow.xaml.cs
index 5e218ff47..636e235b1 100644
--- a/AgroBase/OperationControl/Windows/MainWindow.xaml.cs
+++ b/AgroBase/OperationControl/Windows/MainWindow.xaml.cs
@@ -188,6 +188,7 @@ namespace OperationControl.Windows
             {
                 PararStreamCameraFrontal();
                 PararStreamCameraErvas();
+                VariaveisControleOperacao.EnviarComandoIniciarUDP(VariaveisControleOperacao.RoverEmFoco?.IP, false);
             }
 
             VariaveisControleOperacao.SelectedRoverId = selecionado.ToString();
@@ -204,6 +205,7 @@ namespace OperationControl.Windows
                 btnParametros_Atualizar_Click(sender, e);
                 IniciarStreamCameraFrontal();
                 IniciarStreamCameraErvas();
+                VariaveisControleOperacao.EnviarComandoIniciarUDP(VariaveisControleOperacao.RoverEmFoco?.IP, true);
             }
         }