flyto适配

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

@@ -7,10 +7,12 @@ import android.os.Build
 import android.os.Bundle
 import android.os.Handler
 import android.os.Looper
+import android.util.Log
 import android.view.View
 import android.view.Window
 import android.view.WindowManager
 import android.widget.Button
+import android.widget.Toast
 import android.widget.TextView
 import androidx.annotation.RequiresApi
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -49,6 +51,7 @@ import com.aros.apron.mix.Aprongim
 import com.aros.apron.tools.AlternateArucoDetect
 import com.aros.apron.tools.ApronArucoDetect
 import com.aros.apron.tools.ApronArucoDetectPort
+import com.aros.apron.tools.ApronArucodownmany
 import com.aros.apron.tools.DroneHelper
 import com.aros.apron.tools.LogUtil
 import com.aros.apron.tools.MqttManager
@@ -128,6 +131,8 @@ open class MainActivity : BaseActivity() {
         // 如果不需要改变 isAppStarted 的值，可以直接这样声明
         var isAppStarted: Boolean = false
         var streamReceive: Boolean = false
+
+        var isscousse: Boolean=false;
         private var instance: MainActivity? = null
 
         fun getInstance(): MainActivity? {
@@ -136,6 +141,9 @@ open class MainActivity : BaseActivity() {
 
         private var vtxHeartbeatHandler: Handler? = null
         private var lastVtxFrameTime: Long = 0
+        private var lastPortToastTime: Long = 0
+        private var lastFpvToastTime: Long = 0
+        private const val TOAST_INTERVAL_MS = 3000L
         private const val VTX_HEARTBEAT_TIMEOUT = 2000L // 3秒没有收到帧就认为图传异常
         private var isVtxHeartbeatRunning = false
 
@@ -242,7 +250,7 @@ open class MainActivity : BaseActivity() {
     private var cameraManager: ICameraStreamManager =
         MediaDataCenter.getInstance().cameraStreamManager
 
-    private  var  startArucoType = 0  //1执行机库二维码识别  2执行备降点二维码识别  3扫到任何码触发刹停
+    private var startArucoType = 0  //1执行机库二维码识别  2执行备降点二维码识别  3扫到任何码触发刹停
     private var dictionary: Dictionary? = null
     override fun useEventBus(): Boolean {
         return true
@@ -282,7 +290,12 @@ open class MainActivity : BaseActivity() {
                     .throttleLast(500, TimeUnit.MILLISECONDS)
                     .subscribeOn(io())
                     .subscribe(Consumer { result: CameraSource ->
-                        runOnUiThread { onCameraSourceUpdated(result.devicePosition, result.lensType) }
+                        runOnUiThread {
+                            onCameraSourceUpdated(
+                                result.devicePosition,
+                                result.lensType
+                            )
+                        }
                     })
             )
             compositeDisposable!!.add(
@@ -513,7 +526,7 @@ open class MainActivity : BaseActivity() {
             primaryFpvWidget?.post {
                 refreshVideoStream()
             }
-           //LogUtil.log(TAG, "智能刷新：无云台，直接刷新主视频流")
+            //LogUtil.log(TAG, "智能刷新：无云台，直接刷新主视频流")
         }
     }
 
@@ -740,13 +753,14 @@ open class MainActivity : BaseActivity() {
 
         // 根据 cameraLocationType 轮询等待连接
         while (true) {
-            val flightConnected = isFlightControllerConnect != null && isFlightControllerConnect == true
+            val flightConnected =
+                isFlightControllerConnect != null && isFlightControllerConnect == true
             val cameraConnected = isCameraConnect != null && isCameraConnect == true
 
             val shouldInit = when (cameraLocationType) {
                 3 -> flightConnected
-                4, 5 -> flightConnected || cameraConnected
+                1, 2, 4, 5 -> flightConnected && cameraConnected
-                else -> flightConnected || cameraConnected
+                else -> flightConnected && cameraConnected
             }
 
             if (shouldInit) break
@@ -762,7 +776,12 @@ open class MainActivity : BaseActivity() {
                 KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
             isCameraConnect =
                 KeyManager.getInstance()
-                    .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1))
+                    .getValue(
+                        KeyTools.createKey(
+                            CameraKey.KeyConnection,
+                            ComponentIndexType.PORT_1
+                        )
+                    )
         }
 
         // 飞控/相机连接后，在主线程执行初始化
@@ -804,16 +823,18 @@ open class MainActivity : BaseActivity() {
         GimbalManager.getInstance().setmode()
         PayloadWidgetManager.getInstance().initPayloadInfo()
 
-        if (PreferenceUtils.getInstance().lteEnable){
+        if (PreferenceUtils.getInstance().lteEnable) {
             // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
             MLTEManager.getInstance().initLTEManager()
-            Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+            Handler().postDelayed(Runnable {
+                MLTEManager.getInstance().setLTEEnhancedTransmissionType()
+            }, 3000)
 
         }
 
 
 
-        LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+        LogUtil.log("qwq", "lteEnable" + PreferenceUtils.getInstance().lteEnable)
 
         LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
 
@@ -848,10 +869,12 @@ open class MainActivity : BaseActivity() {
 
 
         // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
-        if (PreferenceUtils.getInstance().lteEnable){
+        if (PreferenceUtils.getInstance().lteEnable) {
-           // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+            // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
             MLTEManager.getInstance().initLTEManager()
-            Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+            Handler().postDelayed(Runnable {
+                MLTEManager.getInstance().setLTEEnhancedTransmissionType()
+            }, 3000)
 
         }
 
@@ -914,12 +937,14 @@ open class MainActivity : BaseActivity() {
         PayloadWidgetManager.getInstance().initPayloadInfo()
 
 
-       // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+        // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
 
-        if (PreferenceUtils.getInstance().lteEnable){
+        if (PreferenceUtils.getInstance().lteEnable) {
             // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
             MLTEManager.getInstance().initLTEManager()
-            Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+            Handler().postDelayed(Runnable {
+                MLTEManager.getInstance().setLTEEnhancedTransmissionType()
+            }, 3000)
 
         }
 
@@ -947,17 +972,24 @@ open class MainActivity : BaseActivity() {
     private fun initMixedStream() {
         // 初始化融合视觉降落识别器
         //val mixedLanding = MixedVisionLanding.getInstance()
-
         // 为 PORT_1（云台相机）添加帧监听器
-
-
         cameraManager.addFrameListener(
             ComponentIndexType.PORT_1,
             ICameraStreamManager.FrameFormat.YUV420_888
         ) { frameData, _, _, width, height, _ ->
+            // LogUtil.log(TAG,"port监听回调了addFrameListener")
+//            runOnUiThread {
+//                val now = System.currentTimeMillis()
+//                if (now - lastPortToastTime >= TOAST_INTERVAL_MS) {
+//                    lastPortToastTime = now
+//                    Toast.makeText(this, "port监听回调了addFrameListener", Toast.LENGTH_SHORT).show()
+//                }
+//            }
+
             Movement.getInstance().isVtx = true
             updateVtxHeartbeat()
             streamReceive = true
+
             // 使用融合视觉识别器处理云台相机帧
             //mixedLanding.processGimbalFrame(height, width, frameData, dictionary)
             //使用云台
@@ -965,6 +997,12 @@ open class MainActivity : BaseActivity() {
                 if (!Synchronizedstatus.isIsruningframe() && Synchronizedstatus.isAprongim() && Synchronizedstatus.isSwitchtime()) {
                     try {
                         Synchronizedstatus.setIsruningframe(true)
+
+                        if(!isscousse){
+                            isscousse=true;
+                            LogUtil.log(TAG,"mix视频帧回调了")
+                        }
+
                         if (startArucoType == 1) {
                             Aprongim.getInstance()?.detectArucoTags(
                                 height,
@@ -990,10 +1028,8 @@ open class MainActivity : BaseActivity() {
                     } finally {
                         Synchronizedstatus.setIsruningframe(false)
                     }
-
                 }
             }
-
         }
 
         // 为 FPV（下视相机）添加帧监听器
@@ -1001,6 +1037,15 @@ open class MainActivity : BaseActivity() {
             ComponentIndexType.FPV,
             ICameraStreamManager.FrameFormat.YUV420_888
         ) { frameData, _, _, width, height, _ ->
+
+            //LogUtil.log(TAG,"fpv监听回调了addFrameListener")
+//            runOnUiThread {
+//                val now = System.currentTimeMillis()
+//                if (now - lastFpvToastTime >= TOAST_INTERVAL_MS) {
+//                    lastFpvToastTime = now
+//                    Toast.makeText(this, "fpv监听回调了addFrameListener", Toast.LENGTH_SHORT).show()
+//                }
+//            }
             Movement.getInstance().isVtx = true
             updateVtxHeartbeat()
             streamReceive = true
@@ -1011,6 +1056,9 @@ open class MainActivity : BaseActivity() {
                 if (!Synchronizedstatus.isIsruningframe() && !Synchronizedstatus.isAprongim() && Synchronizedstatus.isSwitchtime()) {
                     try {
                         Synchronizedstatus.setIsruningframe(true)
+
+
+
                         if (startArucoType == 1) {
                             Aprondown.getInstance()?.detectArucoTags(
                                 height,
@@ -1042,7 +1090,6 @@ open class MainActivity : BaseActivity() {
         }
     }
 
-
     @SuppressLint("SuspiciousIndentation")
     private fun initFpvStream() {
         cameraManager.addFrameListener(
@@ -1059,6 +1106,12 @@ open class MainActivity : BaseActivity() {
                 if (!Synchronizedstatus.isIsruningframe()) {
                     try {
                         Synchronizedstatus.setIsruningframe(true)
+
+                        if(!isscousse){
+                            isscousse=true;
+                            LogUtil.log(TAG,"port视频帧回调了")
+                        }
+
                         if (startArucoType == 1) {
                             ApronArucoDetect.getInstance()?.detectArucoTags(
                                 height,
@@ -1091,8 +1144,6 @@ open class MainActivity : BaseActivity() {
     }
 
 
-
-
     @SuppressLint("SuspiciousIndentation")
     private fun initCameraStream() {
         cameraManager.addFrameListener(
@@ -1109,6 +1160,12 @@ open class MainActivity : BaseActivity() {
                 if (!Synchronizedstatus.isIsruningframe()) {
                     try {
                         Synchronizedstatus.setIsruningframe(true)
+
+                        if(!isscousse){
+                            isscousse=true;
+                            LogUtil.log(TAG,"fpv视频帧回调了")
+                        }
+
                         if (startArucoType == 1) {
                             ApronArucoDetectPort.getInstance()?.detectArucoTags(
                                 height,
@@ -1156,7 +1213,6 @@ open class MainActivity : BaseActivity() {
     fun onEvent(message: String?) {
         when (message) {
             FLAG_START_DETECT_ARUCO_APRON -> {
-                
                 MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(
                     VisionAssistDirection.DOWN,
                     object : CompletionCallback {
@@ -1201,8 +1257,8 @@ open class MainActivity : BaseActivity() {
                                 }, 6000)
                             } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
                                 Handler().postDelayed(Runnable {
-                                    if (!Aprondown.getInstance().isTriggerSuccess) {
+                                    if (!Aprongim.getInstance().isTriggerSuccess) {
-                                        LogUtil.log(TAG, "图传异常:飞往备降点")
+                                        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)
                                     }
@@ -1251,6 +1307,7 @@ open class MainActivity : BaseActivity() {
                         }
                     })
             }
+
             FLAG_START_DETECT_ARUCO_ALTERNATE ->
                 KeyManager.getInstance().performAction<EmptyMsg>(
                     KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
@@ -1268,11 +1325,11 @@ 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")
+                                        LogUtil.log(TAG, "备降点图传异常:飞往备降点")
-                                        //测试图传丢失
                                         AlternateLandingManager.getInstance().startTaskProcess(null)
                                     }
                                 }, 6000)
+
                             } else {
                                 Handler().postDelayed(Runnable {
                                     if (!ApronArucoDetectPort.getInstance().isTriggerSuccess) {

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

@@ -86,26 +86,29 @@ public abstract class BaseManager {
      * @param entity
      */
     public void sendMsg2Server(MessageDown entity) {
-        try {
+        // 延迟 500ms 发送，避开媒体/日志上传等突发流量高峰
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+        mainHandler.postDelayed(() -> {
-                MessageReply messageReply = new MessageReply();
+            try {
-                messageReply.setBid(entity.getBid());
+                if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                messageReply.setTid(entity.getTid());
+                    MessageReply messageReply = new MessageReply();
-                messageReply.setTimestamp(entity.getTimestamp());
+                    messageReply.setBid(entity.getBid());
-                messageReply.setMethod(entity.getMethod());
+                    messageReply.setTid(entity.getTid());
-                MessageReply.Data data=new MessageReply.Data();
+                    messageReply.setTimestamp(entity.getTimestamp());
-                data.setResult(0);
+                    messageReply.setMethod(entity.getMethod());
-                messageReply.setData(data);
+                    MessageReply.Data data = new MessageReply.Data();
-                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(messageReply).getBytes("UTF-8"));
+                    data.setResult(0);
-                mqttMessage.setQos(0);
+                    messageReply.setData(data);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_SERVICES_REPLY, mqttMessage);
+                    MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(messageReply).getBytes("UTF-8"));
-            } else {
+                    mqttMessage.setQos(1);
-                LogUtil.log(TAG, "回复失败：mqtt 未连接");
+                    MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_SERVICES_REPLY, mqttMessage);
+                } else {
+                    LogUtil.log(TAG, "回复失败：mqtt 未连接");
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+                LogUtil.log(TAG, "回复异常：" + e.toString());
             }
-        } catch (Exception e) {
+        }, 500);
-            e.printStackTrace();
-            LogUtil.log(TAG, "回复异常：" + e.toString());
-        }
     }
     final Handler mainHandler = new Handler(Looper.getMainLooper());
 
@@ -355,9 +358,23 @@ public abstract class BaseManager {
                                         breakPoint.setWayline_id(Movement.getInstance().getTask_wayline_id());
 
                                         ext.setBreak_point(breakPoint);
-                                        output.setStatus("partially_done");
+
+
+                                        //如果飞备降点了
+                                        if(Movement.getInstance().isAlternate()){
+                                            output.setStatus("failed");
+                                        }else{
+                                            output.setStatus("partially_done");
+                                        }
+
                                     } else {
-                                        output.setStatus("ok");
+                                        //如果飞备降点了
+                                        if(Movement.getInstance().isAlternate()){
+                                            output.setStatus("failed");
+                                        }else{
+                                            output.setStatus("ok");
+                                        }
+
                                         LogUtil.log(TAG, "未查询到断点信息");
                                     }
 
@@ -391,7 +408,12 @@ public abstract class BaseManager {
                                 public void onFailure(@NonNull IDJIError idjiError) {
                                     // 查询失败也要发，status=ok
                                     FlightTaskProgress.Data.Output output = new FlightTaskProgress.Data.Output();
-                                    output.setStatus("ok");
+                                    //如果飞备降点了
+                                    if(Movement.getInstance().isAlternate()){
+                                        output.setStatus("failed");
+                                    }else{
+                                        output.setStatus("ok");
+                                    }
                                     output.setExt(ext);
                                     output.setProgress(progress);
 
@@ -406,6 +428,10 @@ public abstract class BaseManager {
                                     flightTaskProgress.setMethod(Constant.FLIGHT_TASK_PROGRESS);
                                     flightTaskProgress.setData(data);
 
+
+
+
+
                                     try {
                                         MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(flightTaskProgress).getBytes("UTF-8"));
                                         mqttMessage.setQos(0);
@@ -418,6 +444,7 @@ public abstract class BaseManager {
                                 }
                             });
 
+
                 } else {
                     // 不是结束状态 → 立即发
                     FlightTaskProgress.Data.Output output = new FlightTaskProgress.Data.Output();
@@ -460,7 +487,7 @@ public abstract class BaseManager {
                 if (breakPointInfo != null) {
                     LogUtil.log(TAG, "查询断点成功:" + new Gson().toJson(breakPointInfo));
                     Movement.getInstance().setTask_attitude_head(Movement.getInstance().getAttitude_head());
-                    Movement.getInstance().setTask_break_reason(2);
+                    //Movement.getInstance().setTask_break_reason(2);
                     Movement.getInstance().setTask_index(Movement.getInstance().getTask_current_waypoint_index());
                     Movement.getInstance().setHeight(breakPointInfo.getLocation().getAltitude());
                     Movement.getInstance().setTask_latitude(breakPointInfo.getLocation().getLatitude());

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

@@ -1,6 +1,8 @@
 package com.aros.apron.callback;
 
 
+import static dji.sdk.keyvalue.key.KeyTools.createKey;
+
 import android.os.Handler;
 import android.os.Looper;
 import android.util.Log;
@@ -191,14 +193,10 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                                 //存储最新消息并开始自检
                                 MissionV3Manager.getInstance().taskExecute(message);
                                 Synchronizedstatus.setIsruning(true);
-
                                 Synchronizedstatus.setFlighttaskExecuteStatus(true);
-
                             }else{
-
                                 sendFailMsg2Server(message,"已经收到航线");
                             }
-
                         }
                     }
                     break;
@@ -223,7 +221,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
 //                        }else{
 //                            FlightManager.getInstance().startGoHome(message);
 //                        }
-
                         FlightManager.getInstance().startGoHome(message);
                     } else {
                         sendFailMsg2Server(message,"正在视觉或飞往备降不允许返航");
@@ -255,7 +252,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
 //                    //1.检查图传是否连接
 //                    MissionDataBean data = new Gson().fromJson(new Gson().toJson(message.getData()), MissionDataBean.class);
 //                    Boolean generateKmz = Generakmztools.getInstance().generateKmz(data);
-
                     synchronized (lock) {
                         if (Synchronizedstatus.isIsruning()) {
                             LogUtil.log(TAG, "自检正在运行");
@@ -269,7 +265,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                             });
                         } else if (Synchronizedstatus.getInitStatus()) {
                             if(!Synchronizedstatus.isTakeoff_to_point()){
-
                                 LogUtil.log(TAG, "收到：一键起飞" + jsonString);
                                 //设置modecode
                                 Movement.getInstance().setMode_code(1);
@@ -289,7 +284,12 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     break;
                 case Constant.FLY_TO_POINT:
                     LogUtil.log(TAG, "收到：飞向目标点" + jsonString);
-                    FlyToPointManager.getInstance().taskExecute(message);
+                    if(!Synchronizedstatus.isFlyto()){
+                        FlyToPointManager.getInstance().taskExecute(message);
+                        Synchronizedstatus.setFlyto(true);
+                    }else{
+                        return;
+                    }
                     break;
                 case Constant.FLY_TO_POINT_STOP:
                     LogUtil.log(TAG, "收到：结束 flyto 飞向目标点任务" + jsonString);
@@ -297,6 +297,11 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     break;
                 case Constant.FLY_TO_POINT_STOP_UPDATE:
                     LogUtil.log(TAG, "收到：更新 flyto 目标点" + jsonString);
+                    if(KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyIsFlying))==true){
+                        FlyToPointManager.getInstance().updateTarget(message);
+                    }else{
+                        sendEvent2Server("飞机没起飞不允许指点",2);
+                    }
                     break;
                 case Constant.FLIGHT_AUTHORITY_GRAB:
                     LogUtil.log(TAG, "收到：飞行控制权抢夺" + jsonString);
@@ -434,7 +439,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     break;
                 case Constant.IR_METERING_POINT_SET:
                     LogUtil.log(TAG, "收到：负载控制—红外测温点设置" + jsonString);
-
                     CameraManager.getInstance().setThermalSpotMetersurePoint(message);
                     break;
                 case Constant.IR_METERING_AREA_SET:
@@ -521,7 +525,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                             return;
                         }
                     }
-
                     break;
                 case Constant.SPEAKER_PLAY_MODE_SET:
                     LogUtil.log(TAG, "收到：喊话器-设置播放模式" + jsonString);
@@ -679,6 +682,8 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
 
 
 
+
+
 //            //获取控制权
 //            case 60007:
 //                LogUtil.log(TAG, "收到：获取控制权" + jsonString);

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

@@ -0,0 +1,162 @@
+package com.aros.apron.entity;
+
+import java.util.List;
+
+/**
+ * 飞向目标点进度上报事件
+ * Method: fly_to_point_progress
+ * Topic: thing/product/{gateway_sn}/events (up)
+ */
+public class FlyToPointProgress {
+
+    private String bid;
+    private String tid;
+    private Long timestamp;
+    private String method;
+    private Integer needReply;
+    private Data data;
+
+    public String getBid() {
+        return bid;
+    }
+
+    public void setBid(String bid) {
+        this.bid = bid;
+    }
+
+    public String getTid() {
+        return tid;
+    }
+
+    public void setTid(String tid) {
+        this.tid = tid;
+    }
+
+    public Long getTimestamp() {
+        return timestamp;
+    }
+
+    public void setTimestamp(Long timestamp) {
+        this.timestamp = timestamp;
+    }
+
+    public String getMethod() {
+        return method;
+    }
+
+    public void setMethod(String method) {
+        this.method = method;
+    }
+
+    public Integer getNeedReply() {
+        return needReply;
+    }
+
+    public void setNeedReply(Integer needReply) {
+        this.needReply = needReply;
+    }
+
+    public Data getData() {
+        return data;
+    }
+
+    public void setData(Data data) {
+        this.data = data;
+    }
+
+    public static class Data {
+        private String fly_to_id;
+        private String status;          // wayline_cancel | wayline_failed | wayline_ok | wayline_progress
+        private int result;             // 非0代表错误
+        private int way_point_index;
+        private Float remaining_distance;  // 米
+        private Float remaining_time;      // 秒
+        private List<PlannedPathPoint> planned_path_points;
+
+        public String getFly_to_id() {
+            return fly_to_id;
+        }
+
+        public void setFly_to_id(String fly_to_id) {
+            this.fly_to_id = fly_to_id;
+        }
+
+        public String getStatus() {
+            return status;
+        }
+
+        public void setStatus(String status) {
+            this.status = status;
+        }
+
+        public int getResult() {
+            return result;
+        }
+
+        public void setResult(int result) {
+            this.result = result;
+        }
+
+        public int getWay_point_index() {
+            return way_point_index;
+        }
+
+        public void setWay_point_index(int way_point_index) {
+            this.way_point_index = way_point_index;
+        }
+
+        public Float getRemaining_distance() {
+            return remaining_distance;
+        }
+
+        public void setRemaining_distance(Float remaining_distance) {
+            this.remaining_distance = remaining_distance;
+        }
+
+        public Float getRemaining_time() {
+            return remaining_time;
+        }
+
+        public void setRemaining_time(Float remaining_time) {
+            this.remaining_time = remaining_time;
+        }
+
+        public List<PlannedPathPoint> getPlanned_path_points() {
+            return planned_path_points;
+        }
+
+        public void setPlanned_path_points(List<PlannedPathPoint> planned_path_points) {
+            this.planned_path_points = planned_path_points;
+        }
+    }
+
+    public static class PlannedPathPoint {
+        private double latitude;
+        private double longitude;
+        private float height;
+
+        public double getLatitude() {
+            return latitude;
+        }
+
+        public void setLatitude(double latitude) {
+            this.latitude = latitude;
+        }
+
+        public double getLongitude() {
+            return longitude;
+        }
+
+        public void setLongitude(double longitude) {
+            this.longitude = longitude;
+        }
+
+        public float getHeight() {
+            return height;
+        }
+
+        public void setHeight(float height) {
+            this.height = height;
+        }
+    }
+}

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

@@ -0,0 +1,151 @@
+package com.aros.apron.entity;
+
+import java.util.List;
+
+public class HMS {
+
+    private String bid;
+    private Data data;
+    private String tid;
+    private long timestamp;
+    private String method;
+
+    public String getBid() {
+        return bid;
+    }
+
+    public void setBid(String bid) {
+        this.bid = bid;
+    }
+
+    public Data getData() {
+        return data;
+    }
+
+    public void setData(Data data) {
+        this.data = data;
+    }
+
+    public String getTid() {
+        return tid;
+    }
+
+    public void setTid(String tid) {
+        this.tid = tid;
+    }
+
+    public long getTimestamp() {
+        return timestamp;
+    }
+
+    public void setTimestamp(long timestamp) {
+        this.timestamp = timestamp;
+    }
+
+    public String getMethod() {
+        return method;
+    }
+
+    public void setMethod(String method) {
+        this.method = method;
+    }
+
+    public static class Data {
+        private List<ListItem> list;
+
+        public List<ListItem> getList() {
+            return list;
+        }
+
+        public void setList(List<ListItem> list) {
+            this.list = list;
+        }
+
+        public static class ListItem {
+            private Args args;
+            private String code;
+            private String device_type;
+            private int imminent;
+            private int in_the_sky;
+            private int level;
+            private int module;
+
+            public Args getArgs() {
+                return args;
+            }
+
+            public void setArgs(Args args) {
+                this.args = args;
+            }
+
+            public String getCode() {
+                return code;
+            }
+
+            public void setCode(String code) {
+                this.code = code;
+            }
+
+            public String getDevice_type() {
+                return device_type;
+            }
+
+            public void setDevice_type(String device_type) {
+                this.device_type = device_type;
+            }
+
+            public int getImminent() {
+                return imminent;
+            }
+
+            public void setImminent(int imminent) {
+                this.imminent = imminent;
+            }
+
+            public int getIn_the_sky() {
+                return in_the_sky;
+            }
+
+            public void setIn_the_sky(int in_the_sky) {
+                this.in_the_sky = in_the_sky;
+            }
+
+            public int getLevel() {
+                return level;
+            }
+
+            public void setLevel(int level) {
+                this.level = level;
+            }
+
+            public int getModule() {
+                return module;
+            }
+
+            public void setModule(int module) {
+                this.module = module;
+            }
+
+            public static class Args {
+                private int component_index;
+                private int sensor_index;
+
+                public int getComponent_index() {
+                    return component_index;
+                }
+
+                public void setComponent_index(int component_index) {
+                    this.component_index = component_index;
+                }
+
+                public int getSensor_index() {
+                    return sensor_index;
+                }
+
+                public void setSensor_index(int sensor_index) {
+                    this.sensor_index = sensor_index;
+                }
+            }
+        }
+    }
+}

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

@@ -76,13 +76,13 @@ public class MessageDown {
         private String seq;
         private String w;
         //摇杆和云台
-        private String x;
+        private double x;
-        private String y;
+        private double y;
 
         private String camera_type;
         private String payload_index;
 
-        private float height;
+        private double height;
         private double latitude;
         private boolean locked;
         private double longitude;
@@ -95,7 +95,7 @@ public class MessageDown {
 
         private double  commander_flight_height;
         private int commander_mode_lost_action;
-        private String max_speed;
+        private int max_speed;
         private int rc_lost_action;
         private int rth_altitude;
         private String security_takeoff_height;
@@ -110,7 +110,7 @@ public class MessageDown {
 
         private double yaw_speed;
 
-        private float width;
+        private double width;
 
 
 
@@ -267,10 +267,6 @@ public class MessageDown {
 
         private int speed;
 
-        public void setHeight(float height) {
-            this.height = height;
-        }
-
         public void setCommander_flight_height(double commander_flight_height) {
             this.commander_flight_height = commander_flight_height;
         }
@@ -327,11 +323,11 @@ public class MessageDown {
             this.language = language;
         }
 
-        public float getWidth() {
+        public double getWidth() {
             return width;
         }
 
-        public void setWidth(float width) {
+        public void setWidth(double width) {
             this.width = width;
         }
 
@@ -377,15 +373,15 @@ public class MessageDown {
         }
 
         public static class Points {
-            private int height;
+            private double height;  // 目标点高度(椭球高)，WGS84模型
-            private double latitude;
+            private double latitude;  // 目标点纬度，南纬负，北纬正
-            private double longitude;
+            private double longitude; // 目标点经度，东经正，西经负
 
-            public int getHeight() {
+            public double getHeight() {
                 return height;
             }
 
-            public void setHeight(int height) {
+            public void setHeight(double height) {
                 this.height = height;
             }
 
@@ -421,11 +417,11 @@ public class MessageDown {
             this.commander_mode_lost_action = commander_mode_lost_action;
         }
 
-        public String getMax_speed() {
+        public int getMax_speed() {
             return max_speed;
         }
 
-        public void setMax_speed(String max_speed) {
+        public void setMax_speed(int max_speed) {
             this.max_speed = max_speed;
         }
 
@@ -517,11 +513,11 @@ public class MessageDown {
             this.zoom_factor = zoom_factor;
         }
 
-        public float getHeight() {
+        public double getHeight() {
             return height;
         }
 
-        public void setHeight(int height) {
+        public void setHeight(double height) {
             this.height = height;
         }
 
@@ -589,19 +585,19 @@ public class MessageDown {
             this.w = w;
         }
 
-        public String getX() {
+        public double getX() {
             return x;
         }
 
-        public void setX(String x) {
+        public void setX(double x) {
             this.x = x;
         }
 
-        public String getY() {
+        public double getY() {
             return y;
         }
 
-        public void setY(String y) {
+        public void setY(double y) {
             this.y = y;
         }
 

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

@@ -1,6 +1,7 @@
 package com.aros.apron.entity;
 
 
+import java.util.ArrayList;
 import java.util.List;
 
 
@@ -79,6 +80,8 @@ public class Movement {
     private String LTELinkType;//图传类型  1cusync 图传 3LTE 增强图传
     private String ltePhoneAreaCode = "";//LTE认证手机号区号
     private String ltePhoneNumber = "";//LTE认证手机号
+    private boolean ocuSyncLte;//增强图传是否开启
+    private int ocuSyncLteTime;//增强图传剩余时间(天)
     private int goHomeHeight;//返航高度
     private int failsafeAction;//失控动作
     private int heightLimit;//限高
@@ -199,9 +202,21 @@ public class Movement {
 
     private int camera_mode = 0;
     private int ir_metering_mode;
-    private int temperature;
+    private int temperature=65535;
     private double x;
     private double y;
+    // 区域测温相关
+    private double ir_region_x;
+    private double ir_region_y;
+    private double ir_region_width;
+    private double ir_region_height;
+    private double ir_region_aver_temperature=65535;
+    private double ir_region_min_temperature_x;
+    private double ir_region_min_temperature_y;
+    private double ir_region_min_temperature;
+    private double ir_region_max_temperature_x;
+    private double ir_region_max_temperature_y;
+    private double ir_region_max_temperature;
     private int ir_zoom_factor = 2;
     private double bottom;
     private double left;
@@ -282,6 +297,16 @@ public class Movement {
 
     private boolean waylineinterpter = true;
 
+    private volatile boolean opentemperate=false;
+
+
+    public boolean isOpentemperate() {
+        return opentemperate;
+    }
+
+    public void setOpentemperate(boolean opentemperate) {
+        this.opentemperate = opentemperate;
+    }
 
     public boolean isWaylineinterpter() {
         return waylineinterpter;
@@ -334,6 +359,13 @@ public class Movement {
     private double takeofftargetlongitude;
     private double takeofftargetheight;
 
+    // 返航轨迹相关字段
+    private List<ReturnHomeInfo.PathPoint> return_home_path_points = new ArrayList<>(); // 返航轨迹点列表
+    private double rth_start_latitude;  // 返航起点纬度
+    private double rth_start_longitude; // 返航起点经度
+    private double rth_start_altitude;  // 返航起点高度
+    private boolean is_rth_tracking;    // 是否正在返航轨迹采集中
+
     private int mission_type;
 
     public int getMission_type() {
@@ -707,6 +739,36 @@ public class Movement {
     private volatile int flightmode = 0; //0代表没有操作  1代表航线飞行 2一键代表指令飞行  3flyto（一键和flyto）
     private boolean takeofftopoint;
     private boolean opendrc = false; //true 是开启 false 是关闭
+    private String fly_to_id;          // 飞向目标点任务ID
+
+    // flyto 飞向目标点进度
+    private double flyto_target_latitude;   // 目标点纬度
+    private double flyto_target_longitude;  // 目标点经度
+    private float flyto_target_height;      // 目标点高度
+    private float flyto_remaining_distance; // 剩余距离(米)
+    private float flyto_remaining_time;     // 剩余时间(秒)
+    private int flyto_max_speed = 10;       // 最大速度(m/s)
+    private String fly_to_point_progress;
+
+
+
+
+
+
+
+
+
+
+
+
+
+    public String getFly_to_point_progress() {
+        return fly_to_point_progress;
+    }
+
+    public void setFly_to_point_progress(String fly_to_point_progress) {
+        this.fly_to_point_progress = fly_to_point_progress;
+    }
 
     public boolean isTakeofftopoint() {
         return takeofftopoint;
@@ -724,6 +786,62 @@ public class Movement {
         this.opendrc = opendrc;
     }
 
+    public String getFly_to_id() {
+        return fly_to_id;
+    }
+
+    public void setFly_to_id(String fly_to_id) {
+        this.fly_to_id = fly_to_id;
+    }
+
+    public double getFlyto_target_latitude() {
+        return flyto_target_latitude;
+    }
+
+    public void setFlyto_target_latitude(double flyto_target_latitude) {
+        this.flyto_target_latitude = flyto_target_latitude;
+    }
+
+    public double getFlyto_target_longitude() {
+        return flyto_target_longitude;
+    }
+
+    public void setFlyto_target_longitude(double flyto_target_longitude) {
+        this.flyto_target_longitude = flyto_target_longitude;
+    }
+
+    public float getFlyto_target_height() {
+        return flyto_target_height;
+    }
+
+    public void setFlyto_target_height(float flyto_target_height) {
+        this.flyto_target_height = flyto_target_height;
+    }
+
+    public float getFlyto_remaining_distance() {
+        return flyto_remaining_distance;
+    }
+
+    public void setFlyto_remaining_distance(float flyto_remaining_distance) {
+        this.flyto_remaining_distance = flyto_remaining_distance;
+    }
+
+    public float getFlyto_remaining_time() {
+        return flyto_remaining_time;
+    }
+
+    public void setFlyto_remaining_time(float flyto_remaining_time) {
+        this.flyto_remaining_time = flyto_remaining_time;
+    }
+
+    public int getFlyto_max_speed() {
+        return flyto_max_speed;
+    }
+
+    public void setFlyto_max_speed(int flyto_max_speed) {
+        this.flyto_max_speed = flyto_max_speed;
+    }
+
     public int getFlightmode() {
         return flightmode;
     }
@@ -1148,6 +1266,95 @@ public class Movement {
         this.ir_metering_mode = ir_metering_mode;
     }
 
+    // 区域测温 getter/setter
+    public double getIr_region_x() {
+        return ir_region_x;
+    }
+
+    public void setIr_region_x(double ir_region_x) {
+        this.ir_region_x = ir_region_x;
+    }
+
+    public double getIr_region_y() {
+        return ir_region_y;
+    }
+
+    public void setIr_region_y(double ir_region_y) {
+        this.ir_region_y = ir_region_y;
+    }
+
+    public double getIr_region_width() {
+        return ir_region_width;
+    }
+
+    public void setIr_region_width(double ir_region_width) {
+        this.ir_region_width = ir_region_width;
+    }
+
+    public double getIr_region_height() {
+        return ir_region_height;
+    }
+
+    public void setIr_region_height(double ir_region_height) {
+        this.ir_region_height = ir_region_height;
+    }
+
+    public double getIr_region_aver_temperature() {
+        return ir_region_aver_temperature;
+    }
+
+    public void setIr_region_aver_temperature(double ir_region_aver_temperature) {
+        this.ir_region_aver_temperature = ir_region_aver_temperature;
+    }
+
+    public double getIr_region_min_temperature_x() {
+        return ir_region_min_temperature_x;
+    }
+
+    public void setIr_region_min_temperature_x(double ir_region_min_temperature_x) {
+        this.ir_region_min_temperature_x = ir_region_min_temperature_x;
+    }
+
+    public double getIr_region_min_temperature_y() {
+        return ir_region_min_temperature_y;
+    }
+
+    public void setIr_region_min_temperature_y(double ir_region_min_temperature_y) {
+        this.ir_region_min_temperature_y = ir_region_min_temperature_y;
+    }
+
+    public double getIr_region_min_temperature() {
+        return ir_region_min_temperature;
+    }
+
+    public void setIr_region_min_temperature(double ir_region_min_temperature) {
+        this.ir_region_min_temperature = ir_region_min_temperature;
+    }
+
+    public double getIr_region_max_temperature_x() {
+        return ir_region_max_temperature_x;
+    }
+
+    public void setIr_region_max_temperature_x(double ir_region_max_temperature_x) {
+        this.ir_region_max_temperature_x = ir_region_max_temperature_x;
+    }
+
+    public double getIr_region_max_temperature_y() {
+        return ir_region_max_temperature_y;
+    }
+
+    public void setIr_region_max_temperature_y(double ir_region_max_temperature_y) {
+        this.ir_region_max_temperature_y = ir_region_max_temperature_y;
+    }
+
+    public double getIr_region_max_temperature() {
+        return ir_region_max_temperature;
+    }
+
+    public void setIr_region_max_temperature(double ir_region_max_temperature) {
+        this.ir_region_max_temperature = ir_region_max_temperature;
+    }
+
 
     public int getIr_zoom_factor() {
         return ir_zoom_factor;
@@ -2188,6 +2395,22 @@ public class Movement {
         this.ltePhoneNumber = ltePhoneNumber;
     }
 
+    public boolean isOcuSyncLte() {
+        return ocuSyncLte;
+    }
+
+    public void setOcuSyncLte(boolean ocuSyncLte) {
+        this.ocuSyncLte = ocuSyncLte;
+    }
+
+    public int getOcuSyncLteTime() {
+        return ocuSyncLteTime;
+    }
+
+    public void setOcuSyncLteTime(int ocuSyncLteTime) {
+        this.ocuSyncLteTime = ocuSyncLteTime;
+    }
+
     public int getIsVirtualStickAdvancedModeEnabled() {
         return isVirtualStickAdvancedModeEnabled;
     }
@@ -2618,5 +2841,45 @@ public class Movement {
         this.planeMessage = planeMessage;
     }
 
+    public List<ReturnHomeInfo.PathPoint> getReturn_home_path_points() {
+        return return_home_path_points;
+    }
+
+    public void setReturn_home_path_points(List<ReturnHomeInfo.PathPoint> return_home_path_points) {
+        this.return_home_path_points = return_home_path_points;
+    }
+
+    public double getRth_start_latitude() {
+        return rth_start_latitude;
+    }
+
+    public void setRth_start_latitude(double rth_start_latitude) {
+        this.rth_start_latitude = rth_start_latitude;
+    }
+
+    public double getRth_start_longitude() {
+        return rth_start_longitude;
+    }
+
+    public void setRth_start_longitude(double rth_start_longitude) {
+        this.rth_start_longitude = rth_start_longitude;
+    }
+
+    public double getRth_start_altitude() {
+        return rth_start_altitude;
+    }
+
+    public void setRth_start_altitude(double rth_start_altitude) {
+        this.rth_start_altitude = rth_start_altitude;
+    }
+
+    public boolean is_rth_tracking() {
+        return is_rth_tracking;
+    }
+
+    public void set_rth_tracking(boolean rth_tracking) {
+        is_rth_tracking = rth_tracking;
+    }
+
 
 }

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

@@ -116,6 +116,8 @@ public class Osd {
         private double vertical_speed;
         private int wind_direction;
         private int wind_speed;
+        private boolean ocu_sync_lte;
+        private int ocu_sync_lte_time;
 
 
         public double getRtk_takeoff_altitude() {
@@ -150,6 +152,22 @@ public class Osd {
             this._$5300 = _$5300;
         }
 
+        public boolean isOcu_sync_lte() {
+            return ocu_sync_lte;
+        }
+
+        public void setOcu_sync_lte(boolean ocu_sync_lte) {
+            this.ocu_sync_lte = ocu_sync_lte;
+        }
+
+        public int getOcu_sync_lte_time() {
+            return ocu_sync_lte_time;
+        }
+
+        public void setOcu_sync_lte_time(int ocu_sync_lte_time) {
+            this.ocu_sync_lte_time = ocu_sync_lte_time;
+        }
+
         public int getActivation_time() {
             return activation_time;
         }

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

@@ -0,0 +1,121 @@
+package com.aros.apron.entity;
+
+import java.util.List;
+
+/**
+ * PSDK Widget Values 上报实体类
+ */
+public class PsdkWidgetValuesReport {
+    private String tid;
+    private String bid;
+    private long timestamp;
+    private String method;
+    private String gateway;
+    private Data data;
+
+    public String getTid() { return tid; }
+    public void setTid(String tid) { this.tid = tid; }
+
+    public String getBid() { return bid; }
+    public void setBid(String bid) { this.bid = bid; }
+
+    public long getTimestamp() { return timestamp; }
+    public void setTimestamp(long timestamp) { this.timestamp = timestamp; }
+
+    public String getMethod() { return method; }
+    public void setMethod(String method) { this.method = method; }
+
+    public String getGateway() { return gateway; }
+    public void setGateway(String gateway) { this.gateway = gateway; }
+
+    public Data getData() { return data; }
+    public void setData(Data data) { this.data = data; }
+
+    public static class Data {
+        private List<PsdkWidgetValue> psdk_widget_values;
+
+        public List<PsdkWidgetValue> getPsdk_widget_values() { return psdk_widget_values; }
+        public void setPsdk_widget_values(List<PsdkWidgetValue> psdk_widget_values) { this.psdk_widget_values = psdk_widget_values; }
+    }
+
+    public static class PsdkWidgetValue {
+        private int psdk_index;
+        private String psdk_lib_version;
+        private String psdk_name;
+        private String psdk_sn;
+        private int psdk_type;
+        private String psdk_version;
+        private SpeakerData speaker;
+        private List<Object> values;
+
+
+
+
+        public int getPsdk_index() { return psdk_index; }
+        public void setPsdk_index(int psdk_index) { this.psdk_index = psdk_index; }
+
+        public String getPsdk_lib_version() { return psdk_lib_version; }
+        public void setPsdk_lib_version(String psdk_lib_version) { this.psdk_lib_version = psdk_lib_version; }
+
+        public String getPsdk_name() { return psdk_name; }
+        public void setPsdk_name(String psdk_name) { this.psdk_name = psdk_name; }
+
+        public String getPsdk_sn() { return psdk_sn; }
+        public void setPsdk_sn(String psdk_sn) { this.psdk_sn = psdk_sn; }
+
+        public int getPsdk_type() { return psdk_type; }
+        public void setPsdk_type(int psdk_type) { this.psdk_type = psdk_type; }
+
+        public String getPsdk_version() { return psdk_version; }
+        public void setPsdk_version(String psdk_version) { this.psdk_version = psdk_version; }
+
+        public SpeakerData getSpeaker() { return speaker; }
+        public void setSpeaker(SpeakerData speaker) { this.speaker = speaker; }
+
+        public List<Object> getValues() { return values; }
+        public void setValues(List<Object> values) { this.values = values; }
+    }
+
+    public static class SpeakerData {
+        private String play_file_md5;
+        private String play_file_name;
+        private int play_mode;
+        private int play_volume;
+        private int system_state;
+        private int work_mode;
+        private int tts_language;
+        private int tts_speed;
+        private int tts_type;
+        private int tts_volume;
+
+        public String getPlay_file_md5() { return play_file_md5; }
+        public void setPlay_file_md5(String play_file_md5) { this.play_file_md5 = play_file_md5; }
+
+        public String getPlay_file_name() { return play_file_name; }
+        public void setPlay_file_name(String play_file_name) { this.play_file_name = play_file_name; }
+
+        public int getPlay_mode() { return play_mode; }
+        public void setPlay_mode(int play_mode) { this.play_mode = play_mode; }
+
+        public int getPlay_volume() { return play_volume; }
+        public void setPlay_volume(int play_volume) { this.play_volume = play_volume; }
+
+        public int getSystem_state() { return system_state; }
+        public void setSystem_state(int system_state) { this.system_state = system_state; }
+
+        public int getWork_mode() { return work_mode; }
+        public void setWork_mode(int work_mode) { this.work_mode = work_mode; }
+
+        public int getTts_language() { return tts_language; }
+        public void setTts_language(int tts_language) { this.tts_language = tts_language; }
+
+        public int getTts_speed() { return tts_speed; }
+        public void setTts_speed(int tts_speed) { this.tts_speed = tts_speed; }
+
+        public int getTts_type() { return tts_type; }
+        public void setTts_type(int tts_type) { this.tts_type = tts_type; }
+
+        public int getTts_volume() { return tts_volume; }
+        public void setTts_volume(int tts_volume) { this.tts_volume = tts_volume; }
+    }
+}

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

@@ -0,0 +1,124 @@
+package com.aros.apron.entity;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 返航轨迹信息上报
+ */
+public class ReturnHomeInfo {
+    private String tid;
+    private String bid;
+    private long timestamp;
+    private String method = "return_home_info";
+    private Data data;
+
+    public String getTid() {
+        return tid;
+    }
+
+    public void setTid(String tid) {
+        this.tid = tid;
+    }
+
+    public String getBid() {
+        return bid;
+    }
+
+    public void setBid(String bid) {
+        this.bid = bid;
+    }
+
+    public long getTimestamp() {
+        return timestamp;
+    }
+
+    public void setTimestamp(long timestamp) {
+        this.timestamp = timestamp;
+    }
+
+    public String getMethod() {
+        return method;
+    }
+
+    public void setMethod(String method) {
+        this.method = method;
+    }
+
+    public Data getData() {
+        return data;
+    }
+
+    public void setData(Data data) {
+        this.data = data;
+    }
+
+    public static class Data {
+        private String flight_id;
+        private int last_point_type;
+        private List<PathPoint> planned_path_points = new ArrayList<>();
+
+        public String getFlight_id() {
+            return flight_id;
+        }
+
+        public void setFlight_id(String flight_id) {
+            this.flight_id = flight_id;
+        }
+
+        public int getLast_point_type() {
+            return last_point_type;
+        }
+
+        public void setLast_point_type(int last_point_type) {
+            this.last_point_type = last_point_type;
+        }
+
+        public List<PathPoint> getPlanned_path_points() {
+            return planned_path_points;
+        }
+
+        public void setPlanned_path_points(List<PathPoint> planned_path_points) {
+            this.planned_path_points = planned_path_points;
+        }
+    }
+
+    public static class PathPoint {
+        private double latitude;
+        private double longitude;
+        private float height;
+
+        public PathPoint() {
+        }
+
+        public PathPoint(double latitude, double longitude, float height) {
+            this.latitude = latitude;
+            this.longitude = longitude;
+            this.height = height;
+        }
+
+        public double getLatitude() {
+            return latitude;
+        }
+
+        public void setLatitude(double latitude) {
+            this.latitude = latitude;
+        }
+
+        public double getLongitude() {
+            return longitude;
+        }
+
+        public void setLongitude(double longitude) {
+            this.longitude = longitude;
+        }
+
+        public float getHeight() {
+            return height;
+        }
+
+        public void setHeight(float height) {
+            this.height = height;
+        }
+    }
+}

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

@@ -40,6 +40,21 @@ public class Synchronizedstatus {
     private  static  volatile  boolean takeoff_to_point=false;
 
 
+
+    //flyto
+    private  static volatile boolean flyto=false;
+
+
+
+
+    public static boolean isFlyto() {
+        return flyto;
+    }
+
+    public static void setFlyto(boolean flyto) {
+        Synchronizedstatus.flyto = flyto;
+    }
+
     public static boolean isTakeoff_to_point() {
         return takeoff_to_point;
     }

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

@@ -295,7 +295,7 @@ public class AlternateLandingManager extends BaseManager {
             public void onSuccess() {
                 sendEvent2Server( "备降点航线上传成功",1);
                 if (PreferenceUtils.getInstance().getHaveRTK() && !(Movement.getInstance().getIs_fixed()==2)) {
-                    RTKManager.getInstance().enableRtk(false);
+                    //TKManager.getInstance().enableRtk(false);
                 }
 
                 new Handler().postDelayed(new Runnable() {
@@ -311,8 +311,23 @@ public class AlternateLandingManager extends BaseManager {
                                 PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
                                 sendEvent2Server( "开始飞往备降点",1);
 
+                                PerceptionManager.getInstance().setPerceptionEnable(false);
 
-                                sendFlyToAlternateLandPointEvent();
+
+                                // 发送3次，每次延迟500毫秒
+                                new Handler().post(new Runnable() {
+                                    int count = 0;
+                                    @Override
+                                    public void run() {
+                                        if (count < 3) {
+                                            sendFlyToAlternateLandPointEvent();
+                                            count++;
+                                            if (count < 3) {
+                                                new Handler().postDelayed(this, 500);
+                                            }
+                                        }
+                                    }
+                                });
 
                                 Movement.getInstance().setTakeoff_result(316052);
                                 Movement.getInstance().setResult(316052);

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

@@ -85,28 +85,42 @@ public class BatteryManager extends BaseManager {
 /**************************************************************************************************************/
 
 
+
             KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyChargeRemainingInPercent, 0), this, new CommonCallbacks.KeyListener<Integer>() {
+                    KeyChargeRemainingInPercent), this, new CommonCallbacks.KeyListener<Integer>() {
                 @Override
                 public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
                     if (newValue != null) {
                         Movement.getInstance().setBattery_a_capacity_percent(newValue);
                         Movement.getInstance().setCapacity_percent(newValue);
-                        checkForcedBatteryRTH(newValue, Movement.getInstance().getBattery_b_capacity_percent());
+                        LogUtil.log(TAG,"电池电量"+newValue);
+                        checkForcedBatteryRTH(newValue);
                     }
                 }
             });
 
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+//            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyChargeRemainingInPercent, 1), this, new CommonCallbacks.KeyListener<Integer>() {
+//                    KeyChargeRemainingInPercent, 0), this, new CommonCallbacks.KeyListener<Integer>() {
-                @Override
+//                @Override
-                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+//                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
-                    if (newValue != null) {
+//                    if (newValue != null) {
-                        Movement.getInstance().setBattery_b_capacity_percent(newValue);
+//                        Movement.getInstance().setBattery_a_capacity_percent(newValue);
-                        checkForcedBatteryRTH(Movement.getInstance().getBattery_a_capacity_percent(), newValue);
+//                        Movement.getInstance().setCapacity_percent(newValue);
-                    }
+//                       // checkForcedBatteryRTH(newValue, Movement.getInstance().getBattery_b_capacity_percent());
-                }
+//                    }
-            });
+//                }
+//            });
+//
+//            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+//                    KeyChargeRemainingInPercent, 1), this, new CommonCallbacks.KeyListener<Integer>() {
+//                @Override
+//                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+//                    if (newValue != null) {
+//                        Movement.getInstance().setBattery_b_capacity_percent(newValue);
+//                       // checkForcedBatteryRTH(Movement.getInstance().getBattery_a_capacity_percent(), newValue);
+//                    }
+//                }
+//            });
 
             KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
                     KeyVoltage, 0), this, new CommonCallbacks.KeyListener<Integer>() {
@@ -290,18 +304,13 @@ public class BatteryManager extends BaseManager {
     /**
      * 检查双电池平均电量是否低于强制返航阈值，低于则触发返航
      */
-    private void checkForcedBatteryRTH(int batteryA, int batteryB) {
+    private void checkForcedBatteryRTH(int batteryA) {
-
-
         if (forcedRTHTriggered) return;
-
         if (!getGimbalAndCameraEnabled()) {
             return;
         }
-
-
         // 过滤空值/无效电量（0或负数不参与计算）
-        if (batteryA <= 0 || batteryB <= 0) return;
+        if (batteryA <= 0 ) return;
 
         String forcedBatteryStr = PreferenceUtils.getInstance().getForcedBattery();
         if (TextUtils.isEmpty(forcedBatteryStr)) return;
@@ -313,14 +322,12 @@ public class BatteryManager extends BaseManager {
             return;
         }
 
-        int avgBattery = (batteryA + batteryB) / 2;
+        if (batteryA >= forcedBattery) return;
-        if (avgBattery >= forcedBattery) return;
-
         // 仅在飞行中触发
         if (!Movement.getInstance().isPlaneWing()) return;
 
         forcedRTHTriggered = true;
-        LogUtil.log(TAG, "平均电量" + avgBattery + "%低于强制返航阈值" + forcedBattery + "%，触发自动返航");
+        LogUtil.log(TAG, "平均电量" + batteryA + "%低于强制返航阈值" + forcedBattery + "%，触发自动返航");
         sendEvent2Server("触发低电量返航",1);
 
         Movement.getInstance().setTakeoff_result(321773);

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

@@ -44,6 +44,7 @@ import dji.sdk.keyvalue.value.camera.RecordingState;
 import dji.sdk.keyvalue.value.camera.TapZoomMode;
 import dji.sdk.keyvalue.value.camera.ThermalDigitalZoomFactor;
 import dji.sdk.keyvalue.value.camera.ThermalDisplayMode;
+import dji.sdk.keyvalue.value.camera.ThermalAreaMetersureTemperature;
 import dji.sdk.keyvalue.value.camera.ThermalGainMode;
 import dji.sdk.keyvalue.value.camera.ThermalTemperatureMeasureMode;
 import dji.sdk.keyvalue.value.camera.VideoRecordingStatus;
@@ -327,8 +328,9 @@ public class CameraManager extends BaseManager {
                 @Override
                 public void onValueChange(@Nullable DoublePoint2D doublePoint2D, @Nullable DoublePoint2D t1) {
                     if (t1 != null) {
-                        Movement.getInstance().setX(t1.getX());
+//                        Movement.getInstance().setX(t1.getX());
-                        Movement.getInstance().setX(t1.getY());
+//                        Movement.getInstance().setY(t1.getY());
+//                        Movement.getInstance().setIr_metering_mode(1);
                     }
                 }
             });
@@ -339,11 +341,60 @@ public class CameraManager extends BaseManager {
                 @Override
                 public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
                     if (t1 != null) {
-                        Movement.getInstance().setTemperature(t1.intValue());
+                        if(Movement.getInstance().isOpentemperate()){
+                            Movement.getInstance().setTemperature(t1.intValue());
+                        }
                     }
                 }
             });
 
+            //区域测温区域位置
+            KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalRegionMetersureArea,
+                    ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this,
+                    new CommonCallbacks.KeyListener<DoubleRect>() {
+                @Override
+                public void onValueChange(@Nullable DoubleRect oldValue,
+                                          @Nullable DoubleRect t1) {
+                    if (t1 != null) {
+//                        Movement.getInstance().setIr_region_x(t1.getX());
+//                        Movement.getInstance().setIr_region_y(t1.getY());
+//                        Movement.getInstance().setIr_region_width(t1.getWidth());
+//                        Movement.getInstance().setIr_region_height(t1.getHeight());
+                    }
+                }
+            });
+
+            //区域测温温度信息（平均温度、最低温度点、最高温度点）
+            KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalRegionMetersureTemperature,
+                    ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this,
+                    new CommonCallbacks.KeyListener<ThermalAreaMetersureTemperature>() {
+                @Override
+                public void onValueChange(@Nullable ThermalAreaMetersureTemperature oldValue,
+                                          @Nullable ThermalAreaMetersureTemperature t1) {
+                    LogUtil.log(TAG,"ThermalAreaMetersureTemperature"+t1.toString());
+                    if (t1 != null) {
+                        Movement.getInstance().setIr_metering_mode(2);
+                        // 平均温度
+                        Movement.getInstance().setIr_region_aver_temperature(t1.getAverageAreaTemperature());
+                        // 最低温度点
+                        DoublePoint2D minPoint = t1.getMinTemperaturePoint();
+                        if (minPoint != null) {
+                            Movement.getInstance().setIr_region_min_temperature_x(minPoint.getX());
+                            Movement.getInstance().setIr_region_min_temperature_y(minPoint.getY());
+                        }
+                        Movement.getInstance().setIr_region_min_temperature(t1.getMinAreaTemperature());
+                        // 最高温度点
+                        DoublePoint2D maxPoint = t1.getMaxTemperaturePoint();
+                        if (maxPoint != null) {
+                            Movement.getInstance().setIr_region_max_temperature_x(maxPoint.getX());
+                            Movement.getInstance().setIr_region_max_temperature_y(maxPoint.getY());
+                        }
+                        Movement.getInstance().setIr_region_max_temperature(t1.getMaxAreaTemperature());
+                    }
+                }
+            });
+
+
             //当前红外变焦倍率
             KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalZoomRatios,
                     ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Double>() {
@@ -1389,7 +1440,7 @@ public class CameraManager extends BaseManager {
                 KeyConnection, ComponentIndexType.PORT_1));
         if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
             if (message != null) {
-                int type = 1;
+                final int type;
                 switch (message.getData().getVideo_type()) {
                     case "ir":
                         type = 3;
@@ -1403,6 +1454,9 @@ public class CameraManager extends BaseManager {
                     case "zoom":
                         type = 2;
                         break;
+                    default:
+                        type = 1;
+                        break;
                 }
 
                 KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraVideoStreamSource,
@@ -1411,7 +1465,27 @@ public class CameraManager extends BaseManager {
                         new CommonCallbacks.CompletionCallback() {
                             @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) {
+                                    KeyManager.getInstance().setValue(
+                                            KeyTools.createCameraKey(CameraKey.KeyThermalPalette,
+                                                    ComponentIndexType.PORT_1,
+                                                    CameraLensType.CAMERA_LENS_THERMAL),
+                                            CameraThermalPalette.find(6),
+                                            new CommonCallbacks.CompletionCallback() {
+                                                @Override
+                                                public void onSuccess() {
+                                                    LogUtil.log(TAG, "红外切换成功，已设置调色盘为铁红");
+                                                }
+
+                                                @Override
+                                                public void onFailure(@NonNull IDJIError error) {
+                                                    LogUtil.log(TAG, "设置红外调色盘失败:" + getIDJIErrorMsg(error));
+                                                }
+                                            });
+                                }
                                 sendMsg2Server(message);
+
                             }
 
                             @Override
@@ -1804,6 +1878,7 @@ public class CameraManager extends BaseManager {
                     ThermalTemperatureMeasureMode.find(message.getData().getMode()), new CommonCallbacks.CompletionCallback() {
                         @Override
                         public void onSuccess() {
+                            Movement.getInstance().setIr_metering_mode(message.getData().getMode());
                             sendMsg2Server(message);
                         }
 
@@ -1820,22 +1895,26 @@ public class CameraManager extends BaseManager {
 //
     //设置需要测温的点的位置
     public void setThermalSpotMetersurePoint(MessageDown message) {
-        Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
-                KeyConnection,ComponentIndexType.PORT_1));
+                KeyConnection, ComponentIndexType.PORT_1));
         if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
             DoublePoint2D doublePoint2D = new DoublePoint2D();
-            doublePoint2D.setX(Double.parseDouble(message.getData().getX()));
+            doublePoint2D.setX(message.getData().getX());
-            doublePoint2D.setY(Double.parseDouble(message.getData().getY()));
+            doublePoint2D.setY(message.getData().getY());
             KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalSpotMetersurePoint,
                     ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), doublePoint2D, new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
+                    Movement.getInstance().setOpentemperate(true);
+                    Movement.getInstance().setIr_metering_mode(1);
+                    Movement.getInstance().setX(message.getData().getX());
+                    Movement.getInstance().setY(message.getData().getY());
                     sendMsg2Server(message);
                 }
 
                 @Override
                 public void onFailure(@NonNull IDJIError error) {
-                    LogUtil.log(TAG,"设置点测温失败:"+new Gson().toJson(error));
+                    LogUtil.log(TAG, "设置点测温失败:" + new Gson().toJson(error));
                     sendFailMsg2Server(message, "设置点测温失败:" + getIDJIErrorMsg(error));
 
                 }
@@ -1852,14 +1931,19 @@ public class CameraManager extends BaseManager {
                 KeyConnection,ComponentIndexType.PORT_1));
         if (isConnect != null && isConnect) {
             DoubleRect doubleRect = new DoubleRect();
-            doubleRect.setX(Double.parseDouble(message.getData().getX()));
+            doubleRect.setX(message.getData().getX());
-            doubleRect.setY(Double.parseDouble(message.getData().getY()));
+            doubleRect.setY(message.getData().getY());
-            doubleRect.setHeight((double) message.getData().getHeight());
+            doubleRect.setHeight(message.getData().getHeight());
-            doubleRect.setWidth((double) message.getData().getWidth());
+            doubleRect.setWidth(message.getData().getWidth());
             KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalRegionMetersureArea,
                     ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), doubleRect, new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
+                    Movement.getInstance().setIr_metering_mode(2);
+                    Movement.getInstance().setIr_region_x(message.getData().getX());
+                    Movement.getInstance().setIr_region_y(message.getData().getY());
+                    Movement.getInstance().setIr_region_width(message.getData().getWidth());
+                    Movement.getInstance().setIr_region_height(message.getData().getHeight());
                     sendMsg2Server(message);
                 }
 

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

@@ -81,7 +81,7 @@ public class DockCloseManager extends BaseManager {
             MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_EVENT, mqttMessage, null, new IMqttActionListener() {
                 @Override
                 public void onSuccess(IMqttToken asyncActionToken) {
-	                    LogUtil.log(TAG, "关舱发送成功："+sendDockCloseSuccessTimes+"clientId:"+MqttManager.getInstance().mqttAndroidClient.getClientId());
+                    LogUtil.log(TAG, "关舱发送成功："+sendDockCloseSuccessTimes+"clientId:"+MqttManager.getInstance().mqttAndroidClient.getClientId());
                     sendEvent2Server("AMS通知机库关舱",1);
                     isSendDockCloseSuccess = true;
                 }

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

@@ -23,6 +23,8 @@ import com.aros.apron.tools.AlternateArucoDetect;
 import com.aros.apron.tools.ApronArucoDetect;
 import com.aros.apron.tools.ApronArucoDetectPort;
 import com.aros.apron.tools.DroneHelper;
+import com.aros.apron.tools.FlyToPointProgressScheduler;
+import com.aros.apron.tools.Gpsdistance;
 import com.aros.apron.tools.LocationUtils;
 import com.aros.apron.tools.LogUtil;
 import com.aros.apron.tools.MqttManager;
@@ -33,6 +35,7 @@ import com.google.gson.Gson;
 
 import org.greenrobot.eventbus.EventBus;
 
+import java.security.Key;
 import java.util.List;
 import java.util.Objects;
 
@@ -74,6 +77,7 @@ import dji.v5.common.callback.CommonCallbacks;
 import dji.v5.common.error.IDJIError;
 import dji.v5.common.utils.GpsUtils;
 import dji.v5.manager.KeyManager;
+import dji.v5.manager.SDKManager;
 import dji.v5.manager.aircraft.perception.data.PerceptionInfo;
 import dji.v5.manager.aircraft.perception.listener.PerceptionInformationListener;
 import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
@@ -130,10 +134,10 @@ public class FlightManager extends BaseManager {
 
                             PsdkWidgetScheduler.getInstance().start();
 
-                            PerceptionManager.getInstance().setPerceptionEnable(false);
+//                            PerceptionManager.getInstance().setPerceptionEnable(false);
-                            PerceptionManager.getInstance().setObstacleAvoidanceupEnabled(false);
+//                            PerceptionManager.getInstance().setObstacleAvoidanceupEnabled(false);
-                            PerceptionManager.getInstance().setObstacleAvoidancedownEnabled(false);
+//                            PerceptionManager.getInstance().setObstacleAvoidancedownEnabled(false);
-                            PerceptionManager.getInstance().closeRadarManager(false);
+//                            PerceptionManager.getInstance().closeRadarManager(false);
 
                             if (count == 0) {
                                 sendEvent2Server("开始上传日志文件", 1);
@@ -247,8 +251,15 @@ public class FlightManager extends BaseManager {
                             OSDManager.getInstance().pushFlightAttitude();
 
                         }
-
                         isFlying = newValue;
+                        // 起飞时开启返航轨迹定时上报
+
+                        if (!isFlying) {
+                            RTHTrackerManager.getInstance().reset();
+                        }else{
+                            RTHTrackerManager.getInstance().startReporting();
+                        }
+
                         Movement.getInstance().setPlaneWing(newValue);
                         pushFlightAttitude();
 
@@ -299,11 +310,15 @@ public class FlightManager extends BaseManager {
                 @Override
                 public void onValueChange(@Nullable String s, @Nullable String t1) {
                     if (t1 != null) {
-                        Movement.getInstance().setFirmware_version(t1);
+
+                        //Movement.getInstance().setFirmware_version(t1);
+                        Movement.getInstance().setFirmware_version(SDKManager.getInstance().getSDKVersion());
                         pushFlightAttitude();
                     }
                 }
             });
+
+
             //RID状态
             KeyManager.getInstance().listen(createKey(FlightControllerKey.KeyRidWorkingStatusPush), this, new CommonCallbacks.KeyListener<RidWorkingStatusPushMsg>() {
                 @Override
@@ -320,6 +335,7 @@ public class FlightManager extends BaseManager {
                 @Override
                 public void onValueChange(@Nullable RTKTakeoffAltitudeInfo rtkTakeoffAltitudeInfo, @Nullable RTKTakeoffAltitudeInfo t1) {
                     if (t1 != null) {
+                        //LogUtil.log(TAG,"KeyRTKTakeoffAltitudeInfo"+t1.getAltitude());
                         Movement.getInstance().setRtk_takeoff_altitude(t1.getAltitude());
                         pushFlightAttitude();
                     }
@@ -342,14 +358,43 @@ public class FlightManager extends BaseManager {
                                 String.valueOf(newValue.getLatitude()));
                         Movement.getInstance().setHome_distance(distance);
 
+
+
                         Movement.getInstance().setHeight(GpsUtils.egm96Altitude((Movement.getInstance().getRtk_takeoff_altitude() +
                                         Movement.getInstance().getElevation()),
                                 newValue.getLatitude(), newValue.getLongitude()));
 
+                       // Movement.getInstance().setHeight(Movement.getInstance().getRtk_takeoff_altitude() + Movement.getInstance().getElevation());
+
                         Movement.getInstance().setLatitude(newValue.getLatitude());
                         Movement.getInstance().setLongitude(newValue.getLongitude());
                         pushFlightAttitude();
 
+                        // ========== 判断是否到达FlyTo目标点 ==========
+                        double targetLat = Movement.getInstance().getFlyto_target_latitude();
+                        double targetLon = Movement.getInstance().getFlyto_target_longitude();
+                        if (targetLat != 0 && targetLon != 0) {
+                            // 计算到目标点的距离
+                            double targetDistance = Gpsdistance.calculateDistance(
+                                    newValue.getLatitude(), newValue.getLongitude(),
+                                    targetLat, targetLon);
+
+                            double horizontalSpeed = Movement.getInstance().getHorizontal_speed();
+
+                            // 距离目标点 < 3米 且 速度 < 0.2m/s 悬停 → 判定到达
+                            if (targetDistance < 3 && horizontalSpeed < 0.2) {
+                                LogUtil.log(TAG, "【FlyTo到达目标点】距离=" + String.format("%.1f", targetDistance)
+                                        + "m 速度=" + String.format("%.2f", horizontalSpeed) + "m/s → 停止上报");
+
+                                FlyToPointProgressScheduler.getInstance().markSuccess();
+
+
+                                // 清除目标点，避免重复触发
+                                Movement.getInstance().setFlyto_target_latitude(0);
+                                Movement.getInstance().setFlyto_target_longitude(0);
+                            }
+                        }
+
 
                     }
                 }
@@ -553,6 +598,7 @@ public class FlightManager extends BaseManager {
                                 Movement.getInstance().setFlightmode(0);
                                 break;
                             case FORCE_LANDING:
+                                LogUtil.log(TAG,"强制降落触发");
                                 Movement.getInstance().setMode_code(11);
                                 break;
                             case POI:
@@ -624,6 +670,7 @@ public class FlightManager extends BaseManager {
                             triggerLandOrGoHome = true;
                             Movement.getInstance().setVirtualStickQuitMission(false);
                         }
+
                         pushFlightAttitude();
                     }
                 }
@@ -899,7 +946,6 @@ public class FlightManager extends BaseManager {
         }
     }
 
-
     public void resetOpenCabinDoorState() {
         sendOpenCabinDoorMsg = false;
         LogUtil.log(TAG, "开舱门状态已重置");
@@ -1034,7 +1080,6 @@ public class FlightManager extends BaseManager {
         }
     }
 
-
     private void setkuaim() {
         Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
                 KeyConnection, ComponentIndexType.PORT_1));
@@ -1099,7 +1144,6 @@ public class FlightManager extends BaseManager {
             LogUtil.log(TAG, "相机未连接");
         }
     }
-
     //快门优先
     private void setCameraExposureMode() {
         Boolean cameraConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
@@ -1120,7 +1164,6 @@ public class FlightManager extends BaseManager {
             LogUtil.log(TAG, "相机未连接");
         }
     }
-
     //设置成
     public void setCameraExposureModePROGRAM() {
         Boolean cameraConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
@@ -1156,7 +1199,6 @@ public class FlightManager extends BaseManager {
             isGimbalReset = true;
         }
     }
-
     // 检查是否满足开始视觉识别降落的条件
     private void checkAndStartVisionLanding() {
         boolean shouldStartVisionLanding = (PreferenceUtils.getInstance().getLandType() == 2);
@@ -1164,11 +1206,8 @@ public class FlightManager extends BaseManager {
             startVisionLanding();
             // 检查是否满足降落条件
             checkLandingConditions();
-
         }
     }
-
-
     private static final double FLYING_HEIGHT_THRESHOLD_MAX = 20;
     private static final double FLYING_HEIGHT_THRESHOLD_MAX_ALTERNATE = 10;
     private static final double FLYING_HEIGHT_THRESHOLD_MIN = -2;
@@ -1176,7 +1215,7 @@ public class FlightManager extends BaseManager {
 
     // 打印相对高度的节流计数器(约每秒一次)
     private int heightLogCounter = 0;
-    private static final int HEIGHT_LOG_INTERVAL = 30; // startVisionLanding大约每秒回调一次
+    private static final int HEIGHT_LOG_INTERVAL = 60; // startVisionLanding大约每秒回调一次
 
     private void startVisionLanding() {
 
@@ -1188,13 +1227,10 @@ public class FlightManager extends BaseManager {
 
         // 节流打印相对高度和超声波高度(约每秒1次)
         if (++heightLogCounter >= HEIGHT_LOG_INTERVAL) {
-            LogUtil.log(TAG, "[高度监控] 相对高度=" + Movement.getInstance().getElevation() + "m, 超声波高度=" + Movement.getInstance().getUltrasonicHeight() + "dm");
+            LogUtil.log(TAG, "[高度监控] 相对高度=" + Movement.getInstance().getElevation() + "m, 超声波高度=" + Movement.getInstance().getUltrasonicHeight() + "dm"+"限高"+KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyHeightLimitRange)));
             heightLogCounter = 0;
         }
 
-
-
-
         if (isFlying && (Movement.getInstance().getElevation() < 15 && Movement.getInstance().getUltrasonicHeight() < 50 || forceTriggerDetection) && !isSendDetect) {
             double flyingHeight = Movement.getInstance().getElevation();
             double thresholdMin = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MIN;
@@ -1231,7 +1267,7 @@ public class FlightManager extends BaseManager {
         if (PreferenceUtils.getInstance().getTriggerToAlternatePoint()) {
             LogUtil.log(TAG, "识别AlterTag:" + PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand());
             //EventBus.getDefault().post(FLAG_START_DETECT_ARUCO_ALTERNATE);
-            PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(true);
+            PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
             PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
             LogUtil.log(TAG, "开始识别备降点二维码,椭球高度:" + Movement.getInstance().getElevation() + "米" + "--超声波高度:" + Movement.getInstance().getUltrasonicHeight() + "分米");
             sendEvent2Server("开始备降点视觉降落", 1);
@@ -1350,7 +1386,11 @@ public class FlightManager extends BaseManager {
 
 
             if (Movement.getInstance().isIstakeoffex() == true && !Objects.equals(Movement.getInstance().getTakeoff_status(), "wayline_cancel")) {
-                Movement.getInstance().setTakeoff_status("task_finish");
+                if(Movement.getInstance().isAlternate()){
+                    Movement.getInstance().setTakeoff_status("wayline_failed");
+                }else{
+                    Movement.getInstance().setTakeoff_status("task_finish");
+                }
                 new Handler(Looper.getMainLooper()).postDelayed(new Runnable() {
                     @Override
                     public void run() {
@@ -1359,7 +1399,11 @@ public class FlightManager extends BaseManager {
                 }, 1000);
                 sendEvent2Server("一键起飞已发送task_finish", 1);
             } else if (Movement.getInstance().isIstakeoffex() == true && Objects.equals(Movement.getInstance().getTakeoff_status(), "wayline_cancel")) {
-                Movement.getInstance().setTakeoff_status("wayline_failed");
+                if(Movement.getInstance().isAlternate()){
+                    Movement.getInstance().setTakeoff_status("wayline_failed");
+                }else{
+                    Movement.getInstance().setTakeoff_status("wayline_failed");
+                }
                 new Handler(Looper.getMainLooper()).postDelayed(new Runnable() {
                     @Override
                     public void run() {
@@ -1455,12 +1499,14 @@ public class FlightManager extends BaseManager {
                 public void onSuccess(EmptyMsg emptyMsg) {
                     //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);
                 }
 
                 @Override
                 public void onFailure(@NonNull IDJIError error) {
                     LogUtil.log(TAG, "取消返航执行失败" + error);
+                    //isGimbalReset = false;
                     sendFailMsg2Server(message, "取消返航执行失败:" + getIDJIErrorMsg(error));
                 }
             });

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

@@ -1,41 +1,42 @@
 package com.aros.apron.manager;
 
-import static android.os.Environment.getExternalStoragePublicDirectory;
-
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-import android.os.Environment;
 import android.os.Handler;
-import android.os.Looper;
+
 import androidx.annotation.NonNull;
 import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.FlightMission;
 import com.aros.apron.entity.MessageDown;
-import com.aros.apron.entity.MissionPoint;
 import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.DomParserKML;
+import com.aros.apron.entity.Synchronizedstatus;
-import com.aros.apron.tools.DomParserWPML;
+import com.aros.apron.tools.FlyToPointProgressScheduler;
 import com.aros.apron.tools.LogUtil;
 import com.aros.apron.tools.PreferenceUtils;
-import com.aros.apron.tools.Utils;
+
-import com.aros.apron.tools.ZipUtil;
-import com.google.gson.Gson;
-import java.io.File;
-import java.io.IOException;
-import java.util.ArrayList;
 import java.util.List;
 import dji.sdk.keyvalue.key.FlightControllerKey;
 import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.common.LocationCoordinate3D;
+import dji.sdk.keyvalue.value.flightcontroller.FlyToMode;
 import dji.v5.common.callback.CommonCallbacks;
 import dji.v5.common.error.IDJIError;
 import dji.v5.manager.KeyManager;
-import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
+import dji.v5.manager.intelligent.IntelligentFlightManager;
-import dji.v5.manager.interfaces.IWaypointMissionManager;
+import dji.v5.manager.intelligent.flyto.FlyToMissionManager;
+import dji.v5.manager.intelligent.flyto.FlyToParam;
+import dji.v5.manager.intelligent.flyto.FlyToTarget;
+import dji.v5.manager.intelligent.flyto.IFlyToMissionManager;
 
 
+/**
+ * 飞向目标点任务管理器
+ * 使用 DJI MSDK 5.14+ 原生 IFlyToMissionManager API
+ * 对应 MQTT 协议:
+ *   - fly_to_point         开始飞向目标点
+ *   - fly_to_point_stop    结束飞向目标点任务
+ *   - fly_to_point_update  更新目标点
+ */
 public class FlyToPointManager extends BaseManager {
 
-    final Handler mainHandler = new Handler(Looper.getMainLooper());
+    private static final String TAG = "FlyToPointManager";
-
 
     private FlyToPointManager() {
     }
@@ -48,202 +49,394 @@ public class FlyToPointManager extends BaseManager {
         return FlyToPointHolder.INSTANCE;
     }
 
-    public boolean isReceiverMission = false;
+    public volatile boolean isReceiverMission = false;
 
-    //收到飞往目标点航线
+    public boolean isReceiverMission() {
+        return isReceiverMission;
+    }
+
+    public void setReceiverMission(boolean receiverMission) {
+        isReceiverMission = receiverMission;
+    }
+    // ==================== MQTT 入口 ====================
+
+    /**
+     * 收到飞往目标点指令 (fly_to_point)
+     */
     public void taskExecute(MessageDown message) {
-//        PreferenceUtils.getInstance().setMissionType(2);
+      //  PreferenceUtils.getInstance().setIsNewRoute(true);
-        PreferenceUtils.getInstance().setIsNewRoute(true);
+//        // 避免重复执行
-        //避免重复执行
+//        if (!isReceiverMission) {
-        if (isReceiverMission == false) {
+//            isReceiverMission = true;
-            isReceiverMission = true;
+//        }
-        }
+
-        if (message.getData().getPoints() != null && message.getData().getPoints().size() > 0) {
+        // 参数校验
-            sendMsg2Server(message);
+        if (message.getData() == null || message.getData().getPoints() == null
-        } else {
+                || message.getData().getPoints().isEmpty()) {
-            sendFailMsg2Server(message, "指点飞行经纬度有误");
+            sendFailMsg2Server(message, "指点飞行目标点为空");
+
+            Synchronizedstatus.setFlyto(false);
+
+
             return;
         }
-        toGenerateKMZFile(message);
+
+        // 检查飞控连接
+        Boolean isConnect = KeyManager.getInstance().getValue(
+                KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect == null || !isConnect) {
+            sendFailMsg2Server(message, "设备未连接");
+            Synchronizedstatus.setFlyto(false);
+            return;
+        }
+
+        startMission(message);
+
     }
 
+    // ==================== 开始任务 ====================
+
     /**
-     * 5.生成航线
+     * 开始飞向目标点
-     *
+     * 协议: fly_to_point
-     * @param message
+     * 参数: fly_to_id, max_speed, points[{latitude, longitude, height}]
      */
-    public void toGenerateKMZFile(MessageDown message) {
+    private void startMission(MessageDown message) {
-        Movement.getInstance().setTask_current_step(16);
+        try {
-        // 创建第一个 MissionPoint 对象
+            MessageDown.Data data = message.getData();
-        MissionPoint missionPoint = new MissionPoint();
+            List<MessageDown.Data.Points> points = data.getPoints();
-        missionPoint.setLat(String.valueOf(Movement.getInstance().getLatitude()));
+            if (points == null || points.isEmpty()) {
-        missionPoint.setLng(String.valueOf(Movement.getInstance().getLongitude()));
+                sendFailMsg2Server(message, "目标点为空");
-        missionPoint.setSpeed(Double.parseDouble(message.getData().getMax_speed()));
+                return;
-        missionPoint.setExecuteHeight(message.getData().getHeight());
-
-        // 创建第二个 MissionPoint 对象
-        MissionPoint missionPoint1 = new MissionPoint();
-        missionPoint1.setLat(message.getData().getPoints().get(0).getLatitude() + "");
-        missionPoint1.setLng(message.getData().getPoints().get(0).getLongitude() + "");
-        missionPoint1.setSpeed(Double.parseDouble(message.getData().getMax_speed()));
-        missionPoint1.setExecuteHeight(message.getData().getHeight());
-
-        // 创建一个 MissionPoint 列表
-        List<MissionPoint> missionPoints = new ArrayList<>();
-        missionPoints.add(missionPoint);
-        missionPoints.add(missionPoint1);
-
-        // 创建 FlightMission 对象并设置其属性
-        FlightMission flightMission = new FlightMission();
-        flightMission.setPoints(missionPoints);
-        flightMission.setMissionId(2);
-        flightMission.setFinishAction("noAction");
-        flightMission.setTakeOffSecurityHeight(
-                Float.parseFloat(Movement.getInstance().getElevation() + ""));
-        flightMission.setSpeed(Double.parseDouble(message.getData().getMax_speed()));
-
-        LogUtil.log(TAG, "当前高度:" + Movement.getInstance().getElevation()
-                + "-指点飞行安全起飞高度:" + message.getData().getSecurity_takeoff_height());
-
-        sendEvent2Server("开始生成指点飞行航线", 1);
-
-        // 生成xml文件
-        File file1 = new File(
-                getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz");
-        if (!file1.exists()) {
-            if (file1.mkdirs()) {
-                sendEvent2Server("指点飞行航线文件生成成功", 1);
-            } else {
-                sendEvent2Server("指点飞行航线文件生成失败", 2);
             }
+
+            MessageDown.Data.Points target = points.get(0);
+
+            // 当前椭球高（起飞点椭球高)
+            //double currentEllipsoid = Movement.getInstance().getRtk_takeoff_altitude();
+
+            // 目标相对高度 = 目标椭球高(WGS84) - 当前椭球高（全程 WGS84 椭球系）
+            double targetRelative = target.getHeight() - Movement.getInstance().getHeight()+Movement.getInstance().getElevation();
+
+            // 防止高度过低炸机，最低限制20米
+            if (targetRelative < 20) {
+                LogUtil.log(TAG, "计算目标相对高=" + targetRelative + " < 20，限制为20米防炸机");
+                targetRelative = 20;
+            }
+
+            LogUtil.log(TAG, "目标椭球高=" + target.getHeight() + " 当前椭球高=" + Movement.getInstance().getHeight()
+                    + " 当前相对高=" + Movement.getInstance().getElevation() + " 最终目标相对高=" + targetRelative);
+
+            // 构建 FlyToTarget
+            FlyToTarget flyToTarget = new FlyToTarget();
+            LocationCoordinate3D locationCoordinate3D=new LocationCoordinate3D();
+            locationCoordinate3D.setLatitude(target.getLatitude());
+            locationCoordinate3D.setLongitude(target.getLongitude());
+            locationCoordinate3D.setAltitude(targetRelative);
+            flyToTarget.setTargetLocation(locationCoordinate3D);
+
+            flyToTarget.setSecurityTakeoffHeight(20);
+
+            if (data.getMax_speed() > 0) {
+                flyToTarget.setMaxSpeed(data.getMax_speed());
+            } else {
+                flyToTarget.setMaxSpeed(10); // 默认 10m/s
+            }
+
+            // 构建 FlyToParam
+            FlyToParam flyToParam = new FlyToParam();
+            // max_speed 协议定义为 int(米/秒)，范围 0-15
+            flyToParam.setFlyToMode(FlyToMode.SET_HEIGHT);
+
+            flyToParam.setHeight((int) targetRelative);
+
+
+            // 如果协议携带了 fly_to_id，记录下来
+            if (data.getFly_to_id() != null) {
+                Movement.getInstance().setFly_to_id(data.getFly_to_id());
+                LogUtil.log(TAG, "fly_to_id: " + data.getFly_to_id());
+            }
+
+
+            int maxSpeed = data.getMax_speed() > 0 ? data.getMax_speed() : 10;
+
+            sendEvent2Server("开始飞向目标点: lat=" + target.getLatitude()
+                    + ", lng=" + target.getLongitude()
+                    + ", height=" + target.getHeight()+"targetRelative"+targetRelative, 1);
+
+            IFlyToMissionManager manager = IntelligentFlightManager.getInstance().getFlyToMissionManager();
+
+
+            manager.startMission(flyToTarget, flyToParam, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "飞向目标点任务开始成功");
+                    //Movement.getInstance().setTask_current_step(23);
+                    Movement.getInstance().setMode_code(17); // 指令飞行模式
+
+                    //开始上报
+                    FlyToPointProgressScheduler.getInstance().startReporting();
+
+                    // 保存目标点信息到 Movement，供进度上报使用
+                    Movement.getInstance().setFlyto_target_latitude(target.getLatitude());
+                    Movement.getInstance().setFlyto_target_longitude(target.getLongitude());
+                    Movement.getInstance().setFlyto_target_height((float) target.getHeight());
+
+                    Movement.getInstance().setFlyto_max_speed(maxSpeed);
+
+                    // 回复成功
+                    sendMsg2Server(message);
+                    sendEvent2Server("飞向目标点任务已启动", 1);
+                    Synchronizedstatus.setFlyto(false);
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    String errorMsg = "飞向目标点启动失败: " + error.description();
+                    LogUtil.log(TAG, errorMsg);
+                    sendFailMsg2Server(message, errorMsg);
+                    sendEvent2Server(errorMsg, 2);
+
+                    FlyToPointProgressScheduler.getInstance().markFailed();
+
+                    Synchronizedstatus.setFlyto(false);
+                }
+            });
+        } catch (Exception e) {
+            sendFailMsg2Server(message, "飞向目标点参数异常: " + e.getMessage());
+            Synchronizedstatus.setFlyto(false);
         }
-        DomParserKML domParserKML = new DomParserKML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
+    }
-                "/template.kml");
-        domParserKML.createKml(flightMission);
 
-        DomParserWPML domParserWPML = new DomParserWPML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
+    // ==================== 停止任务 ====================
-                "/waylines.wpml");
-        domParserWPML.createWpml(flightMission);
 
-        File kmzFile = new File(getExternalStoragePublicDirectory(Environment.DIRECTORY_DOCUMENTS) + File.separator + "FlyTo.kmz");
+    /**
-        kmzFile.getParentFile().mkdirs();
+     * 结束飞向目标点任务 (fly_to_point_stop)
+     */
+    public void stopMission(MessageDown message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(
+                KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect == null || !isConnect) {
+            sendFailMsg2Server(message, "设备未连接");
+            return;
+        }
+
+        IFlyToMissionManager manager = IntelligentFlightManager.getInstance().getFlyToMissionManager();
+        manager.stopMission(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "飞向目标点任务终止成功");
+                sendMsg2Server(message);
+
+                FlyToPointProgressScheduler.getInstance().markCancel();
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError error) {
+                String errorMsg = "飞向目标点终止失败: " + error.description();
+                LogUtil.log(TAG, errorMsg);
+                sendFailMsg2Server(message, errorMsg);
+            }
+        });
+    }
+
+    // ==================== 更新目标点 ====================
+
+    /**
+     * 更新飞向目标点 (fly_to_point_update)
+     * 可在「一键起飞」或「flyto 飞向目标点」执行过程中调用
+     * 参数: max_speed, points[{latitude, longitude, height}]
+     */
+    public void updateTarget(MessageDown message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(
+                KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect == null || !isConnect) {
+            sendFailMsg2Server(message, "设备未连接");
+            return;
+        }
 
         try {
-            ZipUtil.zip(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + "/wpmz",
+//            MessageDown.Data data = message.getData();
-                    getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "FlyTo.kmz");
+//            if (data == null || data.getPoints() == null || data.getPoints().isEmpty()) {
-        } catch (IOException e) {
+//                sendFailMsg2Server(message, "更新目标点为空");
-            sendEvent2Server("指点飞行任务生成异常", 2);
+//                return;
-            throw new RuntimeException(e);
+//            }
-        }
+//
-        pushKMZFileToAircraft(message);
+//            MessageDown.Data.Points target = data.getPoints().get(0);
-    }
+//
+//            // 当前椭球高（起飞点椭球高 + 相对起飞点高度）
+//            //double currentEllipsoid = Movement.getInstance().getRtk_takeoff_altitude();
+//
+//            // 目标相对高度 = 目标椭球高(WGS84) - 当前椭球高（全程 WGS84 椭球系）
+//            double targetRelative = target.getHeight() - Movement.getInstance().getHeight() + Movement.getInstance().getElevation();
+//
+//            // 防止高度过低炸机，最低限制20米
+//            if (targetRelative < 20) {
+//                LogUtil.log(TAG, "计算目标相对高=" + targetRelative + " < 20，限制为20米防炸机");
+//                targetRelative = 20;
+//            }
+//
+//            // 构建 FlyToTarget
+//            FlyToTarget flyToTarget = new FlyToTarget();
+//            LocationCoordinate3D locationCoordinate3D=new LocationCoordinate3D();
+//            locationCoordinate3D.setLatitude(target.getLatitude());
+//            locationCoordinate3D.setLongitude(target.getLongitude());
+//            locationCoordinate3D.setAltitude(targetRelative);
+//            flyToTarget.setTargetLocation(locationCoordinate3D);
+//
+//
+//
+//            flyToTarget.setSecurityTakeoffHeight(20);
+//
+//            int maxspeed;
+//            if (data.getMax_speed() > 0) {
+//                flyToTarget.setMaxSpeed(data.getMax_speed());
+//                maxspeed=data.getMax_speed();
+//            } else {
+//                flyToTarget.setMaxSpeed(10); // 默认 10m/s
+//                maxspeed=10;
+//            }
+//
+//            sendEvent2Server("更新目标点: lat=" + target.getLatitude()
+//                    + ", lng=" + target.getLongitude()
+//                    + ", height=" + target.getHeight()+"targetRelative"+targetRelative, 1);
+//
+//            LogUtil.log(TAG, "updateTarget: 目标高=" + target.getHeight()
+//                    + " getHeight=" + Movement.getInstance().getHeight()
+//                    + " getElevation=" + Movement.getInstance().getElevation()
+//                    + " targetRelative=" + targetRelative);
 
+            IFlyToMissionManager manager = IntelligentFlightManager.getInstance().getFlyToMissionManager();
 
-    /**
+            manager.stopMission(new CommonCallbacks.CompletionCallback() {
-     * 6.上传指点航线
-     *
-     * @param message
-     */
-    private void pushKMZFileToAircraft(MessageDown message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-
-            WaypointMissionManager.getInstance().pushKMZFileToAircraft(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + "/" + "FlyTo.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
-                @Override
-                public void onProgressUpdate(Double progress) {
-                    sendEvent2Server("指点航线上传进度:" + progress, 1);
-                    Movement.getInstance().setTask_current_step(17);
-                }
-
-                @Override
-                public void onSuccess() {
-                    sendEvent2Server("指点航线上传成功,准备执行任务", 1);
-                    mainHandler.postDelayed(new Runnable() {
-                        @Override
-                        public void run() {
-                            /**
-                             * 7.开始任务
-                             */
-                            Movement.getInstance().setTask_current_step(22);
-                            startMission(message);
-                        }
-                    }, 2000);
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                   sendFailMsg2Server(message,"指点航线上传失败:"+ Utils.getIDJIErrorMsg(error));
-                    sendEvent2Server("指点航线上传失败:"+ Utils.getIDJIErrorMsg(error),2);
-                   //待机
-                    Movement.getInstance().setMode_code(0);
-
-                }
-            });
-        }
-    }
-
-
-    /**
-     * 6.开始航线
-     *
-     * @param message
-     */
-    public void startMission(MessageDown message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-            CommonCallbacks.CompletionCallback callback = new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "指点航线开始成功");
-                    Movement.getInstance().setTask_status("paused");
-                    sendEvent2Server("任务开始执行", 1);
-                    Movement.getInstance().setTask_current_step(23);
-//                    Movement.getInstance().setMode_code(5);
-                    //指令飞行( 指点前置不需要起飞准备这些因为没有指点起飞的航线)
-                     Movement.getInstance().setMode_code(17);
-
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    sendFailMsg2Server(message,"指点航线执行失败:" + new Gson().toJson(error));
-                    sendEvent2Server("指点航线执行失败:" + new Gson().toJson(error),2);
-                    //待机
-                    Movement.getInstance().setMode_code(0);
-
-
-                }
-            };
-            WaypointMissionManager.getInstance().startMission("FlyTo", callback);
-        } else {
-            sendEvent2Server("指点任务开始失败,设备未连接", 2);
-        }
-    }
-
-    public void stopMission(MessageDown message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-            IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
-            missionManager.stopMission("FlyTo", new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
+                    LogUtil.log(TAG, "目标点更新成功");
                     sendMsg2Server(message);
-                    LogUtil.log(TAG, "指点任务终止成功");
+                    sendEvent2Server("目标点已更新", 1);
-                    Movement.getInstance().setTask_status("paused");
+
+
+                     new Handler().postDelayed(()->{
+                         startMissionupdate(message);
+                     },1000);
+
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+
+                    String errorMsg = "目标点更新失败: " + idjiError;
+                    LogUtil.log(TAG, errorMsg);
+                    sendFailMsg2Server(message, errorMsg);
+
+                }
+            });
+
+
+
+        } catch (Exception e) {
+            sendFailMsg2Server(message, "更新目标点参数异常: " + e.getMessage());
+        }
+    }
+
+
+    private void startMissionupdate(MessageDown message) {
+        try {
+            MessageDown.Data data = message.getData();
+            List<MessageDown.Data.Points> points = data.getPoints();
+            if (points == null || points.isEmpty()) {
+                sendFailMsg2Server(message, "目标点为空");
+                return;
+            }
+
+            MessageDown.Data.Points target = points.get(0);
+
+            // 当前椭球高（起飞点椭球高)
+            //double currentEllipsoid = Movement.getInstance().getRtk_takeoff_altitude();
+
+            // 目标相对高度 = 目标椭球高(WGS84) - 当前椭球高（全程 WGS84 椭球系）
+            double targetRelative = target.getHeight() - Movement.getInstance().getHeight()+Movement.getInstance().getElevation();
+
+            // 防止高度过低炸机，最低限制20米
+            if (targetRelative < 20) {
+                LogUtil.log(TAG, "计算目标相对高=" + targetRelative + " < 20，限制为20米防炸机");
+                targetRelative = 20;
+            }
+
+            LogUtil.log(TAG, "目标椭球高=" + target.getHeight() + " 当前椭球高=" + Movement.getInstance().getHeight()
+                    + " 当前相对高=" + Movement.getInstance().getElevation() + " 最终目标相对高=" + targetRelative);
+
+            // 构建 FlyToTarget
+            FlyToTarget flyToTarget = new FlyToTarget();
+            LocationCoordinate3D locationCoordinate3D=new LocationCoordinate3D();
+            locationCoordinate3D.setLatitude(target.getLatitude());
+            locationCoordinate3D.setLongitude(target.getLongitude());
+            locationCoordinate3D.setAltitude(targetRelative);
+            flyToTarget.setTargetLocation(locationCoordinate3D);
+
+            flyToTarget.setSecurityTakeoffHeight(20);
+
+            if (data.getMax_speed() > 0) {
+                flyToTarget.setMaxSpeed(data.getMax_speed());
+            } else {
+                flyToTarget.setMaxSpeed(10); // 默认 10m/s
+            }
+
+            // 构建 FlyToParam
+            FlyToParam flyToParam = new FlyToParam();
+            // max_speed 协议定义为 int(米/秒)，范围 0-15
+            flyToParam.setFlyToMode(FlyToMode.SET_HEIGHT);
+
+            flyToParam.setHeight((int) targetRelative);
+
+
+            // 如果协议携带了 fly_to_id，记录下来
+            if (data.getFly_to_id() != null) {
+                Movement.getInstance().setFly_to_id(data.getFly_to_id());
+                LogUtil.log(TAG, "fly_to_id: " + data.getFly_to_id());
+            }
+
+
+            int maxSpeed = data.getMax_speed() > 0 ? data.getMax_speed() : 10;
+
+            sendEvent2Server("开始飞向目标点: lat=" + target.getLatitude()
+                    + ", lng=" + target.getLongitude()
+                    + ", height=" + target.getHeight()+"targetRelative"+targetRelative, 1);
+
+            IFlyToMissionManager manager = IntelligentFlightManager.getInstance().getFlyToMissionManager();
+
+
+            manager.startMission(flyToTarget, flyToParam, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "飞向目标点任务开始成功");
+                    //Movement.getInstance().setTask_current_step(23);
+                    Movement.getInstance().setMode_code(17); // 指令飞行模式
+                    //开始上报
+                    FlyToPointProgressScheduler.getInstance().startReporting();
+
+                    // 保存目标点信息到 Movement，供进度上报使用
+                    Movement.getInstance().setFlyto_target_latitude(target.getLatitude());
+                    Movement.getInstance().setFlyto_target_longitude(target.getLongitude());
+                    Movement.getInstance().setFlyto_target_height((float) target.getHeight());
+                    Movement.getInstance().setFlyto_max_speed(maxSpeed);
+
 
                 }
 
                 @Override
                 public void onFailure(@NonNull IDJIError error) {
-                    sendFailMsg2Server(message, "指点任务终止失败:" + getIDJIErrorMsg(error));
+                    String errorMsg = "飞向目标点启动失败: " + error.description();
+                    LogUtil.log(TAG, errorMsg);
+
+                    FlyToPointProgressScheduler.getInstance().markFailed();
                 }
             });
-        } else {
+        } catch (Exception e) {
-            LogUtil.log(TAG, "指点任务终止失败:设备未连接");
+            sendFailMsg2Server(message, "飞向目标点参数异常: " + e.getMessage());
         }
     }
 
+
+
 }

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

@@ -0,0 +1,304 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+import android.os.Looper;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.constant.Constant;
+import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.MessageEvent;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.client.mqttv3.IMqttActionListener;
+import org.eclipse.paho.client.mqttv3.IMqttToken;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.nio.charset.StandardCharsets;
+import java.util.UUID;
+
+/**
+ * 舱门开关统一管理类
+ *
+ * 核心规则：
+ * 1. 开舱优先级绝对大于关舱 —— 两者冲突时永远以开舱为准
+ * 2. 同一时刻只允许存在一个有效指令（OPEN > NONE > CLOSE）
+ * 3. 收到服务端 MQTT 回复后才认为操作完成
+ */
+public class HatchDoorManager extends BaseManager {
+
+    private final Handler mainHandler = new Handler(Looper.getMainLooper());
+
+    // 期望的舱门指令（优先级：OPEN(1) > NONE(0) > CLOSE(-1)）
+    private int desiredCommand = COMMAND_NONE;
+    private static final int COMMAND_OPEN = 1;
+    private static final int COMMAND_NONE = 0;
+    private static final int COMMAND_CLOSE = -1;
+
+    // 当前执行状态
+    private volatile State currentState = State.IDLE;
+
+    // 重试计数
+    private int retryCount = 0;
+    private static final int MAX_CLOSE_RETRIES = 2;
+    private static final int MAX_OPEN_RETRIES = 20;
+    private static final long RETRY_DELAY_MS = 2000;
+
+    public enum State {
+        /** 空闲，无操作 */
+        IDLE,
+        /** 正在发送开舱指令 */
+        OPENING,
+        /** 已开舱（服务端已确认） */
+        OPEN,
+        /** 正在发送关舱指令 */
+        CLOSING,
+        /** 已关舱（服务端已确认） */
+        CLOSED
+    }
+
+    private HatchDoorManager() {
+    }
+
+    private static class Holder {
+        private static final HatchDoorManager INSTANCE = new HatchDoorManager();
+    }
+
+    public static HatchDoorManager getInstance() {
+        return Holder.INSTANCE;
+    }
+
+    // ==================== 公开 API ====================
+
+    /**
+     * 请求开舱（优先级最高，覆盖任何进行中的关舱操作）
+     */
+    public synchronized void requestOpen() {
+        if (currentState == State.OPEN || currentState == State.OPENING) {
+            LogUtil.log(TAG, "舱门已处于开启/开启中，忽略重复请求");
+            return;
+        }
+
+        // 开舱覆盖关舱：取消进行中的关舱重试
+        if (desiredCommand != COMMAND_OPEN) {
+            LogUtil.log(TAG, "开舱请求覆盖关舱请求（开舱优先级最高）");
+        }
+
+        desiredCommand = COMMAND_OPEN;
+        retryCount = 0;
+        sendOpenCommand();
+    }
+
+    /**
+     * 请求关舱
+     */
+    public synchronized void requestClose() {
+        // 如果当前期望开舱，关舱请求被忽略
+        if (desiredCommand == COMMAND_OPEN) {
+            LogUtil.log(TAG, "开舱优先级高于关舱，忽略关舱请求");
+            return;
+        }
+        if (currentState == State.CLOSED || currentState == State.CLOSING) {
+            LogUtil.log(TAG, "舱门已处于关闭/关闭中，忽略重复请求");
+            return;
+        }
+
+        desiredCommand = COMMAND_CLOSE;
+        retryCount = 0;
+        sendCloseCommand();
+    }
+
+    /**
+     * 供 MqttCallBack 回调调用：服务端确认开舱
+     */
+    public synchronized void onServerReplyOpen() {
+        LogUtil.log(TAG, "服务端确认开舱");
+        ApronExecutionStatus.getInstance().setServerReplyDockOpen(true);
+        currentState = State.OPEN;
+        desiredCommand = COMMAND_NONE;
+        retryCount = 0;
+    }
+
+    /**
+     * 供 MqttCallBack 回调调用：服务端确认关舱
+     */
+    public synchronized void onServerReplyClose() {
+        LogUtil.log(TAG, "服务端确认关舱");
+        ApronExecutionStatus.getInstance().setServerReplyDockIn(true);
+        currentState = State.CLOSED;
+        desiredCommand = COMMAND_NONE;
+        retryCount = 0;
+    }
+
+    /**
+     * 重置所有状态（每次新任务起飞前调用）
+     */
+    public synchronized void reset() {
+        desiredCommand = COMMAND_NONE;
+        currentState = State.IDLE;
+        retryCount = 0;
+        ApronExecutionStatus.getInstance().setServerReplyDockOpen(false);
+        LogUtil.log(TAG, "舱门状态已重置");
+    }
+
+    /**
+     * 当前舱门状态（供外部查询）
+     */
+    public synchronized State getState() {
+        return currentState;
+    }
+
+    // ==================== 内部实现 ====================
+
+    private void sendOpenCommand() {
+        if (currentState == State.OPEN) {
+            return;
+        }
+
+        int maxRetries = MAX_OPEN_RETRIES;
+        if (retryCount >= maxRetries) {
+            LogUtil.log(TAG, "开舱达到最大重试次数: " + retryCount);
+            return;
+        }
+
+        if (!MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+            LogUtil.log(TAG, "开舱发送失败：mqtt 未连接，准备重试 " + (retryCount + 1));
+            retryCount++;
+            mainHandler.postDelayed(this::sendOpenCommand, RETRY_DELAY_MS);
+            return;
+        }
+
+        currentState = State.OPENING;
+        publishDoorMessage(Constant.OPEN_DOOR, true);
+    }
+
+    private void sendCloseCommand() {
+        if (currentState == State.CLOSED) {
+            return;
+        }
+
+        // 发关舱前再检查一次是否有开舱请求插队
+        if (desiredCommand == COMMAND_OPEN) {
+            LogUtil.log(TAG, "开舱请求插入，中止关舱");
+            return;
+        }
+
+        int maxRetries = MAX_CLOSE_RETRIES;
+        if (retryCount >= maxRetries) {
+            LogUtil.log(TAG, "关舱达到最大重试次数: " + retryCount);
+            return;
+        }
+
+        if (!MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+            LogUtil.log(TAG, "关舱发送失败：mqtt 未连接，准备重试 " + (retryCount + 1));
+            retryCount++;
+            mainHandler.postDelayed(this::sendCloseCommand, RETRY_DELAY_MS);
+            return;
+        }
+
+        currentState = State.CLOSING;
+        publishDoorMessage(Constant.CLOSE_DOOR, false);
+    }
+
+    private void publishDoorMessage(String method, boolean isOpen) {
+        MessageEvent messageEvent = new MessageEvent();
+        messageEvent.setBid(UUID.randomUUID().toString());
+        messageEvent.setTid(UUID.randomUUID().toString());
+        messageEvent.setTimestamp(System.currentTimeMillis());
+        messageEvent.setMethod(method);
+
+        MqttMessage mqttMessage = new MqttMessage(
+                new Gson().toJson(messageEvent).getBytes(StandardCharsets.UTF_8));
+        mqttMessage.setQos(1);
+
+        try {
+            MqttManager.getInstance().mqttAndroidClient.publish(
+                    AMSConfig.UP_UAV_EVENT, mqttMessage, null,
+                    new IMqttActionListener() {
+                        @Override
+                        public void onSuccess(IMqttToken asyncActionToken) {
+                            String action = isOpen ? "开舱" : "关舱";
+                            LogUtil.log(TAG, action + "发送成功");
+                            sendEvent2Server("AMS通知机库" + action, 1);
+
+                            // 发送成功后等待服务端回复
+                            mainHandler.postDelayed(() -> {
+                                synchronized (HatchDoorManager.this) {
+                                    if (isOpen) {
+                                        if (ApronExecutionStatus.getInstance().isServerReplyDockOpen()) {
+                                            currentState = State.OPEN;
+                                            desiredCommand = COMMAND_NONE;
+                                            retryCount = 0;
+                                        } else {
+                                            LogUtil.log(TAG, "未收到服务端开舱回复，重试");
+                                            if (Movement.getInstance().isPlaneWing()
+                                                    && Movement.getInstance().getElevation() > 40) {
+                                                retryOpen();
+                                            }
+                                        }
+                                    } else {
+                                        if (ApronExecutionStatus.getInstance().isServerReplyDockIn()) {
+                                            currentState = State.CLOSED;
+                                            desiredCommand = COMMAND_NONE;
+                                            retryCount = 0;
+                                        } else {
+                                            LogUtil.log(TAG, "未收到服务端关舱回复，重试");
+                                            retryClose();
+                                        }
+                                    }
+                                }
+                            }, 2000);
+                        }
+
+                        @Override
+                        public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
+                            String action = isOpen ? "开舱" : "关舱";
+                            LogUtil.log(TAG, action + "发送回调失败：" + exception);
+                            if (isOpen) {
+                                retryOpen();
+                            } else {
+                                retryClose();
+                            }
+                        }
+                    });
+        } catch (Exception e) {
+            LogUtil.log(TAG, "舱门指令发送异常：" + e);
+        }
+    }
+
+    private void retryOpen() {
+        // 开舱优先级最高，重试时不再检查冲突
+        retryCount++;
+        if (retryCount < MAX_OPEN_RETRIES) {
+            LogUtil.log(TAG, "开舱重试 #" + retryCount);
+            mainHandler.postDelayed(() -> {
+                currentState = State.OPENING;
+                sendOpenCommand();
+            }, RETRY_DELAY_MS);
+        } else {
+            LogUtil.log(TAG, "开舱达到最大重试次数: " + retryCount);
+        }
+    }
+
+    private void retryClose() {
+        // 关舱重试前检查是否有开舱请求插入
+        if (desiredCommand == COMMAND_OPEN) {
+            LogUtil.log(TAG, "开舱请求插入，停止关舱重试");
+            return;
+        }
+        retryCount++;
+        if (retryCount < MAX_CLOSE_RETRIES) {
+            LogUtil.log(TAG, "关舱重试 #" + retryCount);
+            mainHandler.postDelayed(() -> {
+                currentState = State.CLOSING;
+                sendCloseCommand();
+            }, RETRY_DELAY_MS);
+        } else {
+            LogUtil.log(TAG, "关舱达到最大重试次数: " + retryCount);
+        }
+    }
+}

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

@@ -0,0 +1,228 @@
+package com.aros.apron.manager;
+
+import android.content.Context;
+
+import com.aros.apron.tools.LogUtil;
+
+import java.util.EnumSet;
+import java.util.Set;
+
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.common.ldm.LDMExemptModule;
+import dji.v5.manager.interfaces.ILDMManager;
+import dji.v5.manager.SDKManager;
+
+/**
+ * LDM（Local Data Mode / 本地数据模式）管理
+ *
+ * 启用后 SDK 默认不再发起任何网络请求，用于隐私/合规/离线场景
+ * 初始化、注册、获取 DJI License 始终允许联网，不受 LDM 限制
+ */
+public class LDMManager {
+
+    private static final String TAG = "LDMManager";
+
+    private Context context;
+
+    private LDMManager() {
+    }
+
+    private static class Holder {
+        private static final LDMManager INSTANCE = new LDMManager();
+    }
+
+    public static LDMManager getInstance() {
+        return Holder.INSTANCE;
+    }
+
+    /**
+     * 初始化 Context（在 SDK 注册成功后调用一次即可）
+     */
+    public void init(Context ctx) {
+        this.context = ctx.getApplicationContext();
+    }
+
+    // ==================== 获取 SDK 原生 ILDMManager ====================
+
+    private ILDMManager getLDMManager() {
+        return LDMManager.getInstance().getLDMManager();
+    }
+
+    // ==================== 核心方法 ====================
+
+    /**
+     * 启用 LDM（所有模块全部添加为例外，都可联网）
+     */
+    public void enableLDM() {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            LogUtil.log(TAG, "enableLDM 失败：LDMManager 为 null");
+            return;
+        }
+        if (context == null) {
+            LogUtil.log(TAG, "enableLDM 失败：context 未初始化，请先调用 init()");
+            return;
+        }
+        try {
+            Set<LDMExemptModule> allModules = EnumSet.allOf(LDMExemptModule.class);
+            LogUtil.log(TAG, "启用 LDM，例外模块: " + allModules);
+            ldmManager.enableLDM(context, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "LDM 启用成功");
+                }
+
+                @Override
+                public void onFailure(IDJIError error) {
+                    LogUtil.log(TAG, "LDM 启用失败: " + (error != null ? error.description() : "unknown"));
+                }
+            }, allModules.toArray(new LDMExemptModule[0]));
+        } catch (Exception e) {
+            LogUtil.log(TAG, "LDM 启用异常: " + e);
+        }
+    }
+
+    /**
+     * 启用 LDM，指定允许联网的例外模块
+     *
+     * @param exemptModules 允许联网的模块集合，传 null/空集合表示全部禁止
+     */
+    public void enableLDMWithExempt(Set<LDMExemptModule> exemptModules) {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            LogUtil.log(TAG, "enableLDMWithExempt 失败：LDMManager 为 null");
+            return;
+        }
+        if (context == null) {
+            LogUtil.log(TAG, "enableLDMWithExempt 失败：context 未初始化，请先调用 init()");
+            return;
+        }
+        try {
+            Set<LDMExemptModule> modules = (exemptModules != null && !exemptModules.isEmpty())
+                    ? exemptModules : EnumSet.noneOf(LDMExemptModule.class);
+            LogUtil.log(TAG, "启用 LDM，例外模块: " + modules);
+            ldmManager.enableLDM(context, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "LDM 启用成功");
+                }
+
+                @Override
+                public void onFailure(IDJIError error) {
+                    LogUtil.log(TAG, "LDM 启用失败: " + (error != null ? error.description() : "unknown"));
+                }
+            }, modules.toArray(new LDMExemptModule[0]));
+        } catch (Exception e) {
+            LogUtil.log(TAG, "LDM 启用异常: " + e);
+        }
+    }
+
+    /**
+     * 启用 LDM 并允许 RTK 模块联网
+     * （适合使用网络 RTK 服务的场景，保证定位精度）
+     */
+    public void enableLDMAllowRTK() {
+        Set<LDMExemptModule> exempt = EnumSet.of(LDMExemptModule.RTK);
+        enableLDMWithExempt(exempt);
+    }
+
+    /**
+     * 关闭 LDM（恢复所有模块的网络访问）
+     */
+    public void disableLDM() {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            LogUtil.log(TAG, "disableLDM 失败：LDMManager 为 null");
+            return;
+        }
+        if (context == null) {
+            LogUtil.log(TAG, "disableLDM 失败：context 未初始化，请先调用 init()");
+            return;
+        }
+        try {
+            LogUtil.log(TAG, "关闭 LDM");
+            ldmManager.disableLDM(new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "LDM 关闭成功");
+                }
+
+                @Override
+                public void onFailure(IDJIError error) {
+                    LogUtil.log(TAG, "LDM 关闭失败: " + (error != null ? error.description() : "unknown"));
+                }
+            });
+        } catch (Exception e) {
+            LogUtil.log(TAG, "LDM 关闭异常: " + e);
+        }
+    }
+
+    // ==================== 状态查询 ====================
+
+    /**
+     * 查询 LDM 是否已启用
+     */
+    public boolean isLDMEnabled() {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            return false;
+        }
+        try {
+            return ldmManager.isLDMEnabled();
+        } catch (Exception e) {
+            LogUtil.log(TAG, "isLDMEnabled 异常: " + e);
+            return false;
+        }
+    }
+
+    /**
+     * 查询 LDM License 是否已加载
+     */
+    public boolean isLDMLicenseLoaded() {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            return false;
+        }
+        try {
+            return ldmManager.isLDMLicenseLoaded();
+        } catch (Exception e) {
+            LogUtil.log(TAG, "isLDMLicenseLoaded 异常: " + e);
+            return false;
+        }
+    }
+
+    /**
+     * 查询指定模块是否在 LDM 模式下仍可访问网络
+     */
+    public boolean isNetworkEnabledForModule(LDMExemptModule module) {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            return false;
+        }
+        try {
+            return ldmManager.isNetworkServiceEnabledForModule(module);
+        } catch (Exception e) {
+            LogUtil.log(TAG, "isNetworkServiceEnabledForModule 异常: " + e);
+            return false;
+        }
+    }
+
+    // ==================== License 相关 ====================
+
+    /**
+     * 获取本地 LDM License 文件路径（需要传入 context）
+     */
+    public String getLocalLDMLicensePath() {
+        ILDMManager ldmManager = getLDMManager();
+        if (ldmManager == null) {
+            return "";
+        }
+        try {
+            return ldmManager.getLocalLDMLicensePath(context);
+        } catch (Exception e) {
+            LogUtil.log(TAG, "getLocalLDMLicensePath 异常: " + e);
+            return "";
+        }
+    }
+}

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

@@ -88,8 +88,15 @@ public class MLTEManager extends BaseManager {
 
                         if (!info.isLTEAuthenticationAvailable() || !info.isLTEAuthenticated()) {
                             sendEvent2Server("⚠ LTE认证已过期或未认证，需要重新认证", 1);
+                            Movement.getInstance().setOcuSyncLte(false);
+                            Movement.getInstance().setOcuSyncLteTime(0);
                         } else if (info.getLTEAuthenticatedRemainingTime() > 0 && info.getLTEAuthenticatedRemainingTime() < 3 * 24 * 3600) {
                             sendEvent2Server("⚠ LTE认证剩余时间不足3天，请尽快重新认证", 1);
+                            Movement.getInstance().setOcuSyncLte(true);
+                            Movement.getInstance().setOcuSyncLteTime((int) (info.getLTEAuthenticatedRemainingTime() / (24 * 3600)));
+                        } else {
+                            Movement.getInstance().setOcuSyncLte(info.isLTEAuthenticated());
+                            Movement.getInstance().setOcuSyncLteTime((int) (info.getLTEAuthenticatedRemainingTime() / (24 * 3600)));
                         }
 
 

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

@@ -250,34 +250,25 @@ public class MediaManager extends BaseManager {
             return;
         }
 
-        mState = MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
+        MediaFileListState currentState = MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
-        LogUtil.log(TAG, "当前状态：" + mState + "，准备拉取文件列表（已耗时" + elapsed + "s）");
+        LogUtil.log(TAG, "当前状态：" + currentState + "，准备拉取文件列表（已耗时" + elapsed + "s）");
 
-        // 1. 当状态为IDLE时，需要调用pullMediaFileListFromCamera拉取全量数据
+        if (currentState == MediaFileListState.IDLE) {
-        // 2. 当状态为UP_TO_DATE时，表示拉取完成，可以获取数据
-        if (mState == MediaFileListState.IDLE) {
-            // 状态为IDLE，开始拉取文件列表
             LogUtil.log(TAG, "状态为IDLE，开始拉取文件列表");
             MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
-                    LogUtil.log(TAG, "拉取文件列表成功");
+                    LogUtil.log(TAG, "拉取请求已接受，等待状态变为UP_TO_DATE");
-                    // 重置pullqwq标志，下次调用重新从IDLE拉取
+                    pullMediaFileListFromCameraFailTimes = 0;
-                    pullqwq = false;
-                    // 拉取成功后，等待状态变为UP_TO_DATE
-                    new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 1000);
                 }
 
                 @Override
                 public void onFailure(@NonNull IDJIError idjiError) {
-                    LogUtil.log(TAG, "拉取媒体文件失败: " + new Gson().toJson(idjiError));
+                    LogUtil.log(TAG, "拉取请求失败: " + new Gson().toJson(idjiError));
-                    // 失败后重试，最多重试3次
                     if (pullMediaFileListFromCameraFailTimes < 5) {
                         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);
                         disablePlayback();
@@ -285,7 +276,9 @@ public class MediaManager extends BaseManager {
                     }
                 }
             });
-        } else if (mState == MediaFileListState.UP_TO_DATE) {
+            // 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 {
@@ -299,7 +292,7 @@ public class MediaManager extends BaseManager {
                     if (pullMediaFileListFromCameraFailTimes < 2) {
                         pullMediaFileListFromCameraFailTimes++;
                         LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
-                        new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 2000);
+                        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);
@@ -357,8 +350,8 @@ public class MediaManager extends BaseManager {
                 }
             }
         } else {
-            // 其他状态（如UPDATING），等待状态变化
+            // 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" + mState + "，等待状态变化... (count=" + updatingWaitCount + ")");
+            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
@@ -369,24 +362,8 @@ public class MediaManager extends BaseManager {
                 disablePlayback();
                 LogUtil.log(TAG, "发送关闭无人机");
                 return;
-            } else {
-                if (pullqwq == false) {
-                    MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            LogUtil.log(TAG,"拉取成功");
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError idjiError) {
-                            LogUtil.log(TAG,"拉取失败");
-                        }
-                    });
-                    pullqwq = true;
-                }
             }
 
-
             new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 1000);
         }
     }
@@ -621,7 +598,7 @@ public class MediaManager extends BaseManager {
                         // 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(),mediaFiles.size(),downLoadMediaFileIndex);
+                        sendMediaUpload2Server(mediaFile.getFileName(), downLoadMediaFileIndex + 1, mediaFiles.size());
                     }
 
                     @RequiresApi(Build.VERSION_CODES.O)

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

@@ -187,12 +187,10 @@ public class MissionV3Manager extends BaseManager {
                                 Movement.getInstance().setVirtualStickQuitMission(false);
 
 
-
                                 break;
                             case PREPARING:
 
 
-
                                 Movement.getInstance().setTask_status("in_progress");
 
 //                                if (PreferenceUtils.getInstance().getMissionType() == 2
@@ -235,8 +233,6 @@ public class MissionV3Manager extends BaseManager {
                                 sendEvent2Server("任务状态:进入航线飞行,飞往指定航线的第一个航点", 1);
 
 
-
-
                                 //航线飞行
                                 if (Movement.getInstance().getFlightmode() == 1) {
                                     Movement.getInstance().setMode_code(5);
@@ -250,7 +246,7 @@ public class MissionV3Manager extends BaseManager {
                                 sendEvent2Server("任务状态:航线任务执行中", 1);
 
                                 Movement.getInstance().setTask_status("in_progress");
-
+                                Movement.getInstance().setTask_break_reason(0);
 //                                if (PreferenceUtils.getInstance().getMissionType() == 2
 //                                ) {
 //                                    Movement.getInstance().setTask_status("paused");
@@ -273,7 +269,7 @@ public class MissionV3Manager extends BaseManager {
                                 sendEvent2Server("任务状态:航线任务执行中断", 1);
 
 
-                                if(PreferenceUtils.getInstance().getMissionType()==0){
+                                if (PreferenceUtils.getInstance().getMissionType() == 0) {
                                     Movement.getInstance().setTask_status("paused");
                                     sendFlightTaskProgress2Server();
                                 }
@@ -312,7 +308,7 @@ public class MissionV3Manager extends BaseManager {
 
                                 break;
                             case FINISHED:
-
+                                FlyToPointManager.getInstance().setReceiverMission(false);
                                 //释放锁
                                 Synchronizedstatus.setIsruning(false);
                                 Synchronizedstatus.setInitStatus(false);
@@ -402,9 +398,7 @@ public class MissionV3Manager extends BaseManager {
                 @Override
                 public void onWaylineExecutingInfoUpdate(WaylineExecutingInfo excutingWaylineInfo) {
                     if (excutingWaylineInfo != null) {
-                        LogUtil.log(TAG,"航点"+excutingWaylineInfo.getCurrentWaypointIndex());
+                        LogUtil.log(TAG, "航点" + excutingWaylineInfo.getCurrentWaypointIndex());
-
-
                         //状态等执行完发送再更新(测试暂停时不改变index为0)
 
                         if (excutingWaylineInfo.getCurrentWaypointIndex() != 0) {
@@ -416,13 +410,115 @@ public class MissionV3Manager extends BaseManager {
 
                 @Override
                 public void onWaylineExecutingInterruptReasonUpdate(IDJIError error) {
-                    LogUtil.log(TAG, "航线中断原因" + error.toString());
+
-                    sendEvent2Server("航线中断原因" + error.toString(), 2);
+                    LogUtil.log(TAG, "航线中断原因" + error);
+                    sendEvent2Server("航线中断原因" + error,1);
+
+
+                    if (error == null) {
+                        LogUtil.log(TAG, "航线中断原因: error为null");
+                        return;
+                    }
+
+                    String errorCode = error.errorCode();
+                    switch (errorCode != null ? errorCode : "") {
+                        case "USER_BREAK":
+                            // 用户手动停止
+                            Movement.getInstance().setTask_break_reason(1282);
+                            LogUtil.log(TAG, "用户主动中断航线");
+                            sendEvent2Server("用户主动中断航线", 2);
+                            break;
+                        case "INTERRUPT_REASON_AVOID":
+                            // 触发避障
+                            Movement.getInstance().setTask_break_reason(517);
+                            LogUtil.log(TAG, "触发避障导致航线中断");
+                            sendEvent2Server("触发避障导致航线中断", 2);
+                            break;
+                        case "INTERRUPT_REASON_AVOID_EMERGENCY_BREAK":
+                            // 触发避障而紧急刹停
+                            Movement.getInstance().setTask_break_reason(1565);
+                            LogUtil.log(TAG, "触发避障紧急刹停");
+                            sendEvent2Server("触发避障紧急刹停", 2);
+                            break;
+                        case "INTERRUPT_REASON_AVOID_HEIGHT_LIMIT":
+                            // 被限高或限低
+                            Movement.getInstance().setTask_break_reason(513);
+                            LogUtil.log(TAG, "被限高或限低导致航线中断");
+                            sendEvent2Server("被限高或限低导致航线中断", 2);
+                            break;
+                        case "INTERRUPT_REASON_AVOID_RTK_UNHEALTHY":
+                            // RTK信号异常
+                            Movement.getInstance().setTask_break_reason(518);
+                            LogUtil.log(TAG, "RTK信号异常导致航线中断");
+                            sendEvent2Server("RTK信号异常导致航线中断", 2);
+                            break;
+                        case "INTERRUPT_REASON_AVOID_AIRPORT_LIMIT":
+                            // 靠近机场（如民航机场）
+                            Movement.getInstance().setTask_break_reason(521);
+                            LogUtil.log(TAG, "靠近机场导致航线中断");
+                            sendEvent2Server("靠近机场导致航线中断", 2);
+                            break;
+                        case "BOUNDARY_LIMIT":
+                            // 接近限飞区
+                            Movement.getInstance().setTask_break_reason(515);
+                            LogUtil.log(TAG, "接近限飞区导致航线中断");
+                            sendEvent2Server("接近限飞区导致航线中断", 2);
+                            break;
+                        case "INTERRUPT_REASON_LOW_BATTERY":
+                            // 低电量中断
+                            Movement.getInstance().setTask_break_reason(773);
+                            LogUtil.log(TAG, "低电量触发航线中断");
+                            sendEvent2Server("低电量触发航线中断", 2);
+                            break;
+                        case "INTERRUPT_REASON_RC_SIGNAL_LOST":
+                            // 遥控器信号丢失
+                            Movement.getInstance().setTask_break_reason(775);
+                            LogUtil.log(TAG, "遥控器信号丢失，航线中断");
+                            sendEvent2Server("遥控器信号丢失，航线中断", 2);
+                            break;
+                        case "INTERRUPT_REASON_GPS_INVALID":
+                            // GPS 信号无效
+                            Movement.getInstance().setTask_break_reason(769);
+                            LogUtil.log(TAG, "GPS信号无效，航线中断");
+                            sendEvent2Server("GPS信号无效，航线中断", 2);
+                            break;
+                        default:
+                            LogUtil.log(TAG, "未知航线中断原因: " + errorCode);
+                            Movement.getInstance().setTask_break_reason(65535);
+                            sendEvent2Server("未知航线中断原因", 2);
+                            break;
+                    }
+
+                    //LogUtil.log(TAG, "航线中断: ---" + new Gson().toJson(error));
+                   // sendEvent2Server("航线中断原因: " + errorCode, 2);
+//                    LogUtil.log(TAG, "航线中断原因" + error);
+
+                    if (error.errorCode().equals("USER_BREAK")
+                            || error.errorCode().equals("INTERRUPT_REASON_AVOID_USER_REQ_BREAK"))
+                    {//如果是手动暂停航线,则不会触发返航或拉高
+                        return;
+                    } else {
+                        if (PreferenceUtils.getInstance().getMissionInterruptAction() == 2) {
+                            if (error.errorCode().equals("INTERRUPT_REASON_AVOID") ||
+                                    error.errorCode().equals("INTERRUPT_REASON_AVOID_HEIGHT_LIMIT")) {
+                                mainHandler.postDelayed(new Runnable() {
+                                    @Override
+                                    public void run() {
+                                        resumeMission(null);
+                                    }
+                                }, 1000);
+                            } else {
+                                WayLineExecutingInterruptManager.getInstance().onExecutingInterruptToDo();
+                            }
+                        } else if (PreferenceUtils.getInstance().getMissionInterruptAction() == 3) {
+                            WayLineExecutingInterruptManager.getInstance().onExecutingInterruptToDo();
+                            return;
+                        }
+                    }
                 }
             });
 
 
-
             waypointMissionManager.addWaypointActionListener(new WaypointActionListener() {
                 @Override
                 public void onExecutionStart(int actionId) {
@@ -478,7 +574,6 @@ public class MissionV3Manager extends BaseManager {
         Movement.getInstance().setTask_current_step(5);
 
 
-
         //1.检查图传是否连接
         //避免重复执行
         if (isReceiverMission == false) {
@@ -495,7 +590,7 @@ public class MissionV3Manager extends BaseManager {
             verifyGpsAndMissionState(message);
         }
 
-       // verifyGpsAndMissionState(message);
+        // verifyGpsAndMissionState(message);
 
     }
 
@@ -575,14 +670,14 @@ public class MissionV3Manager extends BaseManager {
 
         boolean isMissionStateValid = (missionStateCode == 2 || missionStateCode == 0 || missionStateCode == 7);
         boolean isPlaneMessageValid = !TextUtils.isEmpty(planeMessage) && !planeMessage.equals("无法起飞");
-        boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10 ||quality == 3);
+        boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10 || quality == 3);
         boolean GPSSatelliteCountValid = GPSSatelliteCount > 12;
 
         LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
 //        if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
 
         sendEvent2Server("卫星数量" + GPSSatelliteCount + "gps是否ok" + GPSSatelliteCountValid, 1);
-        if (isGpsQualityValid || GPSSatelliteCountValid ) {
+        if (isGpsQualityValid || GPSSatelliteCountValid) {
             //5.下载航线
             downLoadKMZFile(message);
             sendEvent2Server("执行下载航线成功", 1);
@@ -596,6 +691,13 @@ public class MissionV3Manager extends BaseManager {
                         public void run() {
                             verifyGpsAndMissionStateTimes++;
                             verifyGpsAndMissionState(message);
+
+                            LogUtil.log(TAG, "航线状态第" + verifyGpsAndMissionStateTimes + "次检索失败:" +
+                                    WaypointMissionExecuteState.find(missionStateCode).name() +
+                                    "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
+                                    Movement.getInstance().getPlaneMessage() +
+                                    "-GPS信号等级:" + Movement.getInstance().getQuality());
+
                             sendEvent2Server("航线状态第" + verifyGpsAndMissionStateTimes + "次检索失败:" +
                                     WaypointMissionExecuteState.find(missionStateCode).name() +
                                     "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
@@ -605,6 +707,11 @@ public class MissionV3Manager extends BaseManager {
                     }, 2000);
 
                 } else {
+                    LogUtil.log(TAG, "飞行器自检异常:" + WaypointMissionExecuteState.find(missionStateCode).name() +
+                            "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
+                            Movement.getInstance().getPlaneMessage() +
+                            "-GPS信号等级:" + Movement.getInstance().getQuality());
+
                     sendEvent2Server("飞行器自检异常:" + WaypointMissionExecuteState.find(missionStateCode).name() +
                             "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
                             Movement.getInstance().getPlaneMessage() +
@@ -630,7 +737,7 @@ public class MissionV3Manager extends BaseManager {
             @Override
             public void onFailure(Call call, IOException e) {
                 sendEvent2Server("任务下载失败:" + e.toString(), 2);
-               // LogUtil.log(TAG, "任务下载失败");
+                LogUtil.log(TAG, "任务下载失败");
                 TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
             }
 
@@ -655,6 +762,7 @@ public class MissionV3Manager extends BaseManager {
                         }
                         fos.flush();
                         sendEvent2Server("航线下载成功 ", 1);
+                        LogUtil.log(TAG, "航线下载成功2");
                         //LogUtil.log(TAG, "航线下载成功");
                         mainHandler.post(new Runnable() {
                             @Override
@@ -664,7 +772,7 @@ public class MissionV3Manager extends BaseManager {
                         });
                     } catch (Exception e) {
                         sendEvent2Server("任务下载失败,网络异常:" + e.toString(), 2);
-                        //LogUtil.log(TAG, "任务下载失败,网络异常");
+                        LogUtil.log(TAG, "任务下载失败,网络异常");
                         TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
                     }
                 }
@@ -798,7 +906,7 @@ public class MissionV3Manager extends BaseManager {
      * @param message
      */
     public void startMission(MessageDown message) {
-        Boolean isConnect =true;
+        Boolean isConnect = true;
         if (isConnect != null && isConnect) {
             int missionStateCode = Movement.getInstance().getMissionStateCode();
             //每次航线开始时，重置是否需要识别二维码状态，避免刚起飞就识别二维码/并确保不是飞向备降点的航线
@@ -892,13 +1000,12 @@ public class MissionV3Manager extends BaseManager {
                 public void onSuccess() {
                     sendMsg2Server(message);
 
-                    if( PreferenceUtils.getInstance().getMissionType()==0){
+                    if (PreferenceUtils.getInstance().getMissionType() == 0) {
                         Movement.getInstance().setTask_status("paused");
                         sendFlightTaskProgress2Server();
                     }
 
 
-
                     //暂停成功就是手动飞行
                     Movement.getInstance().setMode_code(3);
 
@@ -920,7 +1027,7 @@ public class MissionV3Manager extends BaseManager {
                 KeyConnection));
         if (isConnect != null && isConnect) {
             if (isConnect == null || !isConnect || !getGimbalAndCameraEnabled()) {
-                LogUtil.log(TAG,"当前状态禁止恢复");
+                LogUtil.log(TAG, "当前状态禁止恢复");
                 sendFailMsg2Server(message, "当前状态禁止恢复");
                 return;
             }
@@ -937,14 +1044,14 @@ public class MissionV3Manager extends BaseManager {
                         sendMsg2Server(message);
                         Movement.getInstance().setTask_status("in_progress");
 
-                        if( PreferenceUtils.getInstance().getMissionType()==0){
+                        if (PreferenceUtils.getInstance().getMissionType() == 0) {
                             Movement.getInstance().setCameraMode(5);
-                        }else if( PreferenceUtils.getInstance().getMissionType()==1){
+                        } else if (PreferenceUtils.getInstance().getMissionType() == 1) {
                             Movement.getInstance().setCameraMode(17);
                         }
 
 
-                        if(PreferenceUtils.getInstance().getMissionType()==0){
+                        if (PreferenceUtils.getInstance().getMissionType() == 0) {
                             sendFlightTaskProgress2Server();
                         }
 
@@ -972,15 +1079,15 @@ public class MissionV3Manager extends BaseManager {
                                                     sendMsg2Server(message);
                                                     PreferenceUtils.getInstance().setIsNewRoute(false);
 
-                                                    if( PreferenceUtils.getInstance().getMissionType()==0){
+                                                    if (PreferenceUtils.getInstance().getMissionType() == 0) {
                                                         Movement.getInstance().setCameraMode(5);
-                                                    }else if( PreferenceUtils.getInstance().getMissionType()==1){
+                                                    } else if (PreferenceUtils.getInstance().getMissionType() == 1) {
                                                         Movement.getInstance().setCameraMode(17);
                                                     }
 
                                                     LogUtil.log(TAG, "恢复断点航线成功");
                                                     Movement.getInstance().setTask_status("in_progress");
-                                                    if(PreferenceUtils.getInstance().getMissionType()==0){
+                                                    if (PreferenceUtils.getInstance().getMissionType() == 0) {
                                                         sendFlightTaskProgress2Server();
                                                     }
 
@@ -1034,7 +1141,7 @@ public class MissionV3Manager extends BaseManager {
                     LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
                     mainHandler.postDelayed(() ->
                             RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
-                }else{
+                } else {
                     sendEvent2Server("达到重启最大次数还没有获得图传", 2);
                     TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
                 }

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

@@ -181,26 +181,31 @@ public class OSDManager extends BaseManager {
             cameraA.setCamera_mode(Movement.getInstance().getCamera_mode());
             cameraA.setIr_metering_mode(Movement.getInstance().getIr_metering_mode());
             cameraA.setCamera_mode(Movement.getInstance().getCamera_mode());
+
             irMeteringPoint.setTemperature(Movement.getInstance().getTemperature());
             irMeteringPoint.setX(Movement.getInstance().getX());
             irMeteringPoint.setY(Movement.getInstance().getY());
+
+
             cameraA.setIr_metering_point(irMeteringPoint);
             Osd.Data.Cameras.IrMeteringArea irMeteringArea = new Osd.Data.Cameras.IrMeteringArea();
-            irMeteringArea.setX(0);
+            irMeteringArea.setX(Movement.getInstance().getIr_region_x());
-            irMeteringArea.setY(0);
+            irMeteringArea.setY(Movement.getInstance().getIr_region_y());
-            irMeteringArea.setWidth(0);
+            irMeteringArea.setWidth(Movement.getInstance().getIr_region_width());
-            irMeteringArea.setHeight(0);
+            irMeteringArea.setHeight(Movement.getInstance().getIr_region_height());
-            irMeteringArea.setAver_temperature(0);
+            irMeteringArea.setAver_temperature(Movement.getInstance().getIr_region_aver_temperature());
             Osd.Data.Cameras.IrTemperaturePoint irMinTemp = new Osd.Data.Cameras.IrTemperaturePoint();
-            irMinTemp.setX(0);
+            irMinTemp.setX(Movement.getInstance().getIr_region_min_temperature_x());
-            irMinTemp.setY(0);
+            irMinTemp.setY(Movement.getInstance().getIr_region_min_temperature_y());
-            irMinTemp.setTemperature(0);
+            irMinTemp.setTemperature(Movement.getInstance().getIr_region_min_temperature());
             irMeteringArea.setMin_temperature_point(irMinTemp);
             Osd.Data.Cameras.IrTemperaturePoint irMaxTemp = new Osd.Data.Cameras.IrTemperaturePoint();
-            irMaxTemp.setX(0);
+            irMaxTemp.setX(Movement.getInstance().getIr_region_max_temperature_x());
-            irMaxTemp.setY(0);
+            irMaxTemp.setY(Movement.getInstance().getIr_region_max_temperature_y());
-            irMaxTemp.setTemperature(0);
+            irMaxTemp.setTemperature(Movement.getInstance().getIr_region_max_temperature());
             irMeteringArea.setMax_temperature_point(irMaxTemp);
+
+
             cameraA.setIr_metering_area(irMeteringArea);
             cameraA.setIr_zoom_factor(Movement.getInstance().getIr_zoom_factor());
             cameraA.setPayload_index("53-0-0");
@@ -276,6 +281,8 @@ public class OSDManager extends BaseManager {
             data.setVertical_speed(Movement.getInstance().getVertical_speed());
             data.setWind_direction(Movement.getInstance().getWind_direction());
             data.setWind_speed(Movement.getInstance().getWind_speed());
+            data.setOcu_sync_lte(Movement.getInstance().isOcuSyncLte());
+            data.setOcu_sync_lte_time(Movement.getInstance().getOcuSyncLteTime());
 
             Osd.Data.MaintainStatus maintainStatus = new Osd.Data.MaintainStatus();
             Osd.Data.MaintainStatus.MaintainStatusArray maintainItem = new Osd.Data.MaintainStatus.MaintainStatusArray();

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

@@ -0,0 +1,158 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.text.TextUtils;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.entity.ReturnHomeInfo;
+import com.aros.apron.entity.ReturnHomeInfo.PathPoint;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.UUID;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.common.LocationCoordinate3D;
+import dji.v5.manager.KeyManager;
+import com.aros.apron.tools.MqttManager;
+
+/**
+ * 返航轨迹记录管理器
+ * 每2s上报3个点：
+ *   index 0: 飞机当前位置（实时）
+ *   index 1: 飞机与返航点之间的中点（实时计算）
+ *   index 2: 返航点（固定）
+ */
+public class RTHTrackerManager extends BaseManager {
+
+    private static final String TAG = "RTHTrackerManager";
+    private static final long REPORT_INTERVAL_MS = 2000;
+
+    private RTHTrackerManager() {
+    }
+
+    private static class RTHTrackerHolder {
+        private static final RTHTrackerManager INSTANCE = new RTHTrackerManager();
+    }
+
+    public static RTHTrackerManager getInstance() {
+        return RTHTrackerHolder.INSTANCE;
+    }
+
+    private final Handler mHandler = new Handler(Looper.getMainLooper());
+    private boolean isRunning = false;
+
+    private final Runnable reportRunnable = new Runnable() {
+        @Override
+        public void run() {
+            sendReturnHomeInfo();
+            if (isRunning) {
+                mHandler.postDelayed(this, REPORT_INTERVAL_MS);
+            }
+        }
+    };
+
+    /**
+     * 开始定时上报返航轨迹（每2s一次）
+     */
+    public void startReporting() {
+        if (isRunning) {
+            LogUtil.log(TAG, "返航轨迹上报已在运行中");
+            return;
+        }
+        isRunning = true;
+        mHandler.post(reportRunnable);
+        LogUtil.log(TAG, "开启返航轨迹定时上报，间隔: " + REPORT_INTERVAL_MS + "ms");
+    }
+
+    /**
+     * 停止定时上报
+     */
+    public void stopReporting() {
+        isRunning = false;
+        mHandler.removeCallbacks(reportRunnable);
+        LogUtil.log(TAG, "关闭返航轨迹定时上报");
+    }
+
+    /**
+     * 发送返航轨迹信息到服务器
+     * 3个点：当前位置 -> 中间点 -> 返航点
+     */
+    private void sendReturnHomeInfo() {
+        try {
+            if (!MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                return;
+            }
+
+            // 获取飞机当前位置
+            LocationCoordinate3D currentLocation =
+                    KeyManager.getInstance().getValue(
+                            KeyTools.createKey(FlightControllerKey.KeyAircraftLocation3D));
+
+            if (currentLocation == null) {
+                return;
+            }
+
+            double currentLat = currentLocation.getLatitude();
+            double currentLng = currentLocation.getLongitude();
+            Double altDouble = currentLocation.getAltitude();
+            double currentAlt = altDouble != null ? altDouble : 0;
+
+            // 获取返航点
+            double homeLat = Movement.getInstance().getHomepoint_latitude();
+            double homeLng = Movement.getInstance().getHomepoint_longitude();
+
+            // 计算中点
+            double midLat = (currentLat + homeLat) / 2.0;
+            double midLng = (currentLng + homeLng) / 2.0;
+            double midAlt = currentAlt;
+
+            // 构建3个点
+            List<PathPoint> pathPoints = new ArrayList<>(3);
+            pathPoints.add(new PathPoint(currentLat, currentLng, (float) currentAlt)); // index 0: 飞机当前位置
+            pathPoints.add(new PathPoint(midLat, midLng, (float) midAlt));             // index 1: 中间点
+            pathPoints.add(new PathPoint(homeLat, homeLng, (float) currentAlt));           // index 2: 返航点
+
+            ReturnHomeInfo returnHomeInfo = new ReturnHomeInfo();
+            returnHomeInfo.setBid(UUID.randomUUID().toString());
+            returnHomeInfo.setTid(UUID.randomUUID().toString());
+            returnHomeInfo.setTimestamp(System.currentTimeMillis());
+            returnHomeInfo.setMethod("return_home_info");
+
+            ReturnHomeInfo.Data data = new ReturnHomeInfo.Data();
+            String flightId = PreferenceUtils.getInstance().getFlightId();
+            data.setFlight_id(TextUtils.isEmpty(flightId) ? "null" : flightId);
+            data.setLast_point_type(0);
+            data.setPlanned_path_points(pathPoints);
+
+            returnHomeInfo.setData(data);
+
+            String json = new Gson().toJson(returnHomeInfo);
+            MqttMessage mqttMessage = new MqttMessage(json.getBytes("UTF-8"));
+            mqttMessage.setQos(0);
+
+            MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_EVENT, mqttMessage);
+           // LogUtil.log(TAG, String.format("发送返航轨迹 - 飞机:[%.6f,%.6f,%.1f] 中点:[%.6f,%.6f,%.1f] 返航:[%.6f,%.6f,%.1f]",
+             //       currentLat, currentLng, currentAlt, midLat, midLng, midAlt, homeLat, homeLng, currentAlt));
+
+        } catch (Exception e) {
+            LogUtil.log(TAG, "发送return_home_info异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 重置状态
+     */
+    public void reset() {
+        stopReporting();
+    }
+}

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

@@ -307,13 +307,9 @@ public class StickManager extends BaseManager {
             param.setVerticalControlMode(VerticalControlMode.VELOCITY);
             param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
 
-            if (!TextUtils.isEmpty(message.getData().getY())) {
+            param.setPitch(message.getData().getY());//左右(速度模式-10m/s-10m/s)
-                param.setPitch(Double.valueOf(message.getData().getY()));//左右(速度模式-10m/s-10m/s)
+            param.setRoll(message.getData().getX());//前后(速度模式-10m/s-10m/s)
-            }
-            if (!TextUtils.isEmpty(message.getData().getX())) {
-                param.setRoll(Double.valueOf(message.getData().getX()));//前后(速度模式-10m/s-10m/s)
 
-            }
             if (!TextUtils.isEmpty(message.getData().getW())) {
                 param.setYaw(Double.valueOf(message.getData().getW()));//旋转(角速度模式-100-100)
 

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

@@ -276,6 +276,9 @@ public class StreamManager extends BaseManager {
     private int isliveindex = 1; //1 代表 port 2 代表 fpv
 
     public void switchptspfpv(ComponentIndexType ComponentIndex, MessageDown message) {
+        if(isliveindex==2){
+            return;
+        }
         isliveindex = 2;
         sendMsg2Server(message);
         ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
@@ -298,6 +301,9 @@ public class StreamManager extends BaseManager {
     }
 
     public void switchptspport(ComponentIndexType ComponentIndex, MessageDown message) {
+        if(isliveindex==1){
+            return;
+        }
         isliveindex = 1;
         sendMsg2Server(message);
         ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
@@ -330,7 +336,6 @@ public class StreamManager extends BaseManager {
         streamExecutor.execute(() -> {
             isStartingRTSP = true;
 
-            // 每次新推流尝试：清零所有状态标志（修复 Bug 1, 2, 5）
             if (startLiveFailTimes == 0) {
                 isLiveStreamAlreadyStart = false;
                 LogUtil.log(TAG, "========== 开始 RTSP 推流流程 ==========");
@@ -350,7 +355,6 @@ public class StreamManager extends BaseManager {
                 return;
             }
 
-            // 1. 检查是否已经在推流，避免重复启动
             if (liveStreamManager.isStreaming()) {
                 LogUtil.log(TAG, "RTSP 推流已在运行，无需重复启动");
                 isLiveStreamAlreadyStart = true;
@@ -358,7 +362,6 @@ public class StreamManager extends BaseManager {
                 return;
             }
 
-            // 2. 检查相机流是否准备好
             if (!MainActivity.Companion.getStreamReceive()) {
                 LogUtil.log(TAG, "相机流未准备好，尝试模拟点击 FPV Widget 恢复");
                 mainHandler.post(() -> {
@@ -381,7 +384,7 @@ public class StreamManager extends BaseManager {
                 return;
             }
 
-            // 3. 检查 RTSP 配置
+
             String rtspUser = PreferenceUtils.getInstance().getRtspUserName();
             String rtspPort = PreferenceUtils.getInstance().getRtspPort();
             String rtspPass = PreferenceUtils.getInstance().getRtspPassWord();
@@ -395,14 +398,14 @@ public class StreamManager extends BaseManager {
 
             LogUtil.log(TAG, "RTSP 配置检查通过：user=" + rtspUser + ", port=" + rtspPort + ", camera=" + (isliveindex == 1 ? "PORT_1" : "FPV"));
 
-            // 4. 等待相机模式稳定（避免刚切换模式就推流）
+            //等待相机模式稳定（避免刚切换模式就推流）
             try {
                 Thread.sleep(500);
             } catch (InterruptedException e) {
                 Thread.currentThread().interrupt();
             }
 
-            // 5. 设置 RTSP 参数（在主线程执行）
+            //设置 RTSP 参数
             final ILiveStreamManager finalLiveStreamManager = liveStreamManager;
             mainHandler.post(() -> {
                 LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
@@ -416,17 +419,15 @@ public class StreamManager extends BaseManager {
 
                 finalLiveStreamManager.setLiveStreamSettings(streamSettings);
 
-                // 6. 设置相机源
+                // 设置相机源
                 ComponentIndexType cameraIndex = (isliveindex == 1) ? ComponentIndexType.PORT_1 : ComponentIndexType.FPV;
                 finalLiveStreamManager.setCameraIndex(cameraIndex);
 
-                // 7. 设置推流质量
                 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");
 
-                // 8. 等待设置生效
                 mainHandler.postDelayed(() -> {
                     streamExecutor.execute(() -> {
                         // 9. 启动推流前再次检查
@@ -449,7 +450,6 @@ public class StreamManager extends BaseManager {
 
     // ========== 【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) {
-        // 启动前再次检查状态
         if (liveStreamManager.isStreaming()) {
             LogUtil.log(TAG, "推流已在运行，跳过启动 (isRestart=" + isRestart + ")");
             isLiveStreamAlreadyStart = true;

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

@@ -202,6 +202,13 @@ public class TakeOffToPointManager extends BaseManager {
                         public void run() {
                             verifyGpsAndMissionStateTimes++;
                             verifyGpsAndMissionState(message);
+
+                            LogUtil.log(TAG,"航线状态第" + verifyGpsAndMissionStateTimes + "次检索失败:" +
+                                    WaypointMissionExecuteState.find(missionStateCode).name() +
+                                    "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
+                                    Movement.getInstance().getPlaneMessage() +
+                                    "-GPS信号等级:" + Movement.getInstance().getQuality());
+
                             sendEvent2Server("航线状态第" + verifyGpsAndMissionStateTimes + "次检索失败:" +
                                     WaypointMissionExecuteState.find(missionStateCode).name() +
                                     "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
@@ -212,6 +219,12 @@ public class TakeOffToPointManager extends BaseManager {
 
                 } else {
                     ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+
+                    LogUtil.log(TAG,"飞行器自检异常:" + WaypointMissionExecuteState.find(missionStateCode).name() +
+                            "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
+                            Movement.getInstance().getPlaneMessage() +
+                            "-GPS信号等级:" + Movement.getInstance().getQuality());
+
                     sendEvent2Server("飞行器自检异常:" + WaypointMissionExecuteState.find(missionStateCode).name() +
                             "-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
                             Movement.getInstance().getPlaneMessage() +

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

@@ -0,0 +1,145 @@
+package com.aros.apron.manager;
+
+import android.app.NotificationChannel;
+import android.app.NotificationManager;
+import android.app.PendingIntent;
+import android.content.Context;
+import android.content.Intent;
+import android.net.Uri;
+import android.os.Build;
+import android.os.Environment;
+import android.os.Handler;
+import android.os.Looper;
+
+import androidx.core.app.NotificationCompat;
+import androidx.core.content.FileProvider;
+
+import com.aros.apron.R;
+import com.aros.apron.tools.LogUtil;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+
+import okhttp3.Call;
+import okhttp3.Callback;
+import okhttp3.OkHttpClient;
+import okhttp3.Request;
+import okhttp3.Response;
+
+public class UpdateManager {
+
+    private static final String TAG = "UpdateManager";
+    private static final String CHANNEL_ID = "app_update_channel";
+    private static final int NOTIFICATION_ID = 1001;
+
+    private static UpdateManager instance;
+    private final Handler mainHandler = new Handler(Looper.getMainLooper());
+
+    private UpdateManager() {}
+
+    public static synchronized UpdateManager getInstance() {
+        if (instance == null) {
+            instance = new UpdateManager();
+        }
+        return instance;
+    }
+
+    /**
+     * 开始下载并安装APK
+     * @param context 上下文
+     * @param apkUrl APK下载链接
+     * @param replyCallback 下载完成后回复服务器的回调
+     */
+    public void startUpdate(Context context, String apkUrl, Runnable replyCallback) {
+        LogUtil.log(TAG, "开始远程更新: " + apkUrl);
+        showNotification(context, 0);
+
+        OkHttpClient client = new OkHttpClient();
+        Request request = new Request.Builder().url(apkUrl).build();
+
+        client.newCall(request).enqueue(new Callback() {
+            @Override
+            public void onFailure(Call call, IOException e) {
+                LogUtil.log(TAG, "APK下载失败: " + e.toString());
+                mainHandler.post(() -> {
+                    if (replyCallback != null) replyCallback.run();
+                });
+            }
+
+            @Override
+            public void onResponse(Call call, Response response) throws IOException {
+                if (response == null || !response.isSuccessful()) {
+                    LogUtil.log(TAG, "APK下载失败, 状态码: " + (response != null ? response.code() : "null"));
+                    mainHandler.post(() -> {
+                        if (replyCallback != null) replyCallback.run();
+                    });
+                    return;
+                }
+
+                long totalSize = response.body().contentLength();
+                long downloaded = 0;
+                File apkFile = new File(context.getExternalFilesDir(null), "app_update.apk");
+
+                try (InputStream is = response.body().byteStream();
+                     OutputStream os = new FileOutputStream(apkFile)) {
+                    byte[] buffer = new byte[8192];
+                    int len;
+                    while ((len = is.read(buffer)) != -1) {
+                        os.write(buffer, 0, len);
+                        downloaded += len;
+                        final int progress = (int) ((downloaded * 100) / totalSize);
+                        mainHandler.post(() -> showNotification(context, progress));
+                    }
+                    os.flush();
+
+                    LogUtil.log(TAG, "APK下载完成: " + apkFile.getAbsolutePath());
+                    mainHandler.post(() -> {
+                        showNotification(context, 100);
+                        installApk(context, apkFile);
+                        if (replyCallback != null) replyCallback.run();
+                    });
+                } catch (Exception e) {
+                    LogUtil.log(TAG, "APK写入失败: " + e.toString());
+                    mainHandler.post(() -> {
+                        if (replyCallback != null) replyCallback.run();
+                    });
+                }
+            }
+        });
+    }
+
+    private void showNotification(Context context, int progress) {
+        NotificationManager manager = (NotificationManager) context.getSystemService(Context.NOTIFICATION_SERVICE);
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            NotificationChannel channel = new NotificationChannel(CHANNEL_ID, "应用更新", NotificationManager.IMPORTANCE_LOW);
+            manager.createNotificationChannel(channel);
+        }
+
+        NotificationCompat.Builder builder = new NotificationCompat.Builder(context, CHANNEL_ID)
+                .setContentTitle("正在更新应用")
+                .setSmallIcon(R.mipmap.ic_launcher)
+                .setProgress(100, progress, false)
+                .setContentText(progress + "%")
+                .setOngoing(true);
+
+        manager.notify(NOTIFICATION_ID, builder.build());
+    }
+
+    private void installApk(Context context, File apkFile) {
+        Uri apkUri;
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+            apkUri = FileProvider.getUriForFile(context, context.getPackageName() + ".fileprovider", apkFile);
+        } else {
+            apkUri = Uri.fromFile(apkFile);
+        }
+
+        Intent intent = new Intent(Intent.ACTION_VIEW);
+        intent.setDataAndType(apkUri, "application/vnd.android.package-archive");
+        intent.addFlags(Intent.FLAG_GRANT_READ_URI_PERMISSION);
+        intent.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
+        context.startActivity(intent);
+    }
+}

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

@@ -702,7 +702,7 @@ public class Aprondown  {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 20) {
+            if (handlerCallbackCount < 15) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

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

@@ -269,7 +269,7 @@ public class Aprongim {
         }else{
             if (ultHeight <=5)
             {
-                LENS_OFFSET_X=100;
+                LENS_OFFSET_X=120;
                 LENS_OFFSET_Y = 100;
             }else if(ultHeight<10){
                 LENS_OFFSET_X=80;
@@ -562,7 +562,7 @@ public class Aprongim {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 + 200.0;
+                    double errX = cx - imgWidth / 2.0 + 120.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[13]++; } else { landingCounters[13] = 0; }
                     if (landingCounters[13] >= 2 && !foundLanding) { foundLanding = true; landingId = 13; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@@ -577,7 +577,7 @@ public class Aprongim {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
                     if (landingCounters[15] >= 2 && !foundLanding) { foundLanding = true; landingId = 15; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[15] = 0; }
 
@@ -588,7 +588,7 @@ public class Aprongim {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 - 200.0;
+                    double errX = cx - imgWidth / 2.0 - 150.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
                     if (landingCounters[17] >= 2 && !foundLanding) { foundLanding = true; landingId = 17; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@@ -601,9 +601,9 @@ public class Aprongim {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 + 200.0;
+                    double errX = cx - imgWidth / 2.0 + 120.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[14]++; } else { landingCounters[14] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[14]++; } else { landingCounters[14] = 0; }
                     if (landingCounters[14] >= 2 && !foundLanding) { foundLanding = true; landingId = 14; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[14] = 0; }
 
@@ -616,7 +616,7 @@ public class Aprongim {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
                     if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[16] = 0; }
 
@@ -627,7 +627,7 @@ public class Aprongim {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 - 200.0;
+                    double errX = cx - imgWidth / 2.0 - 150.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
                     if (landingCounters[18] >= 2 && !foundLanding) { foundLanding = true; landingId = 18; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@@ -657,7 +657,7 @@ public class Aprongim {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
                     if (landingCounters[17] >= 2 && !foundLanding) { foundLanding = true; landingId = 17; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[17] = 0; }
 
@@ -683,7 +683,7 @@ public class Aprongim {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 +240.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
                     if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[16] = 0; }
 
@@ -696,7 +696,7 @@ public class Aprongim {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
                     if (landingCounters[18] >= 2 && !foundLanding) { foundLanding = true; landingId = 18; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[18] = 0; }
 
@@ -740,8 +740,8 @@ public class Aprongim {
 
         // 分段PID控制（原有逻辑保持不变）
         if(z <= 0.4){
-            pidControlX.setInputFilterAll((float)offsetX/1750);
+            pidControlX.setInputFilterAll((float)offsetX/1800);
-            pidControlY.setInputFilterAll(-(float)offsetY/1750);
+            pidControlY.setInputFilterAll(-(float)offsetY/1800);
             if (pidControlX.get_pid()<0){
                 if (pidControlX.get_pid()<-0.125){
                     outX=absX<120?0:-0.125;
@@ -1085,7 +1085,7 @@ public class Aprongim {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 20) {
+            if (handlerCallbackCount < 15) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

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

@@ -823,7 +823,7 @@ public class ApronArucoDetect  {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 20) {
+            if (handlerCallbackCount < 15) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

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

@@ -192,8 +192,8 @@ public class ApronArucoDetectPort {
         }else{
             if (ultHeight <=5)
             {
-                LENS_OFFSET_X=100;
+                LENS_OFFSET_X=120;
-                LENS_OFFSET_Y = 100;
+                LENS_OFFSET_Y = 120;
             }else if(ultHeight<10){
                 LENS_OFFSET_X=80;
                 LENS_OFFSET_Y = 80;
@@ -484,7 +484,7 @@ public class ApronArucoDetectPort {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 + 200.0;
+                    double errX = cx - imgWidth / 2.0 + 150.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[13]++; } else { landingCounters[13] = 0; }
                     if (landingCounters[13] >= 2 && !foundLanding) { foundLanding = true; landingId = 13; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@@ -499,7 +499,7 @@ public class ApronArucoDetectPort {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
                     if (landingCounters[15] >= 2 && !foundLanding) { foundLanding = true; landingId = 15; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[15] = 0; }
 
@@ -510,7 +510,7 @@ public class ApronArucoDetectPort {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 - 200.0;
+                    double errX = cx - imgWidth / 2.0 - 150.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
                     if (landingCounters[17] >= 2 && !foundLanding) { foundLanding = true; landingId = 17; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@@ -523,9 +523,9 @@ public class ApronArucoDetectPort {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 + 200.0;
+                    double errX = cx - imgWidth / 2.0 + 150.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[14]++; } else { landingCounters[14] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[14]++; } else { landingCounters[14] = 0; }
                     if (landingCounters[14] >= 2 && !foundLanding) { foundLanding = true; landingId = 14; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[14] = 0; }
 
@@ -538,7 +538,7 @@ public class ApronArucoDetectPort {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
                     if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[16] = 0; }
 
@@ -549,7 +549,7 @@ public class ApronArucoDetectPort {
                     double cx = 0, cy = 0;
                     for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
                     cx /= 4.0; cy /= 4.0;
-                    double errX = cx - imgWidth / 2.0 - 200.0;
+                    double errX = cx - imgWidth / 2.0 - 150.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
                     if (landingCounters[18] >= 2 && !foundLanding) { foundLanding = true; landingId = 18; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@@ -579,7 +579,7 @@ public class ApronArucoDetectPort {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
                     if (landingCounters[17] >= 2 && !foundLanding) { foundLanding = true; landingId = 17; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[17] = 0; }
 
@@ -605,7 +605,7 @@ public class ApronArucoDetectPort {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 +240.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
                     if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[16] = 0; }
 
@@ -618,7 +618,7 @@ public class ApronArucoDetectPort {
                     cx /= 4.0; cy /= 4.0;
                     double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
-                    if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
+                    if (Math.abs(errX) < 60 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
                     if (landingCounters[18] >= 2 && !foundLanding) { foundLanding = true; landingId = 18; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
                 } else { landingCounters[18] = 0; }
 
@@ -662,8 +662,8 @@ public class ApronArucoDetectPort {
 
         // 分段PID控制（原有逻辑保持不变）
         if(z <= 0.4){
-            pidControlX.setInputFilterAll((float)offsetX/1750);
+            pidControlX.setInputFilterAll((float)offsetX/1800);
-            pidControlY.setInputFilterAll(-(float)offsetY/1750);
+            pidControlY.setInputFilterAll(-(float)offsetY/1800);
             if (pidControlX.get_pid()<0){
                 if (pidControlX.get_pid()<-0.125){
                     outX=absX<120?0:-0.125;
@@ -1019,7 +1019,7 @@ public class ApronArucoDetectPort {
         @Override
         public void run() {
             performOperation();
-            if (handlerCallbackCount < 20) {
+            if (handlerCallbackCount < 15) {
                 handler.postDelayed(this, 50);
             } else {
                 performNextStep();

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

@@ -239,6 +239,28 @@ public class DroneHelper {
                     }
             );
         } else {
+            GimbalAngleRotation rotation = new GimbalAngleRotation();
+            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+            rotation.setYaw(0.0);
+            rotation.setRoll(0.0);
+            rotation.setPitch(-90.0);
+            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            LogUtil.log(TAG, "云台朝下");
+                            isGimbalPitchDegree = true;
+                            setGimbalPitchDegreeFailTimes = 0;
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "fail:" + error.toString());
+                            retryGimbalPitchDegree();
+
+                        }
+                    }
+            );
+
             LogUtil.log(TAG, "云台未连接");
             retryGimbalPitchDegree();
         }

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

@@ -0,0 +1,259 @@
+package com.aros.apron.tools;
+
+import android.os.Handler;
+import android.os.Looper;
+
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.FlyToPointProgress;
+import com.aros.apron.entity.Movement;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.UUID;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.common.LocationCoordinate3D;
+import dji.v5.manager.KeyManager;
+
+/**
+ * 飞向目标点进度定时上报器
+ * 协议: fly_to_point_progress
+ */
+public class FlyToPointProgressScheduler {
+
+    private static final String TAG = "FlyToPointProgressScheduler";
+    private static volatile FlyToPointProgressScheduler instance;
+
+    private Handler reportHandler;
+    private Runnable reportRunnable;
+
+    private volatile boolean isRunning = false;
+
+    // 轨迹点缓存
+    private List<FlyToPointProgress.PlannedPathPoint> pathPoints;
+
+    // 采样间隔 1秒
+    private static final long REPORT_INTERVAL = 1000;
+
+    // 当前状态
+    private String currentStatus = "wayline_progress";
+    private int currentResult = 0;
+
+    private FlyToPointProgressScheduler() {
+        reportHandler = new Handler(Looper.getMainLooper());
+        pathPoints = new ArrayList<>();
+    }
+
+    public static FlyToPointProgressScheduler getInstance() {
+        if (instance == null) {
+            synchronized (FlyToPointProgressScheduler.class) {
+                if (instance == null) {
+                    instance = new FlyToPointProgressScheduler();
+                }
+            }
+        }
+        return instance;
+    }
+
+    /**
+     * 开始定时上报
+     */
+    public void startReporting() {
+        if (isRunning) {
+            LogUtil.log(TAG, "定时上报已在运行中");
+            return;
+        }
+
+        isRunning = true;
+        currentStatus = "wayline_progress";
+        currentResult = 0;
+        pathPoints.clear();
+
+        LogUtil.log(TAG, "启动飞向目标点进度定时上报");
+
+        reportRunnable = new Runnable() {
+            @Override
+            public void run() {
+                if (!isRunning) return;
+
+                try {
+                    // 1. 采样飞机位置
+                    new Thread(() -> sampleCurrentLocation()).start();
+
+                    // 2. 发送上报
+                    sendProgressReport();
+
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    LogUtil.log(TAG, "定时任务异常：" + e.getMessage());
+                }
+
+                if (isRunning) {
+                    reportHandler.postDelayed(this, REPORT_INTERVAL);
+                }
+            }
+        };
+
+        // 立即执行第一次
+        reportHandler.post(reportRunnable);
+    }
+
+    /**
+     * 停止定时上报
+     */
+    public void stopReporting() {
+        if (!isRunning) return;
+
+        isRunning = false;
+
+        // 最后发送一次
+        sendProgressReport();
+
+        reportHandler.removeCallbacks(reportRunnable);
+        pathPoints.clear();
+
+        LogUtil.log(TAG, "停止飞向目标点进度定时上报");
+    }
+
+    /**
+     * 标记任务成功
+     */
+    public void markSuccess() {
+        currentStatus = "wayline_ok";
+        currentResult = 0;
+        stopReporting();
+    }
+
+    /**
+     * 标记任务失败
+     */
+    public void markFailed() {
+        currentStatus = "wayline_failed";
+        currentResult = -1;
+        stopReporting();
+    }
+
+    /**
+     * 标记任务取消
+     */
+    public void markCancel() {
+        currentStatus = "wayline_cancel";
+        currentResult = 0;
+        stopReporting();
+    }
+
+    /**
+     * 采样当前飞机位置
+     */
+    private void sampleCurrentLocation() {
+        try {
+            LocationCoordinate3D location = KeyManager.getInstance().getValue(
+                    KeyTools.createKey(FlightControllerKey.KeyAircraftLocation3D));
+
+            if (location == null) return;
+
+            double lat = location.getLatitude();
+            double lng = location.getLongitude();
+            double alt = location.getAltitude();
+
+            // 过滤无效坐标
+            if (Math.abs(lat) < 0.0001 && Math.abs(lng) < 0.0001) return;
+
+            FlyToPointProgress.PlannedPathPoint point = new FlyToPointProgress.PlannedPathPoint();
+            point.setLatitude(lat);
+            point.setLongitude(lng);
+            point.setHeight((float) alt);
+
+            // 计算剩余距离和时间
+            double remaining_distance = Gpsdistance.calculate3DDistance(
+                    lat, lng, alt,
+                    Movement.getInstance().getFlyto_target_latitude(),
+                    Movement.getInstance().getFlyto_target_longitude(),
+                    Movement.getInstance().getFlyto_target_height());
+
+            int speed = Movement.getInstance().getFlyto_max_speed();
+            double remaining_time = speed > 0 ? remaining_distance / speed : 0;
+
+            Movement.getInstance().setFlyto_remaining_distance((float) remaining_distance);
+            Movement.getInstance().setFlyto_remaining_time((float) remaining_time);
+
+            // 刷新规划路径点（3个：飞机当前位置 → 中间点 → 目标点）
+            pathPoints.clear();
+            pathPoints.add(point);
+
+            // 中间点 = 当前位置与目标点连线的中点
+            FlyToPointProgress.PlannedPathPoint midPoint = new FlyToPointProgress.PlannedPathPoint();
+            midPoint.setLatitude((lat + Movement.getInstance().getFlyto_target_latitude()) / 2.0);
+            midPoint.setLongitude((lng + Movement.getInstance().getFlyto_target_longitude()) / 2.0);
+            midPoint.setHeight((float) ((alt + Movement.getInstance().getFlyto_target_height()) / 2.0));
+            pathPoints.add(midPoint);
+
+            // 目标点
+            FlyToPointProgress.PlannedPathPoint targetPoint = new FlyToPointProgress.PlannedPathPoint();
+            targetPoint.setLatitude(Movement.getInstance().getFlyto_target_latitude());
+            targetPoint.setLongitude(Movement.getInstance().getFlyto_target_longitude());
+
+
+            targetPoint.setHeight((float) Movement.getInstance().getFlyto_target_height());
+
+
+            pathPoints.add(targetPoint);
+
+        } catch (Exception e) {
+            LogUtil.log(TAG, "采样位置失败：" + e.getMessage());
+        }
+    }
+
+    /**
+     * 发送进度上报
+     */
+    public void sendProgressReport() {
+
+        try {
+            if (!MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                LogUtil.log(TAG, "MQTT未连接，跳过上报");
+                return;
+            }
+
+            FlyToPointProgress.Data data = new FlyToPointProgress.Data();
+            data.setFly_to_id(Movement.getInstance().getFly_to_id());
+            data.setStatus(currentStatus);
+            data.setResult(currentResult);
+            data.setWay_point_index(1);
+            data.setRemaining_distance(Movement.getInstance().getFlyto_remaining_distance());
+            data.setRemaining_time(Movement.getInstance().getFlyto_remaining_time());
+            data.setPlanned_path_points(new ArrayList<>(pathPoints));
+
+            FlyToPointProgress progress = new FlyToPointProgress();
+            progress.setBid(UUID.randomUUID().toString());
+            progress.setTid(UUID.randomUUID().toString());
+            progress.setTimestamp(System.currentTimeMillis());
+            progress.setMethod("fly_to_point_progress");
+            progress.setNeedReply(1);
+            progress.setData(data);
+
+            String json = new Gson().toJson(progress);
+            MqttMessage mqttMessage = new MqttMessage(json.getBytes("UTF-8"));
+            mqttMessage.setQos(0);
+            MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_EVENT, mqttMessage);
+
+            LogUtil.log(TAG, "上报进度，status=" + currentStatus + "，轨迹点：" + pathPoints.size() + " 个");
+
+        } catch (Exception e) {
+            e.printStackTrace();
+            LogUtil.log(TAG, "上报异常：" + e.getMessage());
+        }
+    }
+
+    /**
+     * 释放资源
+     */
+    public void release() {
+        stopReporting();
+        instance = null;
+    }
+}

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

@@ -104,13 +104,18 @@ public class Generakmzaltheratools extends BaseManager {
 
         //全局返航高度
         double wpellheight=GpsUtils.wgs84Altitude(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon()));
+        LogUtil.log(TAG,"全局返航高度wpellheight"+wpellheight);
 
         config.setGlobalRTHHeight(wpellheight);
         config.setIsGlobalRTHHeightSet(true);
 
 
         //安全起飞高度
-        config.setSecurityTakeOffHeight(wpellheight);
+        if(wpellheight<100.0){
+            config.setSecurityTakeOffHeight(wpellheight);
+        }else{
+            config.setSecurityTakeOffHeight(100.0);
+        }
         config.setIsSecurityTakeOffHeightSet(true);
 
 

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

@@ -59,9 +59,6 @@ public class MqttManager {
 
 
 
-    /**
-     * 连接MQTT服务器
-     */
     private void doClientConnection() {
         if (mqttAndroidClient.isConnected()) {
             return;
@@ -89,9 +86,7 @@ public class MqttManager {
         }
     }
 
-    /**
+
-     * 判断网络是否连接（仅做日志记录，不阻塞连接尝试）
-     */
     private boolean isConnectIsNomarl() {
         ConnectivityManager connectivityManager = (ConnectivityManager) ApronApp.Companion.getApplication().getSystemService(Context.CONNECTIVITY_SERVICE);
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {

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

@@ -0,0 +1,182 @@
+package com.aros.apron.tools;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.text.TextUtils;
+
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.entity.PsdkWidgetValuesReport;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.UUID;
+
+/**
+ * PSDK widget 值定时上报器
+ */
+public class PsdkWidgetScheduler {
+
+    private static final String TAG = "PsdkWidgetScheduler";
+    private static volatile PsdkWidgetScheduler instance;
+
+    private Handler handler;
+    private Runnable runnable;
+
+    private volatile boolean isRunning = false;
+
+    private static final long INTERVAL = 5000;
+
+    private PsdkWidgetScheduler() {
+        handler = new Handler(Looper.getMainLooper());
+    }
+
+    public static PsdkWidgetScheduler getInstance() {
+        if (instance == null) {
+            synchronized (PsdkWidgetScheduler.class) {
+                if (instance == null) {
+                    instance = new PsdkWidgetScheduler();
+                }
+            }
+        }
+        return instance;
+    }
+
+
+    public void start() {
+        if (isRunning) {
+            LogUtil.log(TAG, "PSDK定时上报已在运行中");
+            return;
+        }
+
+        isRunning = true;
+        LogUtil.log(TAG, "启动PSDK widget定时上报，间隔5s");
+
+        runnable = new Runnable() {
+            @Override
+            public void run() {
+                if (!isRunning) return;
+
+                try {
+                    sendPsdkWidgetValues();
+                } catch (Exception e) {
+                    e.printStackTrace();
+                    LogUtil.log(TAG, "PSDK定时任务异常：" + e.getMessage());
+                }
+
+                if (isRunning) {
+                    handler.postDelayed(this, INTERVAL);
+                }
+            }
+        };
+
+        handler.post(runnable);
+    }
+
+
+    public void stop() {
+        if (!isRunning) return;
+
+        isRunning = false;
+        handler.removeCallbacks(runnable);
+        LogUtil.log(TAG, "停止PSDK widget定时上报");
+    }
+
+    public boolean isRunning() {
+        return isRunning;
+    }
+
+
+    public void release() {
+        stop();
+        instance = null;
+    }
+
+    private void sendPsdkWidgetValues() {
+        try {
+            MqttAndroidClient client = MqttManager.getInstance().mqttAndroidClient;
+            if (client == null || !client.isConnected()) {
+                LogUtil.log(TAG, "MQTT未连接，跳过PSDK widget上报");
+                return;
+            }
+
+            String psdkIndex = Movement.getInstance().getPsdk_index();
+            if (TextUtils.isEmpty(psdkIndex) || psdkIndex.equals("0")) {
+                LogUtil.log(TAG, "psdk_index为空或为0(" + psdkIndex + ")，跳过上报");
+                return;
+            }
+
+            PsdkWidgetValuesReport report = new PsdkWidgetValuesReport();
+            report.setBid(UUID.randomUUID().toString());
+            report.setTid(UUID.randomUUID().toString());
+            report.setTimestamp(System.currentTimeMillis());
+            report.setMethod("psdk_widget_values");
+            report.setGateway("gateway_sn");
+
+            PsdkWidgetValuesReport.Data data = new PsdkWidgetValuesReport.Data();
+            PsdkWidgetValuesReport.PsdkWidgetValue widget = new PsdkWidgetValuesReport.PsdkWidgetValue();
+            widget.setPsdk_index(safeParseInt(psdkIndex, 0));
+            widget.setPsdk_lib_version(safeString(Movement.getInstance().getPsdk_lib_version(), ""));
+            widget.setPsdk_name(safeString(Movement.getInstance().getPsdk_name(), "Speaker"));
+            widget.setPsdk_sn(safeString(Movement.getInstance().getPsdk_sn(), ""));
+            widget.setPsdk_type(safeParseInt(Movement.getInstance().getPsdk_type(), 5));
+            widget.setPsdk_version(safeString(Movement.getInstance().getPsdk_version(), "01.00.01.11"));
+
+
+            PsdkWidgetValuesReport.SpeakerData speaker = new PsdkWidgetValuesReport.SpeakerData();
+            speaker.setPlay_file_md5(safeString(Movement.getInstance().getPlay_file_md5(), ""));
+            speaker.setPlay_file_name(safeString(Movement.getInstance().getPlay_file_name(), ""));
+            speaker.setPlay_mode(safeParseInt(Movement.getInstance().getPlay_mode(), 0));
+            speaker.setPlay_volume(safeParseInt(Movement.getInstance().getPlay_volume(), 0));
+            speaker.setSystem_state(safeParseInt(Movement.getInstance().getSystem_state(), 0));
+            speaker.setWork_mode(safeParseInt(Movement.getInstance().getWork_mode(), 0));
+            speaker.setTts_language(safeParseInt(Movement.getInstance().getTts_language(), 0));
+            speaker.setTts_speed(safeParseInt(Movement.getInstance().getTts_speed(), 0));
+            speaker.setTts_type(safeParseInt(Movement.getInstance().getTts_type(), 0));
+            speaker.setTts_volume(safeParseInt(Movement.getInstance().getTts_volume(), 0));
+
+            widget.setSpeaker(speaker);
+
+            int[] valuesArray = Movement.getInstance().getValues();
+            if (valuesArray != null && valuesArray.length > 0) {
+                List<Object> valuesList = new ArrayList<>();
+                for (int v : valuesArray) {
+                    valuesList.add(v);
+                }
+                widget.setValues(valuesList);
+            }
+
+            List<PsdkWidgetValuesReport.PsdkWidgetValue> widgets = new ArrayList<>();
+            widgets.add(widget);
+            data.setPsdk_widget_values(widgets);
+            report.setData(data);
+
+            String jsonPayload = new Gson().toJson(report);
+            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);
+            LogUtil.log(TAG, "上传PSDK widget值成功");
+        } catch (Exception e) {
+            e.printStackTrace();
+            LogUtil.log(TAG, "PSDK widget上传异常：" + e.toString());
+        }
+    }
+
+    private int safeParseInt(String value, int defaultVal) {
+        if (TextUtils.isEmpty(value)) return defaultVal;
+        try {
+            return Integer.parseInt(value);
+        } catch (NumberFormatException e) {
+            return defaultVal;
+        }
+    }
+
+    private String safeString(String value, String defaultVal) {
+        return TextUtils.isEmpty(value) ? defaultVal : value;
+    }
+}