diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
index 09dcb8a98..f6766ebc0 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoModel.cs
@@ -1134,6 +1134,7 @@ namespace AgroBase.Models
             p.Controle = Parametros.Controle;
             p.QtdBicos = Parametros.QtdBicos;
             p.QtdCamerasSolo = Parametros.QtdCamerasSolo;
+            p.TipoMapa = Parametros.TipoMapa;
             p.Mapa = Parametros.Mapa;
             p.RuasPercorrer = Parametros.RuasPercorrer;
             p.PontosRetorno = Parametros.PontosRetorno;
@@ -1144,6 +1145,7 @@ namespace AgroBase.Models
             if (Parametros.Mapa != null)
             {
                 Variaveis.OperacaoEmAndamento.Mapa = new MapasModel() { RuasPercorrer = ruasSelecionadas };
+                Variaveis.OperacaoEmAndamento.Mapa.TipoMapa = p.TipoMapa;
                 Variaveis.OperacaoEmAndamento.Mapa.PopularTrajetoriaMapa(Parametros.Mapa);
             }
 
@@ -1835,7 +1837,7 @@ namespace AgroBase.Models
             if (controleBase.Dispositivo == T_Code.Dir && controleBase.Tecla == BotoesJoystick.R3)
             {
                 //GeneralJoystick.EnviaComandoMotor(Keys.R, ForcarComando: true, ID: controleBase._comp_id);
-                GeneralJoystick.ProcessarDadosControle(BotoesJoystick.R3, false);
+                GeneralJoystick.ProcessarDadosControle(BotoesJoystick.R3, false, ID: controleBase._comp_id, ForcarComando: true);
                 return;
             }
 
diff --git a/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs b/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
index d9e8d60d7..3404a995e 100644
--- a/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
+++ b/AgroBase/AgroBase/Models/Operacoes/OperacaoParametrosModel.cs
@@ -146,6 +146,7 @@ namespace AgroBase.Models.Operacoes
         public List<OperacaoModulosMandatoriosModel> ModulosMandatorios { get; set; }
         public List<OperacaoParametrosMandatoriosModel> ParametrosMandatorios { get; set; }
 
+        public TipoMapaOperacao TipoMapa { get; set; }
         public MapaFeatureCollectionModel Mapa { get; set; }
         public List<string> RuasPercorrer { get; set; }
         public List<double[]> PontosRetorno { get; set; }
diff --git a/AgroBase/OperationControl/Controls/MapViewControl.xaml b/AgroBase/OperationControl/Controls/MapViewControl.xaml
index c697c4882..364958478 100644
--- a/AgroBase/OperationControl/Controls/MapViewControl.xaml
+++ b/AgroBase/OperationControl/Controls/MapViewControl.xaml
@@ -14,7 +14,8 @@
             <TextBlock x:Name="OverlayText" Foreground="White" FontSize="12" TextWrapping="Wrap"/>
         </Border>
 
-        <ComboBox x:Name="CmbBaseMap" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,10,10,0" Width="189" SelectionChanged="OnBaseMapChanged"/>
+        <ComboBox x:Name="CmbBaseMap" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,10,70,0" Width="189" SelectionChanged="OnBaseMapChanged"/>
+        <CheckBox x:Name="chbAcompanhar" Content="Seguir" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,13,10,0"/>
         
         <Button Content="Carregar Mapa" HorizontalAlignment="Right" VerticalAlignment="Bottom" Margin="0,0,10,10" Padding="8,4" Background="#2ECC71" Foreground="White" FontWeight="Bold" Click="OnLoadMapClicked" Visibility="Collapsed"/>
         <!--<Button Content="Centralizar" HorizontalAlignment="Right" VerticalAlignment="Bottom" Margin="0,0,10,10" Padding="8,4" Background="#2ECC71" Foreground="White" FontWeight="Bold" Click="OnCenterAreaClicked"/>-->
diff --git a/AgroBase/OperationControl/Controls/MapViewControl.xaml.cs b/AgroBase/OperationControl/Controls/MapViewControl.xaml.cs
index 225cc9f6a..7f2e4c181 100644
--- a/AgroBase/OperationControl/Controls/MapViewControl.xaml.cs
+++ b/AgroBase/OperationControl/Controls/MapViewControl.xaml.cs
@@ -53,6 +53,7 @@ namespace OperationControl.Controls
         public static readonly DependencyProperty ScaleProperty = DependencyProperty.Register(nameof(Scale), typeof(double), typeof(MapViewControl), new PropertyMetadata(5000.0, OnViewPropertyChanged));
         public static readonly DependencyProperty MbTilesPathProperty = DependencyProperty.Register(nameof(MbTilesPath), typeof(string), typeof(MapViewControl), new PropertyMetadata(string.Empty, OnMbTilesPathChanged));
 
+        public TipoMapaOperacao TipoMapaSelecionado;
         public string PathMapaSelecionado;
 
         public double Latitude
@@ -151,12 +152,41 @@ namespace OperationControl.Controls
         private void HighlightRoad(MIFeature? feature = null, string? id = null)
         {
             if (string.IsNullOrEmpty(id))
-                id = GetAttr(feature, "IdCorrigido");
-            var rua = RuasMapaCarregado.FirstOrDefault(x => x.Id == id);
-            if (rua == null) return;
+                id = GetAttr(feature, "Id");
 
-            rua.Selected = !rua.Selected;
-            rua.Status = (rua.Selected) ? StreetMapStyle.Selected : StreetMapStyle.Normal;
+            var rua = RuasMapaCarregado.FirstOrDefault(x => x.Id == id);
+            if (rua == null)
+                return;
+
+            if (!rua.Selected)
+            {
+                // Seleciona no final da fila
+                int proximaOrdem = RuasMapaCarregado
+                    .Where(x => x.Selected && x.OrderSelection.HasValue)
+                    .Select(x => x.OrderSelection!.Value)
+                    .DefaultIfEmpty(0)
+                    .Max() + 1;
+
+                rua.Selected = true;
+                rua.Status = StreetMapStyle.Selected;
+                rua.OrderSelection = proximaOrdem;
+            }
+            else
+            {
+                // Guarda a ordem antiga antes de remover
+                int ordemRemovida = rua.OrderSelection ?? 0;
+
+                rua.Selected = false;
+                rua.Status = StreetMapStyle.Normal;
+                rua.OrderSelection = null;
+
+                // Fecha o buraco: todo mundo depois sobe uma posição
+                foreach (var r in RuasMapaCarregado
+                    .Where(x => x.Selected && x.OrderSelection.HasValue && x.OrderSelection.Value > ordemRemovida))
+                {
+                    r.OrderSelection--;
+                }
+            }
 
             rua.Feature.Styles.Clear();
             rua.Feature.Styles.Add(CreateStreetStyle(rua.Status));
@@ -192,6 +222,7 @@ namespace OperationControl.Controls
             public MIFeature Feature { get; set; }
             public bool Selected { get; set; }
             public StreetMapStyle Status { get; set; }
+            public int? OrderSelection { get; set; }
         }
 
         public class StreetMapClickedEventArgs : EventArgs
@@ -766,12 +797,13 @@ namespace OperationControl.Controls
         /// <summary>
         /// API pública para ajustar a câmera via código.
         /// </summary>
-        public void SetView(double latitude, double longitude, double? scale = null)
+        public void SetView(double? latitude, double? longitude, double? scale = null)
         {
-            Latitude = latitude;
-            Longitude = longitude;
+            if (latitude.HasValue) Latitude = latitude.Value;
+            if (longitude.HasValue) Longitude = longitude.Value;
             if (scale.HasValue) Scale = scale.Value;
-            NavigateToView();
+            if (latitude.HasValue || longitude.HasValue)
+                NavigateToView();
         }
 
         #region CARREGAR ARQUIVO DE MAPA
@@ -884,7 +916,7 @@ namespace OperationControl.Controls
                                  GetAttr(gf, "ID") ??
                                  GetAttr(gf, "id");
 
-                gf["IdCorrigido"] = idFinal;
+                gf["Id"] = idFinal;
 
                 if (!string.IsNullOrWhiteSpace(idOriginal))
                     gf["IdOriginal"] = idOriginal;
@@ -1001,11 +1033,12 @@ namespace OperationControl.Controls
         }
 
 
-        public void LoadMapFile(string? path)
+        public void LoadMapFile(string? path, TipoMapaOperacao tipo = TipoMapaOperacao.RuasPlantacao)
         {
             if (string.IsNullOrWhiteSpace(path) || !File.Exists(path) || path == PathMapaSelecionado)
                 return;
 
+            TipoMapaSelecionado = tipo;
             PathMapaSelecionado = path;
 
             if (PathMapaSelecionado.EndsWith(".shp", StringComparison.OrdinalIgnoreCase))
@@ -1113,6 +1146,7 @@ namespace OperationControl.Controls
                     var dado = Mapa?.features?.FirstOrDefault(x => x.properties.Id == rua.Id);
                     if (dado == null) continue;
                     rua.Selected = RuasSelecionadas.Contains(dado.properties.Id);
+                    rua.OrderSelection = RuasMapaCarregado.IndexOf(rua) + 1;
                 }
 
                 AtualizarStylesRuas();
@@ -1263,7 +1297,7 @@ namespace OperationControl.Controls
             if (marker == null) return;
 
             marker.UpdateData(lat: lat, lon: lon, heading: heading, predict: predict);
-
+            
             UpdateFeatures();
         }
 
diff --git a/AgroBase/OperationControl/OperationControl.csproj.user b/AgroBase/OperationControl/OperationControl.csproj.user
index f8855aa93..8950f6d80 100644
--- a/AgroBase/OperationControl/OperationControl.csproj.user
+++ b/AgroBase/OperationControl/OperationControl.csproj.user
@@ -94,6 +94,9 @@
     <Compile Update="Windows\NetworkConfigWindow.xaml.cs">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Update="Windows\SelecaoTipoMapa.xaml.cs">
+      <SubType>Code</SubType>
+    </Compile>
   </ItemGroup>
   <ItemGroup>
     <Page Update="Controls\AttitudeIndicator.xaml">
@@ -186,5 +189,8 @@
     <Page Update="Windows\NetworkConfigWindow.xaml">
       <SubType>Designer</SubType>
     </Page>
+    <Page Update="Windows\SelecaoTipoMapa.xaml">
+      <SubType>Designer</SubType>
+    </Page>
   </ItemGroup>
 </Project>
\ No newline at end of file
diff --git a/AgroBase/OperationControl/ViewModels/Views/PreparacaoMapa/PreparacaoMapaBottomViewModel.cs b/AgroBase/OperationControl/ViewModels/Views/PreparacaoMapa/PreparacaoMapaBottomViewModel.cs
index 84b2c2e6e..b20c93ae7 100644
--- a/AgroBase/OperationControl/ViewModels/Views/PreparacaoMapa/PreparacaoMapaBottomViewModel.cs
+++ b/AgroBase/OperationControl/ViewModels/Views/PreparacaoMapa/PreparacaoMapaBottomViewModel.cs
@@ -1,4 +1,6 @@
 using OperationControl.Helpers;
+using OperationControl.Models;
+using OperationControl.Windows;
 using System.ComponentModel;
 using System.Globalization;
 using System.Windows;
@@ -18,7 +20,7 @@ namespace OperationControl.ViewModels
     {
         public event PropertyChangedEventHandler? PropertyChanged;
 
-        public event Action<string>? CarregarMapaSolicitado;
+        public event Action<string, AgroBase.Models.Enums.TipoMapaOperacao>? CarregarMapaSolicitado;
 
         // Método, latitude, longitude, altitude, offset frontal cm, offset lateral cm
         public event Action<MetodoFixacaoBase, double?, double?, double?>? FixarBaseSolicitado;
@@ -346,6 +348,16 @@ namespace OperationControl.ViewModels
 
         private void ExecutarCarregarMapa()
         {
+            var dlgTipo = new SelecaoTipoMapa
+            {
+                Owner = Variaveis.Dock
+            };
+
+            if (dlgTipo.ShowDialog() != true || dlgTipo.Resultado == null)
+                return;
+
+            var tipoMapa = dlgTipo.Resultado.Value;
+
             var dlg = new Microsoft.Win32.OpenFileDialog
             {
                 Filter = "Arquivos de mapa|*.geojson;*.json;*.shp",
@@ -354,8 +366,8 @@ namespace OperationControl.ViewModels
 
             if (dlg.ShowDialog() == true)
             {
-                StatusTexto = $"Mapa selecionado: {System.IO.Path.GetFileName(dlg.FileName)}";
-                CarregarMapaSolicitado?.Invoke(dlg.FileName);
+                StatusTexto = $"Mapa selecionado: {System.IO.Path.GetFileName(dlg.FileName)} ({tipoMapa})";
+                CarregarMapaSolicitado?.Invoke(dlg.FileName, tipoMapa);
             }
         }
 
diff --git a/AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs b/AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs
index ccea79aa7..c5a68df68 100644
--- a/AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs
+++ b/AgroBase/OperationControl/ViewModels/Windows/DockWindowViewModel.cs
@@ -738,13 +738,14 @@ namespace OperationControl.ViewModels
 
         public void AtualizarDadosMapa(OperacaoParametrosModel? dados)
         {
-            _viewOperacaoCenter?.Mapa?.LoadMapFile(_ultimoMapaCarregado);
+            _viewOperacaoCenter?.Mapa?.LoadMapFile(_ultimoMapaCarregado, _ultimoTipoMapaCarregado);
             _viewOperacaoCenter?.Mapa?.CarregarDadosMapa(dados?.Mapa, dados?.RuasPercorrer, dados?.PontosRetorno);
         }
 
         #region TELA 2
 
         private string? _ultimoMapaCarregado;
+        private TipoMapaOperacao _ultimoTipoMapaCarregado = TipoMapaOperacao.RuasPlantacao;
 
         private void CriarMarcadorBase(MapViewControl Mapa)
         {
@@ -762,12 +763,12 @@ namespace OperationControl.ViewModels
             }
         }
 
-        private void OnCarregarMapaSolicitado(string caminhoArquivo)
+        private void OnCarregarMapaSolicitado(string caminhoArquivo, TipoMapaOperacao tipo)
         {
             try
             {
                 _ultimoMapaCarregado = caminhoArquivo;
-                _viewPreparacaoMapa?.MapaPreparacao?.LoadMapFile(caminhoArquivo);
+                _viewPreparacaoMapa?.MapaPreparacao?.LoadMapFile(caminhoArquivo, tipo);
                 MapaCarregado = true;
                 _viewPreparacaoMapaBottom?._vm.AtualizarProgresso(0, $"Mapa carregado: {System.IO.Path.GetFileName(caminhoArquivo)}");
             }
@@ -899,6 +900,7 @@ namespace OperationControl.ViewModels
             // MAPA
             var simulacao = obj.Controle?.SimulacaoMPC?.Select(x => new double[] { x.longitude, x.latitude })?.ToList();
             _viewOperacaoCenter?.Mapa?.markers.UpdateMarkerPosition(rover.RoverId, lat: obj.Gnss?.Latitude, lon: obj.Gnss?.Longitude, heading: obj.Gnss?.OrientacaoReal, predict: simulacao);
+            if (_viewOperacaoCenter?.Mapa?.chbAcompanhar.IsChecked ?? false) _viewOperacaoCenter?.Mapa?.SetView(obj.Gnss?.Latitude, obj.Gnss?.Longitude);
             _viewOperacaoCenter?.Mapa?.markers.UpdateMarkerInfo(rover.RoverId, status: obj.Operacao?.Status ?? AgroBase.Models.Enums.StatusOperacao.NaoIniciado);
 
             // ALERTAS
@@ -1125,7 +1127,7 @@ namespace OperationControl.ViewModels
             }
 
             var dadosMapa = _viewOperacaoCenter?.Mapa?.CriarDadosMapa();
-            var ruasPercorrer = _viewOperacaoCenter?.Mapa?.RuasMapaCarregado?.Where(x => x.Selected)?.Select(x => x.Id)?.ToList() ?? new List<string>();
+            var ruasPercorrer = _viewOperacaoCenter?.Mapa?.RuasMapaCarregado?.Where(x => x.Selected)?.OrderBy(x => x.OrderSelection.Value)?.Select(x => x.Id)?.ToList() ?? new List<string>();
 
             if (rover?.DadosLeitura?.Operacao?.Modo != parametros.Modo && (rover?.DadosLeitura?.Operacao?.Iniciada ?? false))
             {
diff --git a/AgroBase/OperationControl/Windows/SelecaoTipoMapa.xaml b/AgroBase/OperationControl/Windows/SelecaoTipoMapa.xaml
new file mode 100644
index 000000000..fa2b49a99
--- /dev/null
+++ b/AgroBase/OperationControl/Windows/SelecaoTipoMapa.xaml
@@ -0,0 +1,42 @@
+<Window x:Class="OperationControl.Windows.SelecaoTipoMapa"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        Title="Tipo de mapa"
+        Height="180"
+        Width="360"
+        WindowStartupLocation="CenterOwner"
+        ResizeMode="NoResize">
+    <Grid Margin="16">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="Auto"/>
+            <RowDefinition Height="Auto"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="Auto"/>
+        </Grid.RowDefinitions>
+
+        <TextBlock Text="Selecione o tipo de mapa que será carregado:"
+                   FontSize="14"
+                   FontWeight="SemiBold"
+                   Margin="0,0,0,12"/>
+
+        <ComboBox Grid.Row="1"
+                  ItemsSource="{Binding TiposMapa}"
+                  SelectedItem="{Binding TipoSelecionado}"
+                  DisplayMemberPath="Nome"
+                  MinHeight="30"/>
+
+        <StackPanel Grid.Row="3"
+                    Orientation="Horizontal"
+                    HorizontalAlignment="Right"
+                    Margin="0,16,0,0">
+            <Button Content="Cancelar"
+                    Width="90"
+                    Margin="0,0,8,0"
+                    IsCancel="True"/>
+            <Button Content="OK"
+                    Width="90"
+                    IsDefault="True"
+                    Click="BtnOk_Click"/>
+        </StackPanel>
+    </Grid>
+</Window>
diff --git a/AgroBase/OperationControl/Windows/SelecaoTipoMapa.xaml.cs b/AgroBase/OperationControl/Windows/SelecaoTipoMapa.xaml.cs
new file mode 100644
index 000000000..d71881321
--- /dev/null
+++ b/AgroBase/OperationControl/Windows/SelecaoTipoMapa.xaml.cs
@@ -0,0 +1,65 @@
+using System.Windows;
+using static AgroBase.Models.Enums;
+
+namespace OperationControl.Windows
+{
+    /// <summary>
+    /// Interaction logic for SelecaoTipoMapa.xaml
+    /// </summary>
+    public partial class SelecaoTipoMapa : Window
+    {
+        public SelecaoTipoMapa()
+        {
+            InitializeComponent();
+
+            TiposMapa = Enum.GetValues(typeof(TipoMapaOperacao))
+                .Cast<TipoMapaOperacao>()
+                .Where(x => x != TipoMapaOperacao.Indefinido)
+                .Select(x => new TipoMapaItem
+                {
+                    Valor = x,
+                    Nome = ObterNomeAmigavel(x)
+                })
+                .ToList();
+
+            TipoSelecionado = TiposMapa.FirstOrDefault();
+
+            DataContext = this;
+        }
+
+        public List<TipoMapaItem> TiposMapa { get; set; }
+        public TipoMapaItem? TipoSelecionado { get; set; }
+
+        public TipoMapaOperacao? Resultado { get; private set; }
+
+        private void BtnOk_Click(object sender, RoutedEventArgs e)
+        {
+            if (TipoSelecionado == null)
+            {
+                System.Windows.MessageBox.Show("Selecione um tipo de mapa.", "Aviso", MessageBoxButton.OK, MessageBoxImage.Warning);
+                return;
+            }
+
+            Resultado = TipoSelecionado.Valor;
+            DialogResult = true;
+            Close();
+        }
+
+        private string ObterNomeAmigavel(TipoMapaOperacao tipo)
+        {
+            return tipo switch
+            {
+                TipoMapaOperacao.GPS => "GPS",
+                TipoMapaOperacao.RuasPlantacao => "Ruas de Plantação",
+                TipoMapaOperacao.Corredores => "Corredores",
+                _ => tipo.ToString()
+            };
+        }
+    }
+
+    public class TipoMapaItem
+    {
+        public TipoMapaOperacao Valor { get; set; }
+        public string Nome { get; set; } = "";
+    }
+}