防止apc线程池爆了

app/release/output-metadata.json

@@ -16,5 +16,22 @@
       "outputFile": "app-release.apk"
     }
   ],
-  "elementType": "File"
+  "elementType": "File",
+  "baselineProfiles": [
+    {
+      "minApi": 28,
+      "maxApi": 30,
+      "baselineProfiles": [
+        "baselineProfiles/1/app-release.dm"
+      ]
+    },
+    {
+      "minApi": 31,
+      "maxApi": 2147483647,
+      "baselineProfiles": [
+        "baselineProfiles/0/app-release.dm"
+      ]
+    }
+  ],
+  "minSdkVersionForDexing": 24
 }

app/src/main/java/com/aros/apron/activity/MainActivity.kt

@@ -14,6 +14,8 @@ import android.view.WindowManager
 import android.widget.Button
 import android.widget.Toast
 import android.widget.TextView
+import com.aros.apron.tools.ToastUtil
+import dji.sdk.keyvalue.key.RemoteControllerKey
 import androidx.annotation.RequiresApi
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.view.GravityCompat
@@ -653,10 +655,11 @@ open class MainActivity : BaseActivity() {
             StickManager.getInstance().enableVirtualStick1()
 
         }
-//        btn_test3?.setOnClickListener {
+        btn_test3 = findViewById(R.id.btn_test3)
-//            StreamManager.getInstance().startstream()
+        btn_test3?.setOnClickListener {
-//
+            // DJI按钮方式急停测试
-//        }
+            //FlightManager.getInstance().emergencyHoverByPauseButton(null);
+        }
 
 
         initClickListener()
@@ -819,7 +822,9 @@ open class MainActivity : BaseActivity() {
         GeoidManager.getInstance().init(this)
         MissionV3Manager.getInstance().initMissionManager()
         enableStream()
+
         initFpvStream()
+
         startVtxHeartbeat()
         SpeakerManager.getInstance().addMegaphoneInfoListener()
         GimbalManager.getInstance().setmode()
@@ -1102,8 +1107,6 @@ open class MainActivity : BaseActivity() {
                     try {
                         Synchronizedstatus.setIsruningframe(true)
 
-
-
                         if (startArucoType == 1) {
                             Aprondown.getInstance()?.detectArucoTags(
                                 height,
@@ -1138,7 +1141,7 @@ open class MainActivity : BaseActivity() {
     @SuppressLint("SuspiciousIndentation")
     private fun initFpvStream() {
         cameraManager.addFrameListener(
-            ComponentIndexType.PORT_1,
+            ComponentIndexType.FPV,
             ICameraStreamManager.FrameFormat.YUV420_888
         ) { frameData, _, _, width, height, _ ->
             Movement.getInstance().isVtx = true
@@ -1159,17 +1162,27 @@ open class MainActivity : BaseActivity() {
 
                         if (startArucoType == 1) {
 
+
+                            ApronArucoDetect.getInstance()?.detectArucoTags(
+                                height,
+                                width,
+                                frameData,
+                                dictionary
+                            )
+
+
 //                            ApronArucodownmany.getInstance()?.detectArucoTags(
 //                                height,
 //                                width,
 //                                frameData,
 //                                dictionary
 //                            )
-                            AprilTagPort.getInstance().processFrame(
+
-                                frameData,
+//                            AprilTagPort.getInstance().processFrame(
-                                width,
+//                                frameData,
-                                height
+//                                width,
-                            )
+//                                height
+//                            )
                         } else if (startArucoType == 2) {
                             AlternateArucoDetect.getInstance()?.detectArucoTags(
                                 height,
@@ -1178,12 +1191,23 @@ open class MainActivity : BaseActivity() {
                                 dictionary
                             )
                         } else if (startArucoType == 3) {
+
+                            ApronArucoDetect.getInstance()?.detectForceTriggerTags(
+                                height,
+                                width,
+                                frameData,
+                                dictionary
+                            )
+
+//
 //                            ApronArucodownmany.getInstance()?.detectForceTriggerTags(
 //                                height,
 //                                width,
 //                                frameData,
 //                                dictionary
 //                            )
+
+
                         }
                     } finally {
                         Synchronizedstatus.setIsruningframe(false)
@@ -1300,7 +1324,7 @@ open class MainActivity : BaseActivity() {
                             LogUtil.log(TAG, "取消降落,识别机库二维码")
                             if (PreferenceUtils.getInstance().cameraLocationType == 3) {
                                 Handler().postDelayed(Runnable {
-                                    if (!ApronArucodownmany.getInstance().isTriggerSuccess) {
+                                    if (!AprilTagPort.getInstance().isTriggerSuccess) {
                                         LogUtil.log(TAG, "图传异常:飞往备降点")
                                         //测试图传丢失
                                         AlternateLandingManager.getInstance().startTaskProcess(null)
@@ -1309,7 +1333,10 @@ open class MainActivity : BaseActivity() {
                             } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
                                 Handler().postDelayed(Runnable {
                                     if (!Aprongim.getInstance().isTriggerSuccess) {
-                                        LogUtil.log(TAG, "图传异常:飞往备降点"+  Movement.getInstance().isVtx)
+                                        LogUtil.log(
+                                            TAG,
+                                            "图传异常:飞往备降点" + Movement.getInstance().isVtx
+                                        )
                                         //测试图传丢失
                                         AlternateLandingManager.getInstance().startTaskProcess(null)
                                     }
@@ -1371,7 +1398,7 @@ open class MainActivity : BaseActivity() {
                             LogUtil.log(TAG, "取消降落,识别备降点二维码")
                             if (PreferenceUtils.getInstance().cameraLocationType == 3) {
                                 Handler().postDelayed(Runnable {
-                                    if (!ApronArucoDetect.getInstance().isTriggerSuccess) {
+                                    if (!AprilTagPort.getInstance().isTriggerSuccess) {
                                         LogUtil.log(TAG, "图传异常:飞往备降点")
                                         //测试图传丢失
                                         AlternateLandingManager.getInstance().startTaskProcess(null)

app/src/main/java/com/aros/apron/base/BaseManager.java

@@ -62,7 +62,7 @@ public abstract class BaseManager {
                 mqttMessage.setQos(1);
                 org.eclipse.paho.client.mqttv3.IMqttDeliveryToken token =
                         MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_SERVICES_REPLY, mqttMessage);
-                LogUtil.log(TAG, "回复已提交, tid=" + entity.getTid() + ", msgId=" + token.getMessageId() + ", method=" + entity.getMethod());
+                //LogUtil.log(TAG, "回复已提交, tid=" + entity.getTid() + ", msgId=" + token.getMessageId() + ", method=" + entity.getMethod());
             } else {
                 LogUtil.log(TAG, "回复失败：mqtt 未连接, tid=" + entity.getTid());
             }
@@ -237,7 +237,7 @@ public abstract class BaseManager {
         if( Movement.getInstance().getTask_media_count()!=0){
             LogUtil.log(TAG ,"getTask_media_count"+Movement.getInstance().getTask_media_count());
         }
-        LogUtil.log(TAG ,"QWQsendFlightTaskProgress2Server");
+       // LogUtil.log(TAG ,"QWQsendFlightTaskProgress2Server");
         try {
             if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
                 // 必须加 final，否则内部类（回调）里访问不了
@@ -613,7 +613,9 @@ public abstract class BaseManager {
 
 
     public boolean getGimbalAndCameraEnabled() {
-        if (!PreferenceUtils.getInstance().getNeedTriggerApronArucoLand() && !PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand() && Movement.getInstance().getGoHomeState() != 2) {
+        if (!PreferenceUtils.getInstance().getNeedTriggerApronArucoLand()
+                && !PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand()
+                && Movement.getInstance().getGoHomeState() != 2) {
             return true;
         } else {
             LogUtil.log(TAG, "降落时不允许操作云台/相机/虚拟摇杆");

app/src/main/java/com/aros/apron/callback/MqttActionCallBack.java

@@ -5,6 +5,7 @@ import android.os.Looper;
 
 import com.aros.apron.constant.AMSConfig;
 import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
 import com.aros.apron.tools.ToastUtil;
 
 import org.eclipse.paho.android.service.MqttAndroidClient;
@@ -68,7 +69,11 @@ public class MqttActionCallBack implements IMqttActionListener {
                     @Override
                     public void run() {
                         try {
-                            mqttAndroidClient.connect(options, null, MqttActionCallBack.this);
+                            // 使用MqttManager当前持有的client，避免使用已失效的旧引用导致"Invalid ClientHandle"
+                            MqttAndroidClient currentClient = MqttManager.getInstance().mqttAndroidClient;
+                            if (currentClient != null && !currentClient.isConnected()) {
+                                currentClient.connect(MqttManager.getInstance().mMqttConnectOptions, null, MqttActionCallBack.this);
+                            }
                         } catch (MqttException e) {
                             LogUtil.log(TAG, "mqtt重连异常:" + e.toString());
                         }

app/src/main/java/com/aros/apron/callback/MqttCallBack.java

@@ -24,6 +24,7 @@ import com.aros.apron.manager.FlightManager;
 import com.aros.apron.manager.FlyToPointManager;
 import com.aros.apron.manager.GimbalManager;
 import com.aros.apron.manager.MLTEManager;
+import com.aros.apron.manager.MediaManager;
 import com.aros.apron.manager.MissionV3Manager;
 import com.aros.apron.manager.OSDManager;
 import com.aros.apron.manager.PayloadlightManager;
@@ -249,6 +250,8 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     LogUtil.log(TAG, "收到：服务端响应TaskFail" + jsonString);
                     ApronExecutionStatus.getInstance().setServerReplyTaskFail(true);
                     break;
+
+
                 case Constant.TAKEOFF_TO_POINT:
 //                    //1.检查图传是否连接
 //                    MissionDataBean data = new Gson().fromJson(new Gson().toJson(message.getData()), MissionDataBean.class);
@@ -680,6 +683,23 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                 case Constant.HANGXIANTEST:
                     MLTEManager.getInstance().test();
                     break;
+                case Constant.RESTART_RTSP:
+                    LogUtil.log(TAG, "收到：重启视频推流" + jsonString);
+                    //重启视频推流
+                   StreamManager.getInstance().restart(message);
+                    break;
+                case Constant.RTMP_PUSH:
+                    LogUtil.log(TAG, "收到：RTMP推流" + jsonString);
+                    StreamManager.getInstance().startLiveWithRTMP(message);
+                    break;
+                case Constant.STOP_RTMP:
+                    LogUtil.log(TAG, "收到：停止RTMP推流" + jsonString);
+                    StreamManager.getInstance().stopRTMP(message);
+                    break;
+                case Constant.FLY_TO_LAND_POINT:
+                    LogUtil.log(TAG,"收到一键备降点任务"+jsonString);
+                    break;
+
 
 
 
@@ -1036,9 +1056,9 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
     @Override
     public void deliveryComplete(IMqttDeliveryToken token) {
         try {
-            LogUtil.log(TAG, "消息送达确认, msgId=" + token.getMessageId()
+//            LogUtil.log(TAG, "消息送达确认, msgId=" + token.getMessageId()
-                    + ", complete=" + token.isComplete()
+//                    + ", complete=" + token.isComplete()
-                    + ", topics=" + java.util.Arrays.toString(token.getTopics()));
+//                    + ", topics=" + java.util.Arrays.toString(token.getTopics()));
         } catch (Exception e) {
             LogUtil.log(TAG, "deliveryComplete 异常: " + e);
         }

app/src/main/java/com/aros/apron/constant/Constant.java

@@ -366,6 +366,23 @@ public class Constant {
      *  航线测试
      */
     public static final String HANGXIANTEST="hangxiantest";
+
+
+    public static final String RESTART_RTSP="restart_rtsp";
+
+    public  static final String FLY_TO_LAND_POINT="fly_to_land_point";
+
+    /**
+     *  RTMP推流
+     */
+    public static final String RTMP_PUSH="push_rtmp";
+
+    public static final String STOP_RTMP="stop_rtmp";
+
+
+
+
+
 }
 
 

app/src/main/java/com/aros/apron/entity/CurrentWayline.java

@@ -2,7 +2,9 @@ package com.aros.apron.entity;
 
 
 import java.util.ArrayList;
+import java.util.LinkedList;
 import java.util.List;
+import java.util.Queue;
 
 import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
 import dji.sdk.wpmz.value.mission.WaylineWaypoint;
@@ -41,4 +43,46 @@ public class CurrentWayline {
     public void setRouteWaypoints(List<WaylineExecuteWaypoint> waypoints) {
         this.routeWaypoints = waypoints;
     }
+
+    /** 解析后的航点列表（含经纬度、高度、悬停时间、到达/离开状态） */
+    private List<ParsedWaypoint> parsedWaypoints = new ArrayList<>();
+
+    /** 航点队列，用于FIFO处理：peek=当前目标，poll=处理完成出队 */
+    private final Queue<ParsedWaypoint> waypointQueue = new LinkedList<>();
+
+    public List<ParsedWaypoint> getParsedWaypoints() {
+        return parsedWaypoints;
+    }
+
+    public void setParsedWaypoints(List<ParsedWaypoint> parsedWaypoints) {
+        this.parsedWaypoints = parsedWaypoints;
+        // 同步初始化队列：清空旧数据，新航点全部入队
+        waypointQueue.clear();
+        if (parsedWaypoints != null) {
+            waypointQueue.addAll(parsedWaypoints);
+        }
+    }
+
+    /** 获取队列（直接操作，用于peek/poll） */
+    public Queue<ParsedWaypoint> getWaypointQueue() {
+        return waypointQueue;
+    }
+
+    /** 查看当前待处理的航点（不出队），队列空返回null */
+    public ParsedWaypoint peekNextWaypoint() {
+        return waypointQueue.peek();
+    }
+
+    /** 当前航点处理完成，出队 */
+    public void pollNextWaypoint() {
+        waypointQueue.poll();
+    }
+
+    /** 根据航点序号查找 */
+    public ParsedWaypoint getParsedWaypoint(int index) {
+        if (index >= 0 && index < parsedWaypoints.size()) {
+            return parsedWaypoints.get(index);
+        }
+        return null;
+    }
 }

app/src/main/java/com/aros/apron/entity/MessageDown.java

@@ -56,6 +56,7 @@ public class MessageDown {
     public static class Data {
         private int result;
         private String url;
+        private String rtmp_url;
         private int video_quality;
         private int ideo_quality;
         private AlternateLandPoint alternate_land_point;
@@ -632,6 +633,14 @@ public class MessageDown {
             this.url = url;
         }
 
+        public String getRtmp_url() {
+            return rtmp_url;
+        }
+
+        public void setRtmp_url(String rtmp_url) {
+            this.rtmp_url = rtmp_url;
+        }
+
         public int getVideo_quality() {
             return video_quality;
         }

app/src/main/java/com/aros/apron/entity/Movement.java

@@ -56,7 +56,11 @@ public class Movement {
     private int landingPower;//降落电量所需百分比
     private int lowBatteryRTHState;//智能低电量返航状态 0未触发智能低电量返航 1触发智能低电量返航，飞行器正在倒计时 2执行智能低电量返航 3智能低电量返航被取消
     private String missionName;//当前正在执行的航线名
-    private int currentWaypointIndex = 0;//当前航点下标
+    private int currentWaypointIndex = 0;//当前航点下标（DJI回调）
+    private int targetWaypointIndex = 0;//GPS检测目标航点下标（自研）
+
+
+
 
     private boolean planeWing;//飞机是否在飞
     private boolean isMotorsOn;//电机是否起转
@@ -2525,6 +2529,14 @@ public class Movement {
         this.currentWaypointIndex = currentWaypointIndex;
     }
 
+    public int getTargetWaypointIndex() {
+        return targetWaypointIndex;
+    }
+
+    public void setTargetWaypointIndex(int targetWaypointIndex) {
+        this.targetWaypointIndex = targetWaypointIndex;
+    }
+
     public String getMissionName() {
         return missionName;
     }

app/src/main/java/com/aros/apron/manager/CameraManager.java

@@ -747,7 +747,6 @@ public class CameraManager extends BaseManager {
                 KeyConnection, ComponentIndexType.PORT_1));
         if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
             if (message != null) {
-
                 int cameraMode = message.getData().getCamera_mode();
                 // 新增：如果当前已经是该模式，直接返回成功
                 if (cameraMode == Movement.getInstance().getCamera_mode()) {
@@ -1466,24 +1465,24 @@ public class CameraManager extends BaseManager {
                             @Override
                             public void onSuccess() {
                                 // 切换到红外视频源时，自动设置调色盘为铁红色（6）
-                                if (type == 3) {
+//                                if (type == 3) {
-                                    KeyManager.getInstance().setValue(
+//                                    KeyManager.getInstance().setValue(
-                                            KeyTools.createCameraKey(CameraKey.KeyThermalPalette,
+//                                            KeyTools.createCameraKey(CameraKey.KeyThermalPalette,
-                                                    ComponentIndexType.PORT_1,
+//                                                    ComponentIndexType.PORT_1,
-                                                    CameraLensType.CAMERA_LENS_THERMAL),
+//                                                    CameraLensType.CAMERA_LENS_THERMAL),
-                                            CameraThermalPalette.find(6),
+//                                            CameraThermalPalette.find(6),
-                                            new CommonCallbacks.CompletionCallback() {
+//                                            new CommonCallbacks.CompletionCallback() {
-                                                @Override
+//                                                @Override
-                                                public void onSuccess() {
+//                                                public void onSuccess() {
-                                                    LogUtil.log(TAG, "红外切换成功，已设置调色盘为铁红");
+//                                                    LogUtil.log(TAG, "红外切换成功，已设置调色盘为铁红");
-                                                }
+//                                                }
-
+//
-                                                @Override
+//                                                @Override
-                                                public void onFailure(@NonNull IDJIError error) {
+//                                                public void onFailure(@NonNull IDJIError error) {
-                                                    LogUtil.log(TAG, "设置红外调色盘失败:" + getIDJIErrorMsg(error));
+//                                                    LogUtil.log(TAG, "设置红外调色盘失败:" + getIDJIErrorMsg(error));
-                                                }
+//                                                }
-                                            });
+//                                            });
-                                }
+//                                }
                                 sendMsg2Server(message);
 
                             }

app/src/main/java/com/aros/apron/manager/FlightManager.java

@@ -14,8 +14,10 @@ import androidx.annotation.Nullable;
 import com.aros.apron.base.BaseManager;
 import com.aros.apron.constant.AMSConfig;
 import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.CurrentWayline;
 import com.aros.apron.entity.MessageDown;
 import com.aros.apron.entity.Movement;
+import com.aros.apron.entity.ParsedWaypoint;
 import com.aros.apron.activity.MainActivity;
 import com.aros.apron.mix.Aprondown;
 import com.aros.apron.mix.Aprongim;
@@ -47,6 +49,7 @@ import dji.sdk.keyvalue.key.FlightControllerKey;
 import dji.sdk.keyvalue.key.GimbalKey;
 import dji.sdk.keyvalue.key.KeyTools;
 import dji.sdk.keyvalue.key.ProductKey;
+import dji.sdk.keyvalue.key.RemoteControllerKey;
 import dji.sdk.keyvalue.key.RtkMobileStationKey;
 import dji.sdk.keyvalue.value.camera.CameraExposureCompensation;
 import dji.sdk.keyvalue.value.camera.CameraExposureMode;
@@ -351,9 +354,10 @@ public class FlightManager extends BaseManager {
                         if (newValue.getAltitude() != null) {
                             Movement.getInstance().setElevation(newValue.getAltitude());
                             Movement.getInstance().setTask_height(newValue.getAltitude());
-
                         }
 
+
+
                         double distance = LocationUtils.getDistance(String.valueOf(Movement.getInstance().getHomepoint_longitude()),
                                 String.valueOf(Movement.getInstance().getHomepoint_latitude()),
                                 String.valueOf(newValue.getLongitude()),
@@ -370,6 +374,67 @@ public class FlightManager extends BaseManager {
                         Movement.getInstance().setLatitude(newValue.getLatitude());
                         Movement.getInstance().setLongitude(newValue.getLongitude());
                         pushFlightAttitude();
+
+
+                        //航点到达/离开检测：队列FIFO，peek队头，处理完poll出队
+                        // 进入：距离≤1m 且 速度≈0；离开：主动(速度>0.2且距离>1m) 或 兜底(hoverTime+1s)
+                        ParsedWaypoint pw = CurrentWayline.getInstance().peekNextWaypoint();
+                        if (pw != null) {
+                            final ParsedWaypoint finalPw = pw;
+                            final int targetIdx = finalPw.getIndex();
+
+                            double dist = Gpsdistance.calculateDistance(
+                                    newValue.getLatitude(), newValue.getLongitude(),
+                                    finalPw.getLatitude(), finalPw.getLongitude());
+                            double speed = Movement.getInstance().getHorizontal_speed();
+
+                            // 进入：距离≤1m 且 速度为0 且 未到达 → 发"进入"并启动兜底定时器
+                            if (dist <= 1.0 && Math.abs(speed) < 0.1 && !finalPw.isReached()) {
+                                finalPw.markReached();
+                                sendWaypointReachOrLeave("0", String.valueOf(targetIdx));
+                                LogUtil.log(TAG, "到达航点[" + targetIdx + "] 距离=" + dist + "m 速度=" + speed + "m/s 悬停=" + finalPw.getHoverTime() + "s");
+                                // 兜底：hoverTime+1s 后若仍未离开则强制离开并出队
+                                new Handler(Looper.getMainLooper()).postDelayed(() -> {
+                                    if (!finalPw.isLeft()) {
+                                        finalPw.markLeft();
+                                        sendWaypointReachOrLeave("1", String.valueOf(targetIdx));
+                                        LogUtil.log(TAG, "离开航点[" + targetIdx + "] 兜底超时(hoverTime+1s)");
+                                        CurrentWayline.getInstance().pollNextWaypoint();
+                                        Movement.getInstance().setTargetWaypointIndex(targetIdx + 1);
+                                    }
+                                }, (finalPw.getHoverTime() + 1) * 1000L);
+                            }
+                            // 主动离开：已到达未离开 且 速度>0.2 且 距离>1m → 发"离开"并出队
+                            if (finalPw.isReached() && !finalPw.isLeft() && speed > 0.2 && dist > 1.0) {
+                                finalPw.markLeft();
+                                sendWaypointReachOrLeave("1", String.valueOf(targetIdx));
+                                LogUtil.log(TAG, "离开航点[" + targetIdx + "] 距离=" + dist + "m 速度=" + speed + "m/s");
+                                CurrentWayline.getInstance().pollNextWaypoint();
+                                Movement.getInstance().setTargetWaypointIndex(targetIdx + 1);
+                            }
+                        }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
                         // ========== 判断是否到达FlyTo目标点 ==========
                         double targetLat = Movement.getInstance().getFlyto_target_latitude();
@@ -1288,11 +1353,15 @@ public class FlightManager extends BaseManager {
             heightLogCounter = 0;
         }
 
-        if (isFlying && (Movement.getInstance().getElevation() < 15 && Movement.getInstance().getUltrasonicHeight() < 50 || forceTriggerDetection) && !isSendDetect) {
+                // 超声波卡住(≥50dm)时，飞控高度 <5m 也允许触发
-            double flyingHeight = Movement.getInstance().getElevation();
+        double currElevation = Movement.getInstance().getElevation();
+        int currUlt = Movement.getInstance().getUltrasonicHeight();
+        boolean altOk = (currElevation < 15 && currUlt < 50)    // 正常：两个传感器一致
+                     || (currElevation < 5);                    // 兜底：飞控高度够低，跳过超声波
+        if (isFlying && (altOk || forceTriggerDetection) && !isSendDetect) {
             double thresholdMin = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MIN;
 
-            if (flyingHeight > thresholdMin || forceTriggerDetection) {
+            if (currElevation > thresholdMin || forceTriggerDetection) {
 
                 boolean shouldTriggerDetection;
 
@@ -1339,7 +1408,7 @@ public class FlightManager extends BaseManager {
             PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
             PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(true);
             LogUtil.log(TAG, "开始识别机库二维码,椭球高度:" + Movement.getInstance().getElevation() + "米" + "--超声波高度:" + Movement.getInstance().getUltrasonicHeight() + "分米");
-            sendEvent2Server("开始视觉降落", 1);
+            sendEvent2Server("开始视觉降落"+Movement.getInstance().getCapacity_percent(), 1);
         }
 
         //PerceptionManager.getInstance().setPerceptionEnable(false);
@@ -1670,17 +1739,23 @@ public class FlightManager extends BaseManager {
         if (flightMode != null) {
             switch (flightMode) {
                 case GO_HOME:
+
                     KeyManager.getInstance().performAction(createKey(FlightControllerKey.KeyStopGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
                         @Override
                         public void onSuccess(EmptyMsg emptyMsg) {
-                            LogUtil.log(TAG, "紧急悬停，取消返航成功");
+                            //只有在取消返航时才能显示取消返航失败
+                            Movement.getInstance().setMode_code(3);
+                            isGimbalReset = false;
                             sendMsg2Server(message);
                             resetAircrftLandingStatus();
                         }
 
                         @Override
                         public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "取消返航执行失败" + error);
+                            //isGimbalReset = false;
                             sendFailMsg2Server(message, "紧急悬停，取消返航失败:" + getIDJIErrorMsg(error));
+                            resetAircrftLandingStatus();
                         }
                     });
                     break;
@@ -1770,5 +1845,66 @@ public class FlightManager extends BaseManager {
             }
         });
 
+        // ★ 急停：清理视觉降落定时器，解除 isStartAruco 入口 guard，确保下次可重新触发
+        ApronArucoDetect.getInstance().stopAndReset();
+        ApronArucoDetectPort.getInstance().stopAndReset();
+        Aprongim.getInstance().stopAndReset();
+        Aprondown.getInstance().stopAndReset();
+        ApronArucodownmany.getInstance().stopAndReset();
+
+
+    }
+
+
+
+//    public void emergencyHoverByPauseButton(MessageDown message) {
+//        LogUtil.log(TAG, "紧急悬停(DJI按钮方式)：setValue KeyPauseButtonDown=true");
+//        KeyManager.getInstance().setValue(createKey(RemoteControllerKey.KeyPauseButtonDown), true, new CommonCallbacks.CompletionCallback() {
+//            @Override
+//            public void onSuccess() {
+//                LogUtil.log(TAG, "紧急悬停(DJI按钮方式) 成功");
+//                resetAircrftLandingStatus();
+//            }
+//
+//            @Override
+//            public void onFailure(@NonNull IDJIError error) {
+//                LogUtil.log(TAG, "紧急悬停(DJI按钮方式) 失败: " + getIDJIErrorMsg(error));
+//            }
+//        });
+//    }
+
+
+
+
+    /**
+     * 发送航点进入/离开到服务端，格式与350demo WaypointEventSender一致。
+     * @param state "0"=进入 "1"=离开
+     * @param index 航点序号
+     */
+    private void sendWaypointReachOrLeave(String state, String index) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient != null
+                    && MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                com.google.gson.JsonObject msg = new com.google.gson.JsonObject();
+                msg.addProperty("msg_type", 60203);
+                msg.addProperty("result", 1);
+                msg.addProperty("waypointActionState", state);
+                msg.addProperty("waypointIndex", index);
+
+                org.eclipse.paho.client.mqttv3.MqttMessage mqttMessage =
+                        new org.eclipse.paho.client.mqttv3.MqttMessage(
+                                new Gson().toJson(msg).getBytes("UTF-8"));
+                mqttMessage.setQos(1);
+
+                MqttManager.getInstance().mqttAndroidClient.publish(
+                        AMSConfig.UP_UAV_SERVICES_REPLY,
+                        mqttMessage);
+                LogUtil.log(TAG, "航点事件发送: " + ("0".equals(state) ? "进入" : "离开") + " index=" + index);
+            } else {
+                LogUtil.log(TAG, "航点事件发送失败：MQTT未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "航点事件发送异常: " + e);
+        }
     }
 }

app/src/main/java/com/aros/apron/manager/LTEManager.java

@@ -72,7 +72,7 @@ public class LTEManager extends BaseManager {
                 @Override
                 public void onLTELinkInfoUpdate(LTELinkInfo t1) {
                     if (t1 != null) {
-                        LogUtil.log(TAG, "信号质量" + t1.getLinkQualityLevel());
+                       //        LogUtil.log(TAG, "信号质量" + t1.getLinkQualityLevel());
                         if(t1.getLinkQualityLevel()!=null){
                             Movement.getInstance().setQuality_4g(t1.getLinkQualityLevel().getLteGndSingalBar().value()+ "");
                             Movement.getInstance().setGnd_quality_4g(t1.getLinkQualityLevel().getOcuSyncSignalQualityLevel().value()+ "");

app/src/main/java/com/aros/apron/manager/MediaManager.java

@@ -3,6 +3,7 @@ package com.aros.apron.manager;
 import android.os.Build;
 import android.os.Environment;
 import android.os.Handler;
+import android.os.Looper;
 import android.text.TextUtils;
 import android.util.Log;
 import androidx.annotation.NonNull;
@@ -19,6 +20,7 @@ import com.amazonaws.services.s3.model.ProgressListener;
 import com.amazonaws.services.s3.model.PutObjectRequest;
 import com.aros.apron.base.BaseManager;
 import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.MessageDown;
 import com.aros.apron.entity.Movement;
 import com.aros.apron.tools.LogUtil;
 import com.aros.apron.tools.PreferenceUtils;
@@ -36,6 +38,7 @@ import java.util.ArrayList;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Set;
+import java.util.concurrent.atomic.AtomicBoolean;
 
 import dji.sdk.keyvalue.key.FlightControllerKey;
 import dji.sdk.keyvalue.key.KeyTools;
@@ -74,6 +77,10 @@ public class MediaManager extends BaseManager {
     /* ===== 下载失败重试计数 ===== */
     private int downloadFailTimes = 0;
     private static final int MAX_DOWNLOAD_RETRY = 3;
+
+    /* ===== 统一主线程Handler ===== */
+    private final Handler mainHandler = new Handler(Looper.getMainLooper());
+
     private MediaManager() {
     }
 
@@ -92,240 +99,328 @@ public class MediaManager extends BaseManager {
             MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
             MediaDataCenter.getInstance().getMediaManager().addMediaFileListStateListener(new MediaFileListStateListener() {
                 @Override
-                public void onUpdate(MediaFileListState mediaFileListState) {
+                public void onUpdate(MediaFileListState state) {
-                    mState = mediaFileListState;
+                    mState = state;
-                    LogUtil.log(TAG, "当前媒体文件状态：" + mediaFileListState.name());
+                    LogUtil.log(TAG, "【状态监听】state=" + state.name() + " | isPulling=" + isPulling + " | retryCycle=" + retryCycle);
+                    sendEvent2Server("媒体文件状态"+mState,1);
+                    if (state == MediaFileListState.UP_TO_DATE && isPulling) {
+                        LogUtil.log(TAG, "【状态监听】UP_TO_DATE 到达，开始处理文件列表");
+                        processFileList();
+                    }
                 }
             });
         }
     }
 
+    /* =================================================================
+     *  enablePlayback / 拉列表 — 两层重试：DJI方式(3次) → 自有方式(20次)
+     *  DJI方式：enable → IDLE调pull/UPDATING只等 → 等20s UP_TO_DATE
+     *  自有方式：enable → 2s后第一次pull → 20s后第二次pull → 检查数据
+     *  每步都挂超时兜底，SDK不给回调也不卡死
+     * ================================================================= */
+
     private int enterPlayBackFailTimes;
-    private boolean isEnablePlayback;
+    private volatile boolean isPlaybackEnabling;
-    private volatile boolean isPlaybackEnabling; // 防止并发调用
+    private static final int PULL_TIMEOUT_S = 20;
-    private Handler playbackTimeoutHandler = new Handler(android.os.Looper.getMainLooper());
+    private int retryCycle = 0;
-    private Runnable playbackTimeoutRunnable = null;
+    private boolean isPulling;
-    private static final int PLAYBACK_ENABLE_TIMEOUT_MS = 15000; // 进入媒体模式超时 15 秒
+    private Runnable pullTimeoutRunnable;
+
+    // ★ 两层重试计数器
+    private static final int DJI_MAX_RETRIES = 3;
+    private static final int OWN_MAX_RETRIES = 20;
+    private int djiRetries = 0;
+    private int ownRetries = 0;
+    private boolean useOwnMethod = false;
 
     public void enablePlayback() {
+        LogUtil.log(TAG, "【enablePlayback】调用 | isPlaybackEnabling=" + isPlaybackEnabling
+                + " | useOwnMethod=" + useOwnMethod + " | dji=" + djiRetries + "/" + DJI_MAX_RETRIES
+                + " | own=" + ownRetries + "/" + OWN_MAX_RETRIES);
         if (isPlaybackEnabling) {
-            LogUtil.log(TAG, "媒体模式已在启用中，跳过重复调用");
+            LogUtil.log(TAG, "【enablePlayback】已在启用中，跳过");
             return;
         }
-        boolean isFirstEntry = !isPlaybackEnabling;
+
+        // ★ DJI方式3次耗尽 → 降级自有方式
+        if (!useOwnMethod && djiRetries >= DJI_MAX_RETRIES) {
+            LogUtil.log(TAG, "【enablePlayback】DJI方式" + DJI_MAX_RETRIES + "次均失败 → 降级自有方式");
+            useOwnMethod = true;
+            ownRetries = 0;
+        }
+
+        // ★ 自有方式次数耗尽 → 放弃，发关机兜底
+        if (useOwnMethod && ownRetries >= OWN_MAX_RETRIES) {
+            LogUtil.log(TAG, "【enablePlayback】自有方式" + OWN_MAX_RETRIES + "次也失败，彻底放弃 → 发关机");
+            sendEvent2Server("媒体列表拉取彻底失败(DJI3+自有20)", 2);
+            ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+            disablePlayback();
+            return;
+        }
+
         isPlaybackEnabling = true;
 
-        // 停止端口扫描和 RTSP 刷新，关闭 RTSP 推流，确保媒体上传稳定
+        if (!useOwnMethod) {
-       // StreamManager.getInstance().stopStreamRefreshTimer();
+            djiRetries++;
-        //com.aros.apron.tools.SimplePortScanner.getInstance().stopScan();
+            LogUtil.log(TAG, "【DJI方式】第" + djiRetries + "/" + DJI_MAX_RETRIES + "次");
-        StreamManager.getInstance().stopstream();
+        } else {
-
+            ownRetries++;
-        // 仅首次调用时清理状态，重试时保留计数器
+            LogUtil.log(TAG, "【自有方式】第" + ownRetries + "/" + OWN_MAX_RETRIES + "次");
-        if (isFirstEntry) {
+        }
 
+        // 首次进入清理状态
+        if (!useOwnMethod && djiRetries == 1) {
             uploadedFileNames.clear();
             bucketChecked = false;
             downloadFailTimes = 0;
             enterPlayBackFailTimes = 0;
-            isEnablePlayback = false;
+            LogUtil.log(TAG, "【enablePlayback】首次进入，清理状态");
-            pullMediaFileListFromCameraFailTimes = 0;
-            updatingWaitCount = 0;
-            pullqwq = false;
-            pullStartTime = System.currentTimeMillis();
-            LogUtil.log(TAG, "已清空上传文件集合");
         }
 
+        // ★ 只在推流活跃时才停，避免无流时产生"直播未启动"的无效日志
+        if (MediaDataCenter.getInstance().getLiveStreamManager().isStreaming()) {
+            StreamManager.getInstance().stopstream();
+        }
+
+        // ★ SDK enable 可能不给回调 → 15s 超时兜底，防止 isPlaybackEnabling 锁死
+        final java.util.concurrent.atomic.AtomicBoolean enableDone = new java.util.concurrent.atomic.AtomicBoolean(false);
+        Runnable enableTimeout = () -> {
+            if (enableDone.compareAndSet(false, true)) {
+                LogUtil.log(TAG, "【enablePlayback】⏰ SDK enable 15s 无回调！强制重置");
+                isPlaybackEnabling = false;
+                retryAfterDisable("SDK enable无回调");
+            }
+        };
+        mainHandler.postDelayed(enableTimeout, 15000);
+
         MediaDataCenter.getInstance().getMediaManager().enable(new CommonCallbacks.CompletionCallback() {
             @Override
             public void onSuccess() {
-                LogUtil.log(TAG, "进入媒体模式成功");
+                if (!enableDone.compareAndSet(false, true)) return; // 超时已触发，忽略
-                isPlaybackEnabling = false; // 成功后释放锁
+                mainHandler.removeCallbacks(enableTimeout);
-                new Handler().postDelayed(new Runnable() {
+                LogUtil.log(TAG, "【enablePlayback】SDK enable 成功 | method=" + (useOwnMethod ? "自有" : "DJI"));
-                    @Override
+                isPlaybackEnabling = false;
-                    public void run() {
+
-                        MediaFileListDataSource source = new
+                mainHandler.postDelayed(() -> {
-                                MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
+                    MediaFileListDataSource source = new MediaFileListDataSource.Builder()
+                            .setIndexType(ComponentIndexType.PORT_1).build();
                     MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
 
-                        new Handler().postDelayed(new Runnable() {
+                    if (!useOwnMethod) {
-                            @Override
+                        // ★ DJI方式：走状态驱动流程
-                            public void run() {
+                        LogUtil.log(TAG, "【DJI方式】6s延迟到，开始 pullMediaFileListFromCamera");
-                                pullMediaFileListFromCamera();
+                        mainHandler.postDelayed(() -> pullMediaFileListFromCamera(), 3000);
-                            }
+                    } else {
-                        }, 3000);
+                        // ★ 自有方式：enable成功后2s就拉，不等状态
+                        LogUtil.log(TAG, "【自有方式】enable成功，2s后第一次拉取");
+                        mainHandler.postDelayed(() -> forcePullInOwnMode(), 2000);
                     }
                 }, 3000);
             }
 
             @Override
-            public void onFailure(@NonNull IDJIError idjiError) {
+            public void onFailure(@NonNull IDJIError e) {
-                LogUtil.log(TAG, "第" + enterPlayBackFailTimes + "次进入媒体模式失败:" + new Gson().toJson(idjiError));
+                if (!enableDone.compareAndSet(false, true)) return; // 超时已触发，忽略
-                if (!isEnablePlayback) {
+                mainHandler.removeCallbacks(enableTimeout);
-                    new Handler().postDelayed(new Runnable() {
+                LogUtil.log(TAG, "【enablePlayback】SDK enable 失败: " + e.description()
-                        @Override
+                        + " | method=" + (useOwnMethod ? "自有" : "DJI"));
-                        public void run() {
+                isPlaybackEnabling = false;
-                            if (enterPlayBackFailTimes < 10) {
+                retryAfterDisable("enable失败");
-                                enterPlayBackFailTimes++;
-                                isPlaybackEnabling = false; // 释放锁
-                                LogUtil.log(TAG, "第" + enterPlayBackFailTimes + "次重试进入媒体模式");
-                                retryEnablePlayback();
-                            } else {
-                                isPlaybackEnabling = false; // 失败放弃后释放锁
-                                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                                sendEvent2Server("媒体模式进入失败:关机",1);
-                            }
-                        }
-                    }, 1500);
-                }
             }
         });
     }
 
-    /** 重试进入媒体模式（不清理状态，保留计数器） */
+    /**
-    private void retryEnablePlayback() {
+     * ★ 自有方式：enable 成功 → 2s后第一次拉 → 等20s → 第二次拉 → 检查数据
-        isPlaybackEnabling = true;
+     * SDK 可能不给任何回调，每步都挂超时兜底
-        MediaDataCenter.getInstance().getMediaManager().enable(new CommonCallbacks.CompletionCallback() {
+     */
+    private void forcePullInOwnMode() {
+        LogUtil.log(TAG, "【自有方式】2s后第一次拉取 | ownRetries=" + ownRetries);
+        isPulling = true;
+
+        MediaFileListState state = MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
+        LogUtil.log(TAG, "【自有方式】当前SDK状态=" + state);
+
+        // ★ 第一次拉：不管状态直接调 SDK pull
+        MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(
+                new PullMediaFileListParam.Builder().count(-1).build(),
+                new CommonCallbacks.CompletionCallback() {
                     @Override
                     public void onSuccess() {
-                LogUtil.log(TAG, "进入媒体模式成功（重试）");
+                        LogUtil.log(TAG, "【自有方式】第一次pull onSuccess → 20s后第二次拉");
-                isPlaybackEnabling = false;
+                    }
-                new Handler().postDelayed(new Runnable() {
                     @Override
-                    public void run() {
+                    public void onFailure(@NonNull IDJIError e) {
-                        MediaFileListDataSource source = new
+                        LogUtil.log(TAG, "【自有方式】第一次pull onFailure: " + e.description() + " → 继续等20s");
-                                MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
-                        MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
-
-                        new Handler().postDelayed(new Runnable() {
-                            @Override
-                            public void run() {
-                                pullMediaFileListFromCamera();
-                            }
-                        }, 3000);
-                    }
-                }, 3000);
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError idjiError) {
-                LogUtil.log(TAG, "第" + enterPlayBackFailTimes + "次进入媒体模式失败:" + new Gson().toJson(idjiError));
-                if (!isEnablePlayback) {
-                    new Handler().postDelayed(new Runnable() {
-                        @Override
-                        public void run() {
-                            if (enterPlayBackFailTimes < 10) {
-                                enterPlayBackFailTimes++;
-                                isPlaybackEnabling = false;
-                                LogUtil.log(TAG, "第" + enterPlayBackFailTimes + "次重试进入媒体模式");
-                                retryEnablePlayback();
-                            } else {
-                                isPlaybackEnabling = false;
-                                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                                sendEvent2Server("媒体模式进入失败:关机",1);
-                            }
-                        }
-                    }, 1500);
-                }
                     }
                 });
+
+        // ★ SDK 可能不给回调 → 20s后不管结果直接第二次拉
+        mainHandler.postDelayed(() -> {
+            LogUtil.log(TAG, "【自有方式】20s到，开始第二次拉取");
+            MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(
+                    new PullMediaFileListParam.Builder().count(-1).build(),
+                    new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "【自有方式】第二次pull onSuccess → 检查数据");
+                            if (isPulling) checkDataInOwnMode();
+                        }
+                        @Override
+                        public void onFailure(@NonNull IDJIError e) {
+                            LogUtil.log(TAG, "【自有方式】第二次pull onFailure: " + e.description());
+                            if (isPulling) checkDataInOwnMode();
+                        }
+                    });
+
+            // ★ 第二次拉也可能不给回调，再挂 20s 兜底
+            mainHandler.postDelayed(() -> {
+                if (isPulling) {
+                    LogUtil.log(TAG, "【自有方式】第二次pull 20s兜底超时，强制检查数据");
+                    checkDataInOwnMode();
+                }
+            }, PULL_TIMEOUT_S * 1000L);
+        }, PULL_TIMEOUT_S * 1000L);
     }
 
-    private int pullMediaFileListFromCameraFailTimes;
+    /**
+     * ★ 自有方式：不管 SDK 状态，直接拿数据尝试处理
+     */
+    private void checkDataInOwnMode() {
+        if (!isPulling) return;
+        isPulling = false;
 
-    private int updatingWaitCount = 0;
+        try {
-    private static final int MAX_UPDATING_WAIT = 15; // 最多等待15秒，无文件时快速跳过
+            List<MediaFile> data = MediaDataCenter.getInstance().getMediaManager()
-    private boolean pullqwq = false;
+                    .getMediaFileListData().getData();
-    private boolean isPullMediaFileListFromCameraSuccess;
+            LogUtil.log(TAG, "【自有方式】SDK返回文件数=" + (data != null ? data.size() : 0)
-    private long pullStartTime = 0; // 记录整个拉取流程开始时间
+                    + " | state=" + MediaDataCenter.getInstance().getMediaManager().getMediaFileListState());
-    private static final int MAX_PULL_DURATION = 25; // 整个拉取流程最多25秒，超时强制关机
+            if (data != null && !data.isEmpty()) {
+                // 拉到了！重置所有计数器，走正常处理流程
+                LogUtil.log(TAG, "【自有方式】✅ 成功拉到" + data.size() + "个文件，切回正常流程");
+                djiRetries = 0;
+                ownRetries = 0;
+                retryCycle = 0;
+                useOwnMethod = false;
+                processFileList();
+            } else {
+                LogUtil.log(TAG, "【自有方式】无数据，退出重进");
+                retryAfterDisable("自有方式无数据");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "【自有方式】获取数据异常: " + e.getMessage());
+            retryAfterDisable("自有方式获取数据异常");
+        }
+    }
+
+    private void retryAfterDisable(String reason) {
+        retryCycle++;
+        LogUtil.log(TAG, "【retry】" + reason + " → 先disable再enable | method=" + (useOwnMethod ? "自有" : "DJI")
+                + " | retryCycle=" + retryCycle);
+        disablePlaybackAndThen(() -> {
+            LogUtil.log(TAG, "【retry】disable完成，3s后enablePlayback");
+            mainHandler.postDelayed(() -> enablePlayback(), 3000);
+        });
+    }
 
     private void pullMediaFileListFromCamera() {
-        // 全局超时检查：防止状态机异常导致无限循环
+        // ★ 防重复post：先取消旧的超时
-        long elapsed = (System.currentTimeMillis() - pullStartTime) / 1000;
+        if (pullTimeoutRunnable != null) {
-        if (elapsed >= MAX_PULL_DURATION) {
+            mainHandler.removeCallbacks(pullTimeoutRunnable);
-            LogUtil.log(TAG, "拉取流程总耗时 " + elapsed + "s，超时强制关机");
+            LogUtil.log(TAG, "【pullList】取消旧超时");
-            ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+        }
-            sendEvent2Server("媒体文件拉取超时", 2);
+        isPulling = true;
-            disablePlayback();
+
+        // ★ 定义一个统一的超时runnable（SDK不给回调的兜底）
+        pullTimeoutRunnable = () -> {
+            LogUtil.log(TAG, "【pullList】⏰ 20s超时触发！当前state="
+                    + MediaDataCenter.getInstance().getMediaManager().getMediaFileListState()
+                    + " | djiRetries=" + djiRetries + " → 退出重进");
+            isPulling = false;
+            retryAfterDisable("媒体文件拉取超时(SDK无回调)");
+        };
+        // 启动20s看门狗
+        mainHandler.postDelayed(pullTimeoutRunnable, PULL_TIMEOUT_S * 1000L);
+        LogUtil.log(TAG, "【pullList】20s超时看门狗已启动");
+
+        MediaFileListState state = MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
+        LogUtil.log(TAG, "【pullList】当前SDK状态=" + state + " | isPulling=" + isPulling + " | djiRetries=" + djiRetries);
+
+        // 状态已是 UP_TO_DATE：数据已就绪，直接处理
+        if (state == MediaFileListState.UP_TO_DATE) {
+            LogUtil.log(TAG, "【pullList】状态已是UP_TO_DATE，数据已就绪，直接处理");
+            processFileList();
             return;
         }
 
-        MediaFileListState currentState = MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
+        // ★ DJI方式：IDLE 才调 pull，UPDATING 只等状态（严格按 DJI 建议）
-        LogUtil.log(TAG, "当前状态：" + currentState + "，准备拉取文件列表（已耗时" + elapsed + "s）");
+        if (state == MediaFileListState.IDLE) {
-
+            LogUtil.log(TAG, "【pullList】状态=IDLE → 调用SDK pullMediaFileList");
-        if (currentState == MediaFileListState.IDLE) {
+            MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(
-            LogUtil.log(TAG, "状态为IDLE，开始拉取文件列表");
+                    new PullMediaFileListParam.Builder().count(-1).build(),
-            MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
+                    new CommonCallbacks.CompletionCallback() {
                         @Override
                         public void onSuccess() {
-                    LogUtil.log(TAG, "拉取请求已接受，等待状态变为UP_TO_DATE");
+                            if (pullTimeoutRunnable == null) {
-                    pullMediaFileListFromCameraFailTimes = 0;
+                                LogUtil.log(TAG, "【pullList】SDK pull onSuccess 但数据已处理完毕，忽略");
+                                return;
+                            }
+                            LogUtil.log(TAG, "【pullList】SDK pull onSuccess → 续时20s，等待UP_TO_DATE");
+                            mainHandler.removeCallbacks(pullTimeoutRunnable);
+                            mainHandler.postDelayed(pullTimeoutRunnable, PULL_TIMEOUT_S * 1000L);
                         }
 
                         @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
+                        public void onFailure(@NonNull IDJIError e) {
-                    LogUtil.log(TAG, "拉取请求失败: " + new Gson().toJson(idjiError));
+                            LogUtil.log(TAG, "【pullList】SDK pull onFailure: " + e.description()
-                    if (pullMediaFileListFromCameraFailTimes < 5) {
+                                    + " → 继续等状态监听器或超时");
-                        pullMediaFileListFromCameraFailTimes++;
-                        LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
-                    } else {
-                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                        sendEvent2Server("拉取媒体文件失败",2);
-                        disablePlayback();
-                        LogUtil.log(TAG, "发送关闭无人机");
-                    }
                         }
                     });
-            // 不依赖回调续命，无条件调度下一轮轮询
-            new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 1000);
-        } else if (currentState == MediaFileListState.UP_TO_DATE) {
-            // 状态为UP_TO_DATE，获取文件列表数据
-            LogUtil.log(TAG, "状态为UP_TO_DATE，获取文件列表数据");
-            try {
-                // 确保获取文件列表数据
-                List<MediaFile> rawList = MediaDataCenter.getInstance().getMediaManager().getMediaFileListData().getData();
-                
-                // 检查文件列表是否为空
-                if (rawList == null || rawList.isEmpty()) {
-                    LogUtil.log(TAG, "文件列表为空，重试拉取");
-                    // 状态已经是UP_TO_DATE时，空列表可能确实无文件，快速重试2次后放弃
-                    if (pullMediaFileListFromCameraFailTimes < 2) {
-                        pullMediaFileListFromCameraFailTimes++;
-                        LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
-                        new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 3000);
-                    } else {
-                        LogUtil.log(TAG, "UP_TO_DATE状态文件列表持续为空，确认无文件");
-                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                        sendEvent2Server("拉取媒体文件失败",2);
-                        disablePlayback();
-                        LogUtil.log(TAG, "发送关闭无人机");
-                    }
             return;
         }
 
-                LogUtil.log(TAG, "原始文件列表数量: " + rawList.size());
+        // ★ DJI方式：UPDATING 不主动拉，只等状态监听器通知 UP_TO_DATE 或超时
+        LogUtil.log(TAG, "【pullList】状态=" + state + "，等状态监听器通知 UP_TO_DATE 或超时");
+    }
+
+    /** 状态监听器回调——SDK 通知 UP_TO_DATE 时处理 */
+    private void processFileList() {
+        LogUtil.log(TAG, "【processFileList】进入 | isPulling=" + isPulling + " | cycle=" + retryCycle);
+        if (pullTimeoutRunnable != null) {
+            mainHandler.removeCallbacks(pullTimeoutRunnable);
+            pullTimeoutRunnable = null;
+            LogUtil.log(TAG, "【processFileList】超时看门狗已取消");
+        }
+        isPulling = false;
+        retryCycle = 0;
+        djiRetries = 0;
+        ownRetries = 0;
+        useOwnMethod = false;
+
+        try {
+            List<MediaFile> rawList = MediaDataCenter.getInstance().getMediaManager()
+                    .getMediaFileListData().getData();
+            LogUtil.log(TAG, "【processFileList】SDK返回文件数=" + (rawList != null ? rawList.size() : 0));
+            if (rawList == null || rawList.isEmpty()) {
+                LogUtil.log(TAG, "【processFileList】文件列表为空，关机");
+                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                sendEvent2Server("无媒体文件", 1);
+                disablePlayback();
+                return;
+            }
+            LogUtil.log(TAG, "文件列表数量: " + rawList.size());
 
-                // 过滤已上传文件
             mediaFiles = new ArrayList<>();
             for (MediaFile mf : rawList) {
                 if (!uploadedFileNames.contains(mf.getFileName())) {
                     mediaFiles.add(mf);
-                    } else {
-                        LogUtil.log(TAG, "跳过已上传文件: " + mf.getFileName());
                 }
             }
-                // 修复：在过滤后设置任务媒体计数
             Movement.getInstance().setTask_media_count(mediaFiles.size());
-                LogUtil.log(TAG, "过滤后文件数量: " + mediaFiles.size());
+            if (PreferenceUtils.getInstance().getMissionType() == 0) sendFlightTaskProgress2Server();
-                if(PreferenceUtils.getInstance().getMissionType()==0){
-                    sendFlightTaskProgress2Server();
-                }
-
 
             if (mediaFiles.isEmpty()) {
-                    LogUtil.log(TAG, "所有文件均已上传，直接清理");
+                LogUtil.log(TAG, "全部已上传，直接清理");
-                    downLoadMediaFileIndex = 0;
-                    // 提前设置关机标志，让 aircraftStoredReply 能立即回复成功
                 ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
                 removeAllFiles();
                 return;
@@ -335,39 +430,16 @@ public class MediaManager extends BaseManager {
                 pullOriginalMediaFileFromCamera();
             }
         } catch (Exception e) {
-                LogUtil.log(TAG, "获取文件列表数据失败: " + e.getMessage());
+            LogUtil.log(TAG, "处理文件列表异常: " + e.getMessage());
-                // 发生异常时快速重试2次
-                if (pullMediaFileListFromCameraFailTimes < 2) {
-                    pullMediaFileListFromCameraFailTimes++;
-                    LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
-                    new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 2000);
-                } else {
-                    LogUtil.log(TAG, "重试次数达到上限，拉取失败");
             ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                    sendEvent2Server("拉取媒体文件失败",2);
+            sendEvent2Server("处理文件列表失败", 2);
             disablePlayback();
-                    LogUtil.log(TAG, "发送关闭无人机");
-                }
-            }
-        } else {
-            // 其他状态（如UPDATING），等待状态变化，不要重复调用pullMediaFileListFromCamera
-            LogUtil.log(TAG, "状态为" + currentState + "，等待状态变化... (count=" + updatingWaitCount + ")");
-            updatingWaitCount++;
-
-            // 增加超时处理，避免无限等待
-            if (updatingWaitCount >= MAX_UPDATING_WAIT) {
-                LogUtil.log(TAG, "等待状态变化超时，强制关机");
-                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                sendEvent2Server("媒体文件状态更新超时",2);
-                disablePlayback();
-                LogUtil.log(TAG, "发送关闭无人机");
-                return;
-            }
-
-            new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 1000);
         }
     }
 
+    /* =================================================================
+     *  文件下载/上传 — 保持原始逻辑不变
+     * ================================================================= */
 
     @RequiresApi(Build.VERSION_CODES.O)
     public void pullOriginalMediaFileFromCamera() {
@@ -379,7 +451,6 @@ public class MediaManager extends BaseManager {
             downLoadMediaFileIndex++;
 
             if (downLoadMediaFileIndex == mediaFiles.size()) {
-                // This refers to when all files have been downloaded or failed. Clear SD card, cache, exit media mode, and shut down the drone
                 downLoadMediaFileIndex = 0;
                 removeAllFiles();
             } else {
@@ -498,15 +569,19 @@ public class MediaManager extends BaseManager {
         }
     }
 
+    /* =================================================================
+     *  MinIO上传 — 原始逻辑不变
+     * ================================================================= */
+
     private AmazonS3 s3 = new AmazonS3Client(new AWSCredentials() {
         @Override
         public String getAWSAccessKeyId() {
-            return PreferenceUtils.getInstance().getAccessKey(); // minio的key
+            return PreferenceUtils.getInstance().getAccessKey();
         }
 
         @Override
         public String getAWSSecretKey() {
-            return PreferenceUtils.getInstance().getSecretKey(); // minio的密钥
+            return PreferenceUtils.getInstance().getSecretKey();
         }
     }, Region.getRegion(Regions.US_EAST_1), new ClientConfiguration()
             .withConnectionTimeout(30000)
@@ -520,7 +595,7 @@ public class MediaManager extends BaseManager {
                     @Override
                     public void subscribe(ObservableEmitter<String> emitter) throws Exception {
                         // 服务器地址
-                        s3.setEndpoint(PreferenceUtils.getInstance().getUploadUrl()); // http://ip:端口号
+                        s3.setEndpoint(PreferenceUtils.getInstance().getUploadUrl());
                         // Bucket只在首次上传时检查创建，后续上传不再重复请求
                         if (!bucketChecked) {
                             synchronized (this) {
@@ -534,17 +609,11 @@ public class MediaManager extends BaseManager {
                             }
                         }
 
-                        // 上传文件到网关MINIO存储服务
                         s3.putObject(
                                 new PutObjectRequest(
                                         PreferenceUtils.getInstance().getBucketName(),
                                         "/" + PreferenceUtils.getInstance().getObjectKey() + "/" + mediaFile.getFileName(),
                                         file
-//                    new PutObjectRequest(
-//                                        PreferenceUtils.getInstance().getBucketName(),
-//                                        "/" + PreferenceUtils.getInstance().getObjectKey() + "/" +
-//                                                PreferenceUtils.getInstance().getFlightId() + "/" + mediaFile.getFileName(),
-//                                        file
                                 ).withProgressListener(new ProgressListener() {
                                     @Override
                                     public void progressChanged(ProgressEvent progressEvent) {
@@ -572,7 +641,6 @@ public class MediaManager extends BaseManager {
                                 })
                         );
 
-                        // 获取文件上传后访问地址url
                         GeneratePresignedUrlRequest urlRequest = new GeneratePresignedUrlRequest(
                                 PreferenceUtils.getInstance().getBucketName(),
                                 "/" + PreferenceUtils.getInstance().getObjectKey() + "/"
@@ -580,7 +648,6 @@ public class MediaManager extends BaseManager {
                         );
                         String url = s3.generatePresignedUrl(urlRequest).toString();
 
-                        // 文件上传后访问地址url
                         emitter.onNext(url);
                         emitter.onComplete();
                     }
@@ -590,28 +657,23 @@ public class MediaManager extends BaseManager {
                 .subscribe(new Observer<String>() {
                     @Override
                     public void onSubscribe(Disposable d) {
-                        // Handle on subscribe (optional)
                     }
 
                     @Override
                     public void onNext(String url) {
-                        // 上传成功，重置下载重试计数
                         downloadFailTimes = 0;
-                        //上传完成发送事件
                         sendMediaUpload2Server(mediaFile.getFileName(), downLoadMediaFileIndex + 1, mediaFiles.size());
                     }
 
                     @RequiresApi(Build.VERSION_CODES.O)
                     @Override
                     public void onError(Throwable e) {
-                        // 每上传失败一张就清除缓存
                         uploadedFileNames.add(mediaFile.getFileName());
                         FileUtil.deleteFile(file);
                         LogUtil.log(TAG, "Error uploading file " + downLoadMediaFileIndex + ": " + e.getMessage());
 
                         downLoadMediaFileIndex++;
                         if (downLoadMediaFileIndex == mediaFiles.size()) {
-                            // 所有文件已经下载完成或失败，清空SD卡，缓存，退出媒体模式，发送无人机关机
                             downLoadMediaFileIndex = 0;
                             removeAllFiles();
                         } else {
@@ -622,7 +684,6 @@ public class MediaManager extends BaseManager {
                     @RequiresApi(Build.VERSION_CODES.O)
                     @Override
                     public void onComplete() {
-                        // 每上传一张就清除缓存，并记录已上传文件名
                         uploadedFileNames.add(mediaFile.getFileName());
                         FileUtil.deleteFile(file);
                         LogUtil.log(TAG, "File " + downLoadMediaFileIndex + " uploaded successfully.");
@@ -630,7 +691,6 @@ public class MediaManager extends BaseManager {
 
                         downLoadMediaFileIndex++;
                         if (downLoadMediaFileIndex == mediaFiles.size()) {
-                            // 所有文件已上传完成，清空SD卡，缓存，退出媒体模式，发送无人机关机
                             sendEvent2Server("媒体文件已上传完毕", 1);
                             removeAllFiles();
                             downLoadMediaFileIndex = 0;
@@ -641,8 +701,11 @@ public class MediaManager extends BaseManager {
                 });
     }
 
+    /* =================================================================
+     *  删除文件 / 退出媒体模式
+     * ================================================================= */
+
     public void removeAllFiles() {
-        // 确保即使没有文件也能正常关机
         if (mediaFiles == null || mediaFiles.isEmpty()) {
             LogUtil.log(TAG, "没有文件需要清除，直接关机");
             ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
@@ -672,10 +735,7 @@ public class MediaManager extends BaseManager {
         });
     }
 
-    //退出媒体模式
     public void disablePlayback() {
-        // 任务结束，停止视频流刷新定时器
-      //  StreamManager.getInstance().stopStreamRefreshTimer();
         MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
             @Override
             public void onSuccess() {
@@ -689,22 +749,60 @@ public class MediaManager extends BaseManager {
         });
     }
 
+    private static final long DISABLE_TIMEOUT_MS = 15_000;
+
+    /**
+     * 退出媒体模式 + 超时保护 + 完成后执行后续。
+     * disable 正常回调回来就执行；如果SDK不回调用，15s后强制执行，防卡死。
+     */
+    private void disablePlaybackAndThen(Runnable then) {
+        LogUtil.log(TAG, "【disablePlayback】开始退出媒体模式（15s超时兜底）");
+        final AtomicBoolean done = new AtomicBoolean(false);
+
+        Runnable disableTimeout = () -> {
+            if (done.compareAndSet(false, true)) {
+                LogUtil.log(TAG, "【disablePlayback】⏰ 15s超时！SDK disable无响应，强制执行后续");
+                then.run();
+            }
+        };
+        mainHandler.postDelayed(disableTimeout, DISABLE_TIMEOUT_MS);
+
+        MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                if (done.compareAndSet(false, true)) {
+                    mainHandler.removeCallbacks(disableTimeout);
+                    LogUtil.log(TAG, "【disablePlayback】SDK disable成功 → 执行后续");
+                    then.run();
+                }
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                if (done.compareAndSet(false, true)) {
+                    mainHandler.removeCallbacks(disableTimeout);
+                    LogUtil.log(TAG, "【disablePlayback】SDK disable失败: " + idjiError.description() + " → 仍执行后续");
+                    then.run();
+                }
+            }
+        });
+    }
+
+    /* =================================================================
+     *  工具方法
+     * ================================================================= */
+
     private int downLoadMediaFileIndex = 0;
 
     private String getSDCardPath() {
         if (checkSDCard()) {
-            return Environment.getExternalStorageDirectory()
+            return Environment.getExternalStorageDirectory().getPath();
-                    .getPath();
         } else {
-            return Environment.getExternalStorageDirectory()
+            return Environment.getExternalStorageDirectory().getParentFile().getPath();
-                    .getParentFile().getPath();
         }
     }
 
-
     private boolean checkSDCard() {
         return TextUtils.equals(Environment.MEDIA_MOUNTED, Environment.getExternalStorageState());
     }
-
-
 }

app/src/main/java/com/aros/apron/manager/MissionV3Manager.java

@@ -18,11 +18,13 @@ import com.aros.apron.constant.ErrorCode;
 import com.aros.apron.entity.CurrentWayline;
 import com.aros.apron.entity.MessageDown;
 import com.aros.apron.entity.Movement;
+import com.aros.apron.entity.ParsedWaypoint;
 import com.aros.apron.entity.Synchronizedstatus;
 import com.aros.apron.tools.LogUtil;
 import com.aros.apron.tools.PreferenceUtils;
 import com.aros.apron.tools.RestartAPPTool;
 import com.aros.apron.tools.TakeoffProgressScheduler;
+import com.aros.apron.tools.Utils;
 import com.dji.wpmzsdk.common.data.KMZInfo;
 import com.dji.wpmzsdk.manager.WPMZManager;
 import com.google.gson.Gson;
@@ -33,6 +35,7 @@ import java.io.File;
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
+import java.util.ArrayList;
 import java.util.List;
 
 import dji.sdk.keyvalue.key.CameraKey;
@@ -821,6 +824,13 @@ public class MissionV3Manager extends BaseManager {
             if (kmzInfo != null) {
 //                Utils.printJson(TAG,"航点详情:"+new Gson().toJson(kmzInfo));
                 WaylineWaylinesParseInfo waylineWaylinesParseInfo = kmzInfo.getWaylineWaylinesParseInfo();
+
+
+
+                //LogUtil.log(TAG,"航点详情:"+new Gson().toJson(kmzInfo));
+                //LogUtil.log(TAG,"航点详情:"+waylineWaylinesParseInfo.getWaylines());
+
+                //解析航点
                 if (waylineWaylinesParseInfo != null) {
                     List<Wayline> waylines = waylineWaylinesParseInfo.getWaylines();
                     if (waylines != null && waylines.size() > 0) {
@@ -828,6 +838,95 @@ public class MissionV3Manager extends BaseManager {
                         if (waypoints != null && waypoints.size() > 0) {
                             CurrentWayline.getInstance().setWaypoints(waypoints);
                             LogUtil.log(TAG, "该航线有" + waypoints.size() + "个航点");
+
+
+                            // 打印每个航点的详细信息
+                            // 构建解析后的航点列表
+                            // 先从航线级 actionGroups 提取每个航点的 hoverTime（startIndex→endIndex）
+                            java.util.Map<Integer, Integer> hoverTimeMap = new java.util.HashMap<>();
+                            try {
+                                String waylineJson = new Gson().toJson(waylines.get(0));
+                                com.google.gson.JsonObject waylineObj = new Gson().fromJson(waylineJson, com.google.gson.JsonObject.class);
+                                com.google.gson.JsonArray actionGroups = waylineObj.getAsJsonArray("actionGroups");
+                                if (actionGroups != null) {
+                                    for (int g = 0; g < actionGroups.size(); g++) {
+                                        com.google.gson.JsonObject group = actionGroups.get(g).getAsJsonObject();
+                                        int startIdx = group.has("startIndex") ? group.get("startIndex").getAsInt() : 0;
+                                        int endIdx = group.has("endIndex") ? group.get("endIndex").getAsInt() : startIdx;
+                                        com.google.gson.JsonArray actions = group.getAsJsonArray("actions");
+                                        if (actions != null) {
+                                            int totalHover = 0;
+                                            for (int a = 0; a < actions.size(); a++) {
+                                                com.google.gson.JsonObject action = actions.get(a).getAsJsonObject();
+                                                if (action.has("aircraftHoverParam")) {
+                                                    com.google.gson.JsonObject hoverParam = action.getAsJsonObject("aircraftHoverParam");
+                                                    if (hoverParam != null && hoverParam.has("hoverTime")) {
+                                                        totalHover += (int) Math.round(hoverParam.get("hoverTime").getAsDouble());
+                                                    }
+                                                }
+                                            }
+                                            for (int idx = startIdx; idx <= endIdx && idx < waypoints.size(); idx++) {
+                                                hoverTimeMap.put(idx, totalHover);
+                                            }
+                                        }
+                                    }
+                                }
+                            } catch (Exception e) {
+                                LogUtil.log(TAG, "航线级actionGroups解析跳过: " + e.getMessage());
+                            }
+
+                            List<ParsedWaypoint> parsedList = new ArrayList<>();
+                            for (int i = 0; i < waypoints.size(); i++) {
+                                WaylineExecuteWaypoint wp = waypoints.get(i);
+                                // 先打印完整 JSON，方便查看所有字段
+                                String wpJson = new Gson().toJson(wp);
+                               // LogUtil.log(TAG, "航点[" + i + "]完整JSON: " + wpJson);
+
+                                // 从 JSON 提取各字段（WaylineExecuteWaypoint 无直接 getter）
+                                double lat = 0, lng = 0, alt = 0, speed = 0;
+                                int hoverTime = hoverTimeMap.getOrDefault(i, 0);
+                                try {
+                                    com.google.gson.JsonObject jsonObj = new Gson().fromJson(wpJson, com.google.gson.JsonObject.class);
+                                    // 经纬度：优先顶层latitude → waylineWaypoint.latitude → location.latitude
+                                    if (jsonObj.has("latitude") && !jsonObj.get("latitude").isJsonNull()) {
+                                        lat = jsonObj.get("latitude").getAsDouble();
+                                    } else if (jsonObj.has("waylineWaypoint") && jsonObj.getAsJsonObject("waylineWaypoint").has("latitude")) {
+                                        lat = jsonObj.getAsJsonObject("waylineWaypoint").get("latitude").getAsDouble();
+                                    } else if (jsonObj.has("location") && jsonObj.getAsJsonObject("location").has("latitude")) {
+                                        lat = jsonObj.getAsJsonObject("location").get("latitude").getAsDouble();
+                                    }
+                                    if (jsonObj.has("longitude") && !jsonObj.get("longitude").isJsonNull()) {
+                                        lng = jsonObj.get("longitude").getAsDouble();
+                                    } else if (jsonObj.has("waylineWaypoint") && jsonObj.getAsJsonObject("waylineWaypoint").has("longitude")) {
+                                        lng = jsonObj.getAsJsonObject("waylineWaypoint").get("longitude").getAsDouble();
+                                    } else if (jsonObj.has("location") && jsonObj.getAsJsonObject("location").has("longitude")) {
+                                        lng = jsonObj.getAsJsonObject("location").get("longitude").getAsDouble();
+                                    }
+                                    // 高度：优先altitude → waylineWaypoint.altitude → executeHeight
+                                    if (jsonObj.has("altitude") && !jsonObj.get("altitude").isJsonNull()) {
+                                        alt = jsonObj.get("altitude").getAsDouble();
+                                    } else if (jsonObj.has("waylineWaypoint") && jsonObj.getAsJsonObject("waylineWaypoint").has("altitude")) {
+                                        alt = jsonObj.getAsJsonObject("waylineWaypoint").get("altitude").getAsDouble();
+                                    } else if (jsonObj.has("executeHeight") && !jsonObj.get("executeHeight").isJsonNull()) {
+                                        alt = jsonObj.get("executeHeight").getAsDouble();
+                                    }
+                                    if (jsonObj.has("speed") && !jsonObj.get("speed").isJsonNull()) {
+                                        speed = jsonObj.get("speed").getAsDouble();
+                                    }
+                                } catch (Exception e) {
+                                    LogUtil.log(TAG, "航点[" + i + "]部分字段解析跳过: " + e.getMessage());
+                                }
+
+                                ParsedWaypoint pw = new ParsedWaypoint(i, lat, lng, alt, hoverTime, speed);
+                                parsedList.add(pw);
+
+                               // LogUtil.log(TAG, "航点[" + i + "] " + pw.toString());
+                            }
+                            // 保存解析后的航点列表
+                            CurrentWayline.getInstance().setParsedWaypoints(parsedList);
+
+
+
                         } else {
                             LogUtil.log(TAG, "WPMZManager getWaypointInfo有误");
                         }

app/src/main/java/com/aros/apron/manager/StreamManager.java

@@ -1,9 +1,7 @@
 package com.aros.apron.manager;
 
-import android.content.Context;
 import android.os.Handler;
 import android.os.Looper;
-import android.util.Log;
 
 import androidx.annotation.NonNull;
 
@@ -16,8 +14,7 @@ import com.aros.apron.tools.PreferenceUtils;
 import com.aros.apron.tools.SimplePortScanner;
 import com.google.gson.Gson;
 
-import java.util.concurrent.ExecutorService;
+import java.util.concurrent.atomic.AtomicBoolean;
-import java.util.concurrent.Executors;
 
 import dji.sdk.keyvalue.key.CameraKey;
 import dji.sdk.keyvalue.key.DJIKey;
@@ -44,8 +41,6 @@ import dji.v5.manager.interfaces.ILiveStreamManager;
 public class StreamManager extends BaseManager {
     private static final String TAG = "StreamManager";
 
-    // ========== 【新增】线程池和主线程 Handler，防止 ANR ==========
-    private final ExecutorService streamExecutor = Executors.newSingleThreadExecutor();
     private final Handler mainHandler = new Handler(Looper.getMainLooper());
 
     // ========== 5秒定时刷新视频流，防止起飞卡死 ==========
@@ -110,48 +105,66 @@ public class StreamManager extends BaseManager {
         return StreamHolder.INSTANCE;
     }
 
+
+    public void restart(MessageDown message) {
+        sendMsg2Server(message);
+        LogUtil.log(TAG, "重启推流：先停后启");
+        ILiveStreamManager mgr = MediaDataCenter.getInstance().getLiveStreamManager();
+        if (mgr == null) return;
+        mgr.stopStream(new CommonCallbacks.CompletionCallback() {
+            @Override public void onSuccess() {
+                LogUtil.log(TAG, "旧流已停，重新启动");
+                resetStreamState();
+                startLiveWithRTSP();
+            }
+            @Override public void onFailure(@NonNull IDJIError e) {
+                LogUtil.log(TAG, "停流失败，直接重启");
+                resetStreamState();
+                startLiveWithRTSP();
+            }
+        });
+    }
+
+
+
+
+
+
+
+
     // ========== 【新增】重置推流状态，用于端口关闭后重启 ==========
     public void resetStreamState() {
         //stopStreamRefreshTimer();
        // SimplePortScanner.getInstance().stopScan(); // 同时停止端口扫描
         mainHandler.removeCallbacksAndMessages(null); // 清理所有待执行的回调
         startLiveFailTimes = 0;
-        isLiveStreamAlreadyStart = false;
+        isStartingRTSP.set(false);
-        isStartingRTSP = false;
         LogUtil.log(TAG, "推流状态已重置");
     }
 
     public void stopstream() {
-        streamExecutor.execute(() -> {
+        ILiveStreamManager mgr = MediaDataCenter.getInstance().getLiveStreamManager();
-            ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
+        mgr.stopStream(new CommonCallbacks.CompletionCallback() {
-            liveStreamManager.stopStream(new CommonCallbacks.CompletionCallback() {
             @Override
             public void onSuccess() {
-                    LogUtil.log(TAG, "直播关闭成功");
+                LogUtil.log(TAG, "直播关闭成功，重置状态");
+                isStartingRTSP.set(false);
             }
-
             @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
+            public void onFailure(@NonNull IDJIError e) {
-                    LogUtil.log(TAG, "直播关闭失败");
+                LogUtil.log(TAG, "直播关闭失败:" + e.description());
+                isStartingRTSP.set(false);
             }
         });
-        });
     }
 
     public void startstream() {
-        streamExecutor.execute(() -> {
+        ILiveStreamManager mgr = MediaDataCenter.getInstance().getLiveStreamManager();
-            ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
+        mgr.startStream(new CommonCallbacks.CompletionCallback() {
-            liveStreamManager.startStream(new CommonCallbacks.CompletionCallback() {
             @Override
-                public void onSuccess() {
+            public void onSuccess() { LogUtil.log(TAG, "直播开启成功"); }
-                    LogUtil.log(TAG, "直播开启成功");
-                }
-
             @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
+            public void onFailure(@NonNull IDJIError e) { LogUtil.log(TAG, "直播开启失败"); }
-                    LogUtil.log(TAG, "直播开启成功失败");
-                }
-            });
         });
     }
 
@@ -164,8 +177,8 @@ public class StreamManager extends BaseManager {
                 public void onLiveStreamStatusUpdate(LiveStreamStatus status) {
                     if (status != null) {
                         Movement.getInstance().setLiveStatus(status.isStreaming() ? 1 : 0);
-                        Log.d(TAG, "推流状态" + status.isStreaming() + "帧率:" + status.getFps() + "--" + "码率:" + status.getVbps() + "---" + "延迟:" + status.getRtt());
+                        LogUtil.log(TAG, "推流状态" + status.isStreaming() + "帧率:" + status.getFps() + "--" + "码率:" + status.getVbps() + "---" + "延迟:" + status.getRtt());
-
+                        sendEvent2Server("推流状态" + status.isStreaming() + "帧率:" + status.getFps() + "--" + "码率:" + status.getVbps() + "---" + "延迟:" + status.getRtt(),1);
                     }
                 }
 
@@ -204,8 +217,9 @@ public class StreamManager extends BaseManager {
 
 
     private volatile int startLiveFailTimes;
-    private volatile boolean isLiveStreamAlreadyStart;
+    // ★ 用 AtomicBoolean 替代 volatile boolean，CAS 防并发，不会卡死
-    private volatile boolean isStartingRTSP = false; // 防止并发调用
+    private final AtomicBoolean isStartingRTSP = new AtomicBoolean(false);
+    private final AtomicBoolean isStartingRTMP = new AtomicBoolean(false);
 
     // 无限重试：指数退避控制
     private static final long RETRY_BASE_MS = 3000;   // 初始 3 秒
@@ -214,7 +228,6 @@ public class StreamManager extends BaseManager {
 
     // 知眸测试
     public void startLiveWithCustom() {
-        streamExecutor.execute(() -> {
         Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(ProductKey.KeyConnection));
         if (isAircraftConnected == null || !isAircraftConnected) {
             LogUtil.log(TAG, "飞行器未连接");
@@ -236,9 +249,8 @@ public class StreamManager extends BaseManager {
             });
 
             if (!liveStreamManager.isStreaming()) {
-                doStartLiveCustom(liveStreamManager);
+                mainHandler.postDelayed(() -> doStartLiveCustom(liveStreamManager), 3000);
             }
-        });
     }
 
     private void doStartLiveCustom(ILiveStreamManager liveStreamManager) {
@@ -247,7 +259,6 @@ public class StreamManager extends BaseManager {
             public void onSuccess() {
                 mainHandler.post(() -> {
                     LogUtil.log(TAG, "自定义推流启动成功");
-                    isLiveStreamAlreadyStart = true;
                 });
             }
 
@@ -255,16 +266,16 @@ public class StreamManager extends BaseManager {
             public void onFailure(@NonNull IDJIError error) {
                 mainHandler.post(() -> {
                     LogUtil.log(TAG, "第" + startLiveFailTimes + "次自定义推流失败:" + new Gson().toJson(error));
-                    if (!isLiveStreamAlreadyStart) {
+                    // ★ 用 SDK 真实状态判断，不用手动标志位
+                    if (!liveStreamManager.isStreaming()) {
                         long retryDelay = Math.min(RETRY_BASE_MS * (1L << Math.min(startLiveFailTimes, 4)), RETRY_MAX_MS);
                         startLiveFailTimes++;
                         if (startLiveFailTimes <= 3 || startLiveFailTimes % LOG_INTERVAL == 0) {
                             LogUtil.log(TAG, "自定义推流准备第" + startLiveFailTimes + "次重试，间隔 " + retryDelay + "ms");
                         }
-                        isStartingRTSP = false;
+                        isStartingRTSP.set(false);
-                        isLiveStreamAlreadyStart = false;
                         mainHandler.postDelayed(() -> {
-                            streamExecutor.execute(() -> startLiveWithCustom());
+                            startLiveWithCustom();
                         }, retryDelay);
                     }
                 });
@@ -273,240 +284,370 @@ public class StreamManager extends BaseManager {
     }
 
 
-    private int isliveindex = 1; //1 代表 port 2 代表 fpv
+    // ========== RTMP 推流（MQTT rtmp_push 协议） ==========
 
-    public void switchptspfpv(ComponentIndexType ComponentIndex, MessageDown message) {
+    /**
-        if(isliveindex==2){
+     * MQTT 收到 rtmp_push 协议后调用：先停止当前推流，再启动 RTMP 推流
-            sendMsg2Server(message);
+     * @param message MQTT 下发的消息，data.rtmp_url 为 RTMP 推流地址
+     */
+    public void startLiveWithRTMP(MessageDown message) {
+
+        // CAS 防并发
+        if (!isStartingRTMP.compareAndSet(false, true)) {
+            LogUtil.log(TAG, "startLiveWithRTMP 正在执行中，忽略本次调用");
             return;
         }
-        isliveindex = 2;
+
+        String rtmpUrl = message.getData() != null ? message.getData().getRtmp_url() : null;
+        if (rtmpUrl == null || rtmpUrl.isEmpty()) {
+            LogUtil.log(TAG, "RTMP URL 为空");
+            isStartingRTMP.set(false);
+            sendFailMsg2Server(message, "RTMP URL 为空");
+            return;
+        }
+
+        LogUtil.log(TAG, "========== 开始 RTMP 推流流程 ==========");
+        LogUtil.log(TAG, "RTMP URL: " + rtmpUrl);
+
+        Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection));
+        if (isAircraftConnected == null || !isAircraftConnected) {
+            LogUtil.log(TAG, "飞行器未连接");
+            isStartingRTMP.set(false);
+            sendFailMsg2Server(message, "飞行器未连接");
+            return;
+        }
+
+        ILiveStreamManager mgr = MediaDataCenter.getInstance().getLiveStreamManager();
+        if (mgr == null) {
+            LogUtil.log(TAG, "LiveStreamManager 为 null");
+            sendFailMsg2Server(message, "LiveStreamManager 为 null");
+            isStartingRTMP.set(false);
+            return;
+        }
+
+        // ★ 杀掉所有 RTSP 排队中的回调，重置 RTSP 状态，防止 RTSP 延迟任务覆盖 RTMP 配置
+        resetStreamState();
+
+        // 先发送回执，表示收到指令
         sendMsg2Server(message);
-        ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
-        LogUtil.log(TAG, "切换 RTSP 推流 fpv:" + PreferenceUtils.getInstance().getRtspUserName()
-                + "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
 
-        LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
+        // 先停止当前推流，成功或失败都继续启动 RTMP
+        mgr.stopStream(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "旧流已停止，开始配置 RTMP");
+                configureAndStartRTMP(mgr, rtmpUrl, message);
+            }
 
-        LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
+            @Override
-                .setRtspSettings(new RtspSettings.Builder().setPassWord(PreferenceUtils.getInstance().getRtspPassWord()).
+            public void onFailure(@NonNull IDJIError e) {
-                        setPort(Integer.parseInt(PreferenceUtils.getInstance().getRtspPort())).
+                LogUtil.log(TAG, "停流失败，仍尝试启动 RTMP: " + e.description());
-                        setUserName(PreferenceUtils.getInstance().getRtspUserName()).build()).build();
+                configureAndStartRTMP(mgr, rtmpUrl, message);
+            }
+        });
+    }
 
-        liveStreamManager.setLiveStreamSettings(streamSettings);
+    private void configureAndStartRTMP(ILiveStreamManager mgr, String rtmpUrl, MessageDown message) {
+        mainHandler.post(() -> {
+            LiveStreamSettings streamSettings = new LiveStreamSettings.Builder()
+                    .setLiveStreamType(LiveStreamType.RTMP)
+                    .setRtmpSettings(new RtmpSettings.Builder()
+                            .setUrl(rtmpUrl)
+                            .build())
+                    .build();
+            mgr.setLiveStreamSettings(streamSettings);
+            mgr.setCameraIndex((isliveindex == 1) ? ComponentIndexType.PORT_1 : ComponentIndexType.FPV);
 
-        liveStreamManager.setCameraIndex(ComponentIndex);
+            mgr.setLiveStreamQuality(StreamQuality.FULL_HD);
+            mgr.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
 
-        liveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
+            LogUtil.log(TAG, "RTMP 配置完成，3s 后启动推流");
-        liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
+
+            mainHandler.postDelayed(() -> {
+                if (mgr.isStreaming()) {
+                    // ★ 旧流未停干净：主动再停一次，然后重试启动
+                    LogUtil.log(TAG, "SDK显示仍在推流，再次停止后重试");
+                    mgr.stopStream(new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "二次停流成功，重试 RTMP 启动");
+                            mainHandler.postDelayed(() -> doStartRTMPStream(mgr, message), 2000);
+                        }
+                        @Override
+                        public void onFailure(@NonNull IDJIError e) {
+                            LogUtil.log(TAG, "二次停流失败，仍尝试 RTMP 启动: " + e.description());
+                            mainHandler.postDelayed(() -> doStartRTMPStream(mgr, message), 2000);
+                        }
+                    });
+                    return;
+                }
+                doStartRTMPStream(mgr, message);
+            }, 3000);
+        });
+    }
+
+    private void doStartRTMPStream(ILiveStreamManager mgr, MessageDown message) {
+        if (mgr.isStreaming()) {
+            // ★ 二次停流后仍显示推流中：再做最后一次 stop + retry，不轻易放弃
+            LogUtil.log(TAG, "RTMP 启动前检查：SDK仍在推流，最后一次强制停流");
+            mgr.stopStream(new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "三次停流成功，最终尝试 RTMP 启动");
+                    mainHandler.postDelayed(() -> {
+                        mgr.startStream(new CommonCallbacks.CompletionCallback() {
+                            @Override
+                            public void onSuccess() {
+                                LogUtil.log(TAG, "RTMP 推流启动成功（终极重试）");
+                                isStartingRTMP.set(false);
+                                LogUtil.log(TAG, "========== RTMP 推流启动成功 ==========");
+                            }
+                            @Override
+                            public void onFailure(@NonNull IDJIError error) {
+                                LogUtil.log(TAG, "RTMP 推流最终失败: " + error.description());
+                                isStartingRTMP.set(false);
+                                sendFailMsg2Server(message, "RTMP 推流最终失败: " + error.description());
+                            }
+                        });
+                    }, 2000);
+                }
+                @Override
+                public void onFailure(@NonNull IDJIError e) {
+                    LogUtil.log(TAG, "三次停流失败，彻底放弃");
+                    isStartingRTMP.set(false);
+                    sendFailMsg2Server(message, "RTMP 推流失败：多次停流无效");
+                }
+            });
+            return;
+        }
+        LogUtil.log(TAG, "开始调用 RTMP startStream...");
+        mgr.startStream(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "RTMP 推流启动成功");
+                isStartingRTMP.set(false);
+                LogUtil.log(TAG, "========== RTMP 推流启动成功 ==========");
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError error) {
+                LogUtil.log(TAG, "RTMP 推流启动失败: " + error.description());
+                isStartingRTMP.set(false);
+                sendFailMsg2Server(message, "RTMP 推流失败: " + error.description());
+            }
+        });
+    }
+
+    // ========== 停止 RTMP 推流（MQTT stop_rtmp 协议） ==========
+
+    /**
+     * MQTT 收到 stop_rtmp 协议后调用：停止 RTMP 推流，切回默认 RTSP
+     * @param message MQTT 下发的消息
+     */
+    public void stopRTMP(MessageDown message) {
+        sendMsg2Server(message);
+        LogUtil.log(TAG, "========== 停止 RTMP 推流，切回 RTSP ==========");
+
+        // ★ 立即释放 RTMP 锁 + 清场，不阻塞快速连发的 push_rtmp
+        isStartingRTMP.set(false);
+        resetStreamState();
+
+        ILiveStreamManager mgr = MediaDataCenter.getInstance().getLiveStreamManager();
+        if (mgr == null) {
+            LogUtil.log(TAG, "LiveStreamManager 为 null");
+            return;
+        }
+
+        mgr.stopStream(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "RTMP 已停，启动 RTSP");
+                startLiveWithRTSP();
+            }
+            @Override
+            public void onFailure(@NonNull IDJIError e) {
+                LogUtil.log(TAG, "停流失败，仍启动 RTSP: " + e.description());
+                startLiveWithRTSP();
+            }
+        });
+    }
+
+    private volatile int isliveindex = 1; //1 代表 port 2 代表 fpv
+
+    /**
+     * 切换 RTSP 推流相机源（和 DJI 示例一样：直接设 cameraIndex，SDK 内部切换）
+     */
+    public void switchptspfpv(ComponentIndexType ComponentIndex, MessageDown message) {
+        if (isliveindex == 2) { sendMsg2Server(message); return; }
+        isliveindex = 2;
+        LogUtil.log(TAG, "切换推流到 FPV");
+        MediaDataCenter.getInstance().getLiveStreamManager().setCameraIndex(ComponentIndexType.FPV);
+        sendMsg2Server(message);
     }
 
     public void switchptspport(ComponentIndexType ComponentIndex, MessageDown message) {
-        if(isliveindex==1){
+        if (isliveindex == 1) { sendMsg2Server(message); return; }
-            sendMsg2Server(message);
-            return;
-        }
         isliveindex = 1;
+        LogUtil.log(TAG, "切换推流到 PORT_1");
+        MediaDataCenter.getInstance().getLiveStreamManager().setCameraIndex(ComponentIndexType.PORT_1);
         sendMsg2Server(message);
-        ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
-        LogUtil.log(TAG, "切换 RTSP 推流 port:" + PreferenceUtils.getInstance().getRtspUserName()
-                + "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
-
-        LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
-
-        LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
-                .setRtspSettings(new RtspSettings.Builder().setPassWord(PreferenceUtils.getInstance().getRtspPassWord()).
-                        setPort(Integer.parseInt(PreferenceUtils.getInstance().getRtspPort())).
-                        setUserName(PreferenceUtils.getInstance().getRtspUserName()).build()).build();
-
-        liveStreamManager.setLiveStreamSettings(streamSettings);
-
-        liveStreamManager.setCameraIndex(ComponentIndex);
-
-        liveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
-        liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
     }
 
-    // ========== 【核心修复】RTSP 推流入口，全部在子线程执行 ==========
+
+
+
+
     public void startLiveWithRTSP() {
-        // 防止并发调用
+        // ★ CAS 防并发：只有一个线程能拿到 true，其他被拦截
-        if (isStartingRTSP) {
+        if (!isStartingRTSP.compareAndSet(false, true)) {
             LogUtil.log(TAG, "startLiveWithRTSP 正在执行中，忽略本次调用");
             return;
         }
 
-        streamExecutor.execute(() -> {
+        // ★ RTMP 推流正在进行中，不再启动 RTSP，防止覆盖
-            isStartingRTSP = true;
+        if (isStartingRTMP.get()) {
+            LogUtil.log(TAG, "RTMP 推流正在进行中，取消 RTSP 启动");
+            isStartingRTSP.set(false);
+            return;
+        }
 
         if (startLiveFailTimes == 0) {
-                isLiveStreamAlreadyStart = false;
             LogUtil.log(TAG, "========== 开始 RTSP 推流流程 ==========");
         }
 
         Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection));
         if (isAircraftConnected == null || !isAircraftConnected) {
             LogUtil.log(TAG, "飞行器未连接");
-                isStartingRTSP = false;
+            isStartingRTSP.set(false);
             return;
         }
 
-            ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
+        ILiveStreamManager mgr = MediaDataCenter.getInstance().getLiveStreamManager();
-            if (liveStreamManager == null) {
+        if (mgr == null) {
             LogUtil.log(TAG, "LiveStreamManager 为 null");
-                isStartingRTSP = false;
+            isStartingRTSP.set(false);
             return;
         }
 
-            if (liveStreamManager.isStreaming()) {
+        // ★ 用 SDK 真实状态判断是否已在推流
-                LogUtil.log(TAG, "RTSP 推流已在运行，无需重复启动");
+        if (mgr.isStreaming()) {
-                isLiveStreamAlreadyStart = true;
+            LogUtil.log(TAG, "RTSP 推流已在运行（SDK状态），无需重复启动");
-                isStartingRTSP = false;
+            isStartingRTSP.set(false);
             return;
         }
 
         if (!MainActivity.Companion.getStreamReceive()) {
-                LogUtil.log(TAG, "相机流未准备好，尝试模拟点击 FPV Widget 恢复");
+            LogUtil.log(TAG, "相机流未准备好，3s 后重试");
-                mainHandler.post(() -> {
-                    MainActivity mainActivity = MainActivity.Companion.getInstance();
-                    if (mainActivity != null) {
-                        mainActivity.smartRefreshVideoStream();
-                    }
-                });
-
-                mainHandler.postDelayed(() -> {
-                    streamExecutor.execute(() -> {
             startLiveFailTimes++;
-                        if (startLiveFailTimes <= 3 || startLiveFailTimes % LOG_INTERVAL == 0) {
+            isStartingRTSP.set(false);
-                            LogUtil.log(TAG, "相机流未准备好，第" + startLiveFailTimes + "次重试");
+            // ★ 重试前检查 RTMP 是否已接管
-                        }
+            mainHandler.postDelayed(() -> {
-                        startLiveWithRTSP();
+                if (isStartingRTMP.get()) {
-                    });
+                    LogUtil.log(TAG, "RTMP 已接管，取消 RTSP 重试（相机流就绪等待）");
-                }, 2000);
+                    return;
-                isStartingRTSP = false; // 释放锁，让重试能正常进入
+                }
+                startLiveWithRTSP();
+            }, 3000);
             return;
         }
-
 
         String rtspUser = PreferenceUtils.getInstance().getRtspUserName();
         String rtspPort = PreferenceUtils.getInstance().getRtspPort();
         String rtspPass = PreferenceUtils.getInstance().getRtspPassWord();
-
         if (rtspUser == null || rtspPort == null || rtspPass == null ||
                 rtspUser.isEmpty() || rtspPort.isEmpty() || rtspPass.isEmpty()) {
-                LogUtil.log(TAG, "RTSP 配置参数有误：user=" + rtspUser + ", port=" + rtspPort);
+            LogUtil.log(TAG, "RTSP 配置参数有误");
-                isStartingRTSP = false;
+            isStartingRTSP.set(false);
             return;
         }
 
-            LogUtil.log(TAG, "RTSP 配置检查通过：user=" + rtspUser + ", port=" + rtspPort + ", camera=" + (isliveindex == 1 ? "PORT_1" : "FPV"));
+        LogUtil.log(TAG, "RTSP 配置检查通过：user=" + rtspUser + ", port=" + rtspPort);
 
-            //等待相机模式稳定（避免刚切换模式就推流）
+        LiveStreamSettings streamSettings = new LiveStreamSettings.Builder()
-            try {
+                .setLiveStreamType(LiveStreamType.RTSP)
-                Thread.sleep(500);
-            } catch (InterruptedException e) {
-                Thread.currentThread().interrupt();
-            }
-
-            //设置 RTSP 参数
-            final ILiveStreamManager finalLiveStreamManager = liveStreamManager;
-            mainHandler.post(() -> {
-                LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
-                LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
                 .setRtspSettings(new RtspSettings.Builder()
                         .setPassWord(rtspPass)
                         .setPort(Integer.parseInt(rtspPort))
                         .setUserName(rtspUser)
                         .build())
                 .build();
+        mgr.setLiveStreamSettings(streamSettings);
+        mgr.setCameraIndex((isliveindex == 1) ? ComponentIndexType.PORT_1 : ComponentIndexType.FPV);
+        mgr.setLiveStreamQuality(StreamQuality.FULL_HD);
+        mgr.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
 
-                finalLiveStreamManager.setLiveStreamSettings(streamSettings);
+        LogUtil.log(TAG, "参数设置完成，3s 后启动推流");
-
-                // 设置相机源
-                ComponentIndexType cameraIndex = (isliveindex == 1) ? ComponentIndexType.PORT_1 : ComponentIndexType.FPV;
-                finalLiveStreamManager.setCameraIndex(cameraIndex);
-
-                finalLiveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
-                finalLiveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
-
-                LogUtil.log(TAG, "RTSP 参数设置完成，等待 500ms 后启动推流");
-
         mainHandler.postDelayed(() -> {
-                    streamExecutor.execute(() -> {
+            // ★ RTMP 已接管，取消 RTSP 启动
-                        // 9. 启动推流前再次检查
+            if (isStartingRTMP.get()) {
-                        if (finalLiveStreamManager.isStreaming()) {
+                LogUtil.log(TAG, "RTMP 已接管，取消 RTSP 启动（3s 等待期间 RTMP 介入）");
-                            LogUtil.log(TAG, "推流已在运行，跳过启动");
+                isStartingRTSP.set(false);
-                            isLiveStreamAlreadyStart = true;
+                return;
-                            isStartingRTSP = false;
+            }
+            // ★ 启动前再次用 SDK 状态确认
+            if (mgr.isStreaming()) {
+                LogUtil.log(TAG, "SDK显示已在推流，跳过");
+                isStartingRTSP.set(false);
                 return;
             }
-
             LogUtil.log(TAG, "开始调用 startStream...");
-                        doStartLiveWithRTSP(finalLiveStreamManager, false);
+            mgr.startStream(new CommonCallbacks.CompletionCallback() {
-                    });
-                }, 500);
-            });
-        });
-    }
-
-
-
-    // ========== 【新增】实际启动流的私有方法，确保在子线程执行 ==========
-    private void doStartLiveWithRTSP(ILiveStreamManager liveStreamManager, boolean isRestart) {
-        if (liveStreamManager.isStreaming()) {
-            LogUtil.log(TAG, "推流已在运行，跳过启动 (isRestart=" + isRestart + ")");
-            isLiveStreamAlreadyStart = true;
-            isStartingRTSP = false; // 重置并发标志
-            return;
-        }
-
-        LogUtil.log(TAG, "开始调用 startStream... (isRestart=" + isRestart + ")");
-
-        liveStreamManager.startStream(new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
-                mainHandler.post(() -> {
+                    LogUtil.log(TAG, "RTSP 推流启动成功");
-                    LogUtil.log(TAG, "自定义 RTSP 推流启动成功" + (isRestart ? "(重启)" : ""));
+                    startLiveFailTimes = 0;
-                    isliveindex = 1;
+                    isStartingRTSP.set(false);
-                    isLiveStreamAlreadyStart = true;
-                    startLiveFailTimes = 0; // 重置失败计数
-                    isStartingRTSP = false; // 重置并发标志
                     LogUtil.log(TAG, "========== RTSP 推流启动成功 ==========");
-                    // 启动5秒定时刷新视频流，防止起飞卡死
-                   // startStreamRefreshTimer();
-                    // 开始端口扫描
-                   // SimplePortScanner.getInstance().startScan();
-                });
                 }
 
                 @Override
                 public void onFailure(@NonNull IDJIError error) {
-                mainHandler.post(() -> {
+                    LogUtil.log(TAG, "第" + startLiveFailTimes + "次 RTSP 推流失败:" + error.description());
-                    String detailedError = "第" + startLiveFailTimes + "次开始 RTSP 推流失败：type=" + error.errorType()+ ", code=" + error.errorCode() + ", hint=" + error.hint();
-                    LogUtil.log(TAG, detailedError);
-                    LogUtil.log(TAG, "完整错误:" + new Gson().toJson(error));
 
-                    if (!isLiveStreamAlreadyStart) {
+                    // ★ 用 SDK 真实状态判断是否要重试
-                        // 计算指数退避间隔：3s → 6s → 12s → 24s → 30s(封顶)
+                    if (!mgr.isStreaming()) {
+                        // ★ RTMP 已接管，不再重试 RTSP
+                        if (isStartingRTMP.get()) {
+                            LogUtil.log(TAG, "RTMP 已接管，取消 RTSP 失败重试");
+                            isStartingRTSP.set(false);
+                            return;
+                        }
                         long retryDelay = Math.min(RETRY_BASE_MS * (1L << Math.min(startLiveFailTimes, 4)), RETRY_MAX_MS);
                         startLiveFailTimes++;
-                        if (startLiveFailTimes <= 3 || startLiveFailTimes % LOG_INTERVAL == 0) {
+                        isStartingRTSP.set(false);
-                            LogUtil.log(TAG, "准备第" + startLiveFailTimes + "次重试，间隔 " + retryDelay + "ms");
-                        }
 
-                        // 重置所有状态，让下次重试是干净的
+                        // 停流 → 等回调 → 重试
-                        isStartingRTSP = false;
+                        mgr.stopStream(new CommonCallbacks.CompletionCallback() {
-                        isLiveStreamAlreadyStart = false;
+                            @Override
-                        stopstream(); // 先关再开，避免端口占用
+                            public void onSuccess() {
-
+                                LogUtil.log(TAG, "重试前停流成功，" + retryDelay + "ms 后重试");
-                        // 指数退避重试
+                                // ★ 重试前再次检查 RTMP 状态
                                 mainHandler.postDelayed(() -> {
+                                    if (isStartingRTMP.get()) {
+                                        LogUtil.log(TAG, "RTMP 已接管，取消 RTSP 重试");
+                                        return;
+                                    }
                                     startLiveWithRTSP();
                                 }, retryDelay);
+                            }
+                            @Override
+                            public void onFailure(@NonNull IDJIError e) {
+                                LogUtil.log(TAG, "重试前停流失败，仍重试");
+                                // ★ 重试前再次检查 RTMP 状态
+                                mainHandler.postDelayed(() -> {
+                                    if (isStartingRTMP.get()) {
+                                        LogUtil.log(TAG, "RTMP 已接管，取消 RTSP 重试");
+                                        return;
+                                    }
+                                    startLiveWithRTSP();
+                                }, retryDelay);
+                            }
+                        });
                     } else {
-                        isStartingRTSP = false;
+                        isStartingRTSP.set(false);
-                    }
+                    }
-                });
                 }
             });
+        }, 3000);
     }
 }

app/src/main/java/com/aros/apron/mix/Aprondown.java

@@ -414,7 +414,7 @@ public class Aprondown  {
                                 }
                             } else {
                                 LogUtil.log(TAG_LOG, "执行位移");
-                                DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.3f);
+                                DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.5f);
                             }
                         } else if (lostDuration > 8000) {
                             LogUtil.log(TAG_LOG, "判定未识别到二维码,飞往备降点");
@@ -570,6 +570,30 @@ public class Aprondown  {
         Apronmixvalue.getInstance().setIsaglinetrue(false); // 下次降落重新对准
     }
 
+    /** ★ 急停清理 */
+    public void stopAndReset() {
+        isStartAruco = false;
+        startFastStick = false;
+        frameCounter = 0;
+        if (lastFuture != null && !lastFuture.isDone()) {
+            lastFuture.cancel(true);
+            lastFuture = null;
+        }
+        handler.removeCallbacks(runnable);
+        handlerCallbackCount = 0;
+        isHeightStableMonitoring = false;
+        lastHeightCheckTime = 0;
+        lastUltrasonicHeight = 0;
+        arucoNotFoundTag = false;
+        startTime = 0;
+        endTime = 0;
+        dropTimesTag = false;
+        dropTimes = 0;
+        if (pidControlX != null) pidControlX.reset();
+        if (pidControlY != null) pidControlY.reset();
+        LogUtil.log(TAG_LOG, "【急停清理】已重置");
+    }
+
 
     private double calculateYawErrorFromCorners(Point[] pts) {
         double dxTop = pts[1].x - pts[0].x;
@@ -702,7 +726,7 @@ public class Aprondown  {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 15) {
+            if (handlerCallbackCount < 18) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

app/src/main/java/com/aros/apron/mix/Aprongim.java

@@ -1035,7 +1035,7 @@ public class Aprongim {
                 } else {
                     // 高空丢失：下降寻找
                     LogUtil.log(TAG_LOG, "【执行移动】丢失下降 vz=-0.3");
-                    DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.3f);
+                    DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.5f);
                 }
             } else if (lostDuration > 8000) {
                 LogUtil.log(TAG_LOG, "判定未识别到二维码,飞往备降点");
@@ -1079,13 +1079,43 @@ public class Aprongim {
         }
     }
 
+    /** ★ 急停清理 */
+    public void stopAndReset() {
+        isStartAruco = false;
+        startFastStick = false;
+        frameCounter = 0;
+        if (lastFuture != null && !lastFuture.isDone()) {
+            lastFuture.cancel(true);
+            lastFuture = null;
+        }
+        handler.removeCallbacks(runnable);
+        handlerCallbackCount = 0;
+        isYawAligned = false;
+        currentLandingMode = 0;
+        counterRound = 0;
+        for (int i = 0; i < landingCounters.length; i++) {
+            landingCounters[i] = 0;
+        }
+        isHeightStableMonitoring = false;
+        lastHeightCheckTime = 0;
+        lastUltrasonicHeight = 0;
+        arucoNotFoundTag = false;
+        startTime = 0;
+        endTime = 0;
+        dropTimesTag = false;
+        dropTimes = 0;
+        if (pidControlX != null) pidControlX.reset();
+        if (pidControlY != null) pidControlY.reset();
+        LogUtil.log(TAG_LOG, "【急停清理】已重置");
+    }
+
     private int handlerCallbackCount = 0;
     private Handler handler = new Handler(Looper.getMainLooper());
     private Runnable runnable = new Runnable() {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 15) {
+            if (handlerCallbackCount < 18) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

app/src/main/java/com/aros/apron/mix/Apronmixvalue.java

@@ -61,7 +61,7 @@ public class Apronmixvalue {
         Aprondown.getInstance().setDropTimes(0);
 
         // 如果高度已经大于 40 分米，直接切换，不用上升
-        if (Movement.getInstance().getUltrasonicHeight() >= 40) {
+        if (Movement.getInstance().getUltrasonicHeight() >= 40 || Movement.getInstance().getElevation()>4) {
             Synchronizedstatus.setSwitchtime(true);
             return;
         }
@@ -69,7 +69,7 @@ public class Apronmixvalue {
         Runnable runnable = new Runnable() {
             @Override
             public void run() {
-                if (Movement.getInstance().getUltrasonicHeight() < 50) {
+                if (Movement.getInstance().getUltrasonicHeight() < 50 && Movement.getInstance().getElevation() <5) {
                     DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 3f);
                     handler.postDelayed(this, 200);
                 } else {

app/src/main/java/com/aros/apron/tools/ApronArucoDetect.java

@@ -311,7 +311,7 @@ public class ApronArucoDetect  {
                                     }
                                 } else {
                                     LogUtil.log(TAG_LOG, "执行位移");
-                                    DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.3f);
+                                    DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.5f);
                                 }
 
                                 isHeightStableMonitoring = false;
@@ -390,23 +390,21 @@ public class ApronArucoDetect  {
                         dropTimesTag = true;
 
                     } else {
-                        // 原有丢失处理
+                        // 丢失处理
-                        LogUtil.log(TAG_LOG, "找不到了二维码");
+                        int lostUltHeight = Movement.getInstance().getUltrasonicHeight();
 
-                        // 【新增】识别失败截图保存
-                        if (saveFailScreenshot) {
-                            saveFailScreenshot(grayImgMat, width, height);
-
-                        }
                         if (!arucoNotFoundTag) {
                             startTime = System.currentTimeMillis();
                             arucoNotFoundTag = true;
+                            LogUtil.log(TAG_LOG, String.format("【丢失开始】ult=%d dropTimes=%d", lostUltHeight, dropTimes));
                         }
                         endTime = System.currentTimeMillis();
                         long lostDuration = endTime - startTime;
 
                         if (lostDuration > 1000 && lostDuration <= 12000) {
-                            if (Movement.getInstance().getUltrasonicHeight() <= 20) {
+                            if (lostUltHeight <= 20) {
+                                LogUtil.log(TAG_LOG, String.format("【丢失拉高】vz=3.0 ult=%d 丢失=%dms dropTimes=%d",
+                                    lostUltHeight, lostDuration, dropTimes));
                                 DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 3f);
                                 if (dropTimes > Integer.parseInt(AMSConfig.getInstance().getAlternateLandingTimes())) {
                                     LogUtil.log(TAG_LOG, "超过复降限制,去备降点");
@@ -420,11 +418,11 @@ public class ApronArucoDetect  {
                                     LogUtil.log(TAG_LOG, "复降第:" + dropTimes + "次");
                                 }
                             } else {
-                                LogUtil.log(TAG_LOG, "执行位移");
+                                LogUtil.log(TAG_LOG, String.format("【丢失下降】vz=-0.3 ult=%d 丢失=%dms", lostUltHeight, lostDuration));
                                 DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.3f);
                             }
                         } else if (lostDuration > 8000) {
-                            LogUtil.log(TAG_LOG, "判定未识别到二维码,飞往备降点");
+                            LogUtil.log(TAG_LOG, String.format("【丢失超时】触发备降 丢失=%dms", lostDuration));
                             AlternateLandingManager.getInstance().startTaskProcess(null);
                             Movement.getInstance().setAlternate(true);
                         }
@@ -697,6 +695,30 @@ public class ApronArucoDetect  {
         failScreenshotIndex = 0;
     }
 
+    /** ★ 急停清理 */
+    public void stopAndReset() {
+        isStartAruco = false;
+        startFastStick = false;
+        frameCounter = 0;
+        if (lastFuture != null && !lastFuture.isDone()) {
+            lastFuture.cancel(true);
+            lastFuture = null;
+        }
+        handler.removeCallbacks(runnable);
+        handlerCallbackCount = 0;
+        isHeightStableMonitoring = false;
+        lastHeightCheckTime = 0;
+        lastUltrasonicHeight = 0;
+        arucoNotFoundTag = false;
+        startTime = 0;
+        endTime = 0;
+        dropTimesTag = false;
+        dropTimes = 0;
+        if (pidControlX != null) pidControlX.reset();
+        if (pidControlY != null) pidControlY.reset();
+        LogUtil.log(TAG_LOG, "【急停清理】已重置");
+    }
+
 
     private double calculateYawErrorFromCorners(Point[] pts) {
         double dxTop = pts[1].x - pts[0].x;
@@ -750,6 +772,13 @@ public class ApronArucoDetect  {
         float vx = (float) Math.max(-0.2, Math.min(0.2, rawVx));
         float vy = (float) Math.max(-0.2, Math.min(0.2, rawVy));
 
+        LogUtil.log(TAG_LOG, String.format(
+            "【PID链路】errX=%.0f errY=%.0f scale=%.0f | 输入: pidX_in=%.4f pidY_in=%.4f | PID输出: rawVx=%.4f rawVy=%.4f | 钳位后: vx=%.4f vy=%.4f",
+            errX, errY, scaleFactor,
+            errX / scaleFactor, -errY / scaleFactor,
+            rawVx, rawVy,
+            vx, vy));
+
         double pixelWidth = Math.sqrt(Math.pow(pts[1].x - pts[0].x, 2) +
                 Math.pow(pts[1].y - pts[0].y, 2));
 
@@ -780,31 +809,12 @@ public class ApronArucoDetect  {
         float vz;
         if (currentHeight <= 4) {
             vz = 0.0f;
-            if (Math.abs(errX) > 120) {
+            // 【修复】低空改用 PID 连续输出 + 低速度上限，去掉阶梯式开关控制
-                vx = rawVx > 0 ? 0.135f : -0.135f;
+            // 之前 bang-bang 固定档位导致来回震荡（0.05→0.09→0.135→-0.09...）
-            } else if (Math.abs(errX) > 80) {
+            // 现在用 PID 平滑输出，上限压到 0.06m/s，避免低空猛冲晃出二维码范围
-                vx = rawVx > 0 ? 0.09f : -0.09f;
+            float lowMaxSpeed = 0.06f;
-            } else if (Math.abs(errX) > 60) {
+            vx = (float) Math.max(-lowMaxSpeed, Math.min(lowMaxSpeed, rawVx));
-                vx = rawVx > 0 ? 0.07f : -0.07f;
+            vy = (float) Math.max(-lowMaxSpeed, Math.min(lowMaxSpeed, rawVy));
-            } else if (Math.abs(errX) > 30) {
-                vx = rawVx > 0 ? 0.05f : -0.05f;
-            } else {
-                vx = 0f;
-            }
-
-
-            if (Math.abs(errY) > 120) {
-                vy = rawVy > 0 ? 0.135f : -0.135f;
-            } else if (Math.abs(errY) > 80) {
-                vy = rawVy > 0 ? 0.09f : -0.09f;
-            } else if (Math.abs(errY) > 60) {
-                vy = rawVy > 0 ? 0.07f : -0.07f;
-            } else if (Math.abs(errY) > 30) {
-                vy = rawVy > 0 ? 0.05f : -0.05f;
-            } else {
-                vy = 0f;  // 【修正】
-            }
-
         } else if (currentHeight <= 8) {
             vz = SLOW_SUPER_SPEED;
         } else {
@@ -813,8 +823,11 @@ public class ApronArucoDetect  {
 
         DroneHelper.getInstance().moveVxVyYawrateHeight(vx, vy, yawRate, vz);
 
-        LogUtil.log(TAG_LOG, "vx" + vx + "vy" + vy + " errX=" + (int) errX + " errY=" + (int) errY +
+        LogUtil.log(TAG_LOG, String.format(
-                " pixelW=" + (int) pixelWidth + " vz=" + vz + " ult=" + currentHeight + " yaw=" + yawRate);
+            "【摇杆下发】vx=%.3f vy=%.3f vz=%.2f yaw=%.1f | errX=%d errY=%d pixelW=%d ult=%d | LENS=(%d,%d)",
+            vx, vy, vz, yawRate,
+            (int)errX, (int)errY, (int)pixelWidth, currentHeight,
+            (int)LENS_OFFSET_X, (int)LENS_OFFSET_Y));
     }
 
     private int handlerCallbackCount = 0;
@@ -823,7 +836,7 @@ public class ApronArucoDetect  {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 15) {
+            if (handlerCallbackCount < 18) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

app/src/main/java/com/aros/apron/tools/ApronArucoDetectPort.java

@@ -1013,13 +1013,61 @@ public class ApronArucoDetectPort {
         }
     }
 
+    /** ★ 急停清理：重置所有状态，取消所有定时器，确保下次降落可以重新触发 */
+    public void stopAndReset() {
+        // 1. 取消入口 guard，否则下次 detectArucoTags 直接 return
+        isStartAruco = false;
+        startFastStick = false;
+        frameCounter = 0;
+
+        // 2. 取消 ScheduledExecutorService 里的 pending 检测任务
+        if (lastFuture != null && !lastFuture.isDone()) {
+            lastFuture.cancel(true);
+            lastFuture = null;
+        }
+
+        // 3. 停止快速下降 handler
+        handler.removeCallbacks(runnable);
+        handlerCallbackCount = 0;
+
+        // 4. 重置旋转阶段
+        isYawAligned = false;
+        currentLandingMode = 0;
+
+        // 5. 重置分支计数器
+        counterRound = 0;
+        for (int i = 0; i < landingCounters.length; i++) {
+            landingCounters[i] = 0;
+        }
+
+        // 6. 重置高度稳定性监测
+        isHeightStableMonitoring = false;
+        lastHeightCheckTime = 0;
+        lastUltrasonicHeight = 0;
+
+        // 7. 重置丢失计时器
+        arucoNotFoundTag = false;
+        startTime = 0;
+        endTime = 0;
+
+        // 8. 重置复降计数
+        dropTimesTag = false;
+        dropTimes = 0;
+
+        // 9. PID 复位
+        if (pidControlX != null) pidControlX.reset();
+        if (pidControlY != null) pidControlY.reset();
+
+        LogUtil.log(TAG_LOG, "【急停清理】所有状态和定时器已重置");
+    }
+
     private int handlerCallbackCount = 0;
     private Handler handler = new Handler(Looper.getMainLooper());
     private Runnable runnable = new Runnable() {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 15) {
+            if (handlerCallbackCount < 18) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

app/src/main/java/com/aros/apron/tools/ApronArucodownmany.java

@@ -899,6 +899,34 @@ public class ApronArucodownmany  {
         }
     }
 
+    /** ★ 急停清理 */
+    public void stopAndReset() {
+        isStartAruco = false;
+        startFastStick = false;
+        frameCounter = 0;
+        if (lastFuture != null && !lastFuture.isDone()) {
+            lastFuture.cancel(true);
+            lastFuture = null;
+        }
+        handler.removeCallbacks(runnable);
+        handlerCallbackCount = 0;
+        counterRound = 0;
+        for (int i = 0; i < landingCounters.length; i++) {
+            landingCounters[i] = 0;
+        }
+        isHeightStableMonitoring = false;
+        lastHeightCheckTime = 0;
+        lastUltrasonicHeight = 0;
+        arucoNotFoundTag = false;
+        startTime = 0;
+        endTime = 0;
+        dropTimesTag = false;
+        dropTimes = 0;
+        if (pidControlX != null) pidControlX.reset();
+        if (pidControlY != null) pidControlY.reset();
+        LogUtil.log(TAG_LOG, "【急停清理】已重置");
+    }
+
 
     private double calculateYawErrorFromCorners(Point[] pts) {
         double dxTop = pts[1].x - pts[0].x;

app/src/main/java/com/aros/apron/tools/MqttManager.java

@@ -40,10 +40,26 @@ public class MqttManager {
     }
 
     public void needConnect() {
+        // 已经连接就不要再建新的，避免生成新handle导致旧handle失效
+        if (mqttAndroidClient != null && mqttAndroidClient.isConnected()) {
+            LogUtil.log(TAG, "MQTT已连接，跳过重复needConnect");
+            return;
+        }
         initMqttClientParams();
     }
+
     private void initMqttClientParams() {
-        mqttAndroidClient = new MqttAndroidClient(ApronApp.Companion.getApplication(), AMSConfig.getInstance().getMqttServerUri(), generateRandomString(10));
+        // 先关闭旧的client，释放MqttService里的旧handle，防止"Invalid ClientHandle"
+        if (mqttAndroidClient != null) {
+            try {
+                mqttAndroidClient.close();
+            } catch (Exception e) {
+                LogUtil.log(TAG, "关闭旧MQTT客户端异常:" + e);
+            }
+        }
+        // 使用固定的clientId前缀 + 时间戳，避免每次随机导致Service端残留多个无效handle
+        String clientId = "ams_" + System.currentTimeMillis();
+        mqttAndroidClient = new MqttAndroidClient(ApronApp.Companion.getApplication(), AMSConfig.getInstance().getMqttServerUri(), clientId);
         mMqttConnectOptions = new MqttConnectOptions();
         mMqttConnectOptions.setAutomaticReconnect(true);
         mMqttConnectOptions.setMaxInflight(1000);// 避免消息积压导致连接拥塞

app/src/main/java/com/aros/apron/tools/PsdkWidgetScheduler.java

@@ -156,7 +156,7 @@ public class PsdkWidgetScheduler {
             report.setData(data);
 
             String jsonPayload = new Gson().toJson(report);
-            LogUtil.log(TAG, "PSDK widget JSON payload: " + jsonPayload);
+           // LogUtil.log(TAG, "PSDK widget JSON payload: " + jsonPayload);
             MqttMessage mqttMessage = new MqttMessage(jsonPayload.getBytes("UTF-8"));
             mqttMessage.setQos(1);
             client.publish(AMSConfig.UP_UAV_EVENT, mqttMessage);

app/src/main/java/com/example/nativec/ApriltagDetector.java

@@ -268,6 +268,34 @@ public class ApriltagDetector {
             }
         }
 
+        // ── 联合 PnP（多 tag 时使用所有角点一次求解）──
+        if (detections.size() >= 2) {
+            try {
+                int n = detections.size();
+                ApriltagDetection[] arr = new ApriltagDetection[n];
+                double[] sizes = new double[n];
+                double[] offsX = new double[n];
+                double[] offsY = new double[n];
+                for (int i = 0; i < n; i++) {
+                    arr[i] = detections.get(i);
+                    sizes[i] = getTagSize(arr[i].id);
+                    double[] off = getTagOffset(arr[i].id);
+                    offsX[i] = off[0];
+                    offsY[i] = off[1];
+                }
+                ApriltagPose joint = ApriltagNative.estimate_joint_pose(
+                        arr, sizes, offsX, offsY, fx, fy, cx, cy);
+                if (joint != null) {
+                    result.setJointPose(joint);
+                }
+            } catch (Exception e) {
+                Log.w(TAG, "joint PnP failed: " + e.getMessage());
+            }
+        } else if (detections.size() == 1) {
+            ApriltagPose lp = result.getBestLandingPose();
+            if (lp != null) result.setJointPose(lp);
+        }
+
         // ── 统计 ──
         long elapsed = System.currentTimeMillis() - t0;
         synchronized (lock) {

app/src/main/res/layout-land/activity_main.xml

@@ -318,6 +318,12 @@
                 android:layout_width="100dp"
                 android:layout_height="100dp"
                 />
+            <Button
+                android:id="@+id/btn_test3"
+                android:text="DJI急停"
+                android:layout_width="100dp"
+                android:layout_height="100dp"
+                />
         </LinearLayout>
     </androidx.constraintlayout.widget.ConstraintLayout>
 

app/src/main/res/layout/activity_main.xml

@@ -315,6 +315,12 @@
                 android:layout_width="100dp"
                 android:layout_height="100dp"
                 />
+            <Button
+                android:id="@+id/btn_test3"
+                android:text="DJI急停"
+                android:layout_width="100dp"
+                android:layout_height="100dp"
+                />
 
         </LinearLayout>
     </androidx.constraintlayout.widget.ConstraintLayout>