修改云台偏航向下

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

@@ -245,62 +245,64 @@ open class MainActivity : BaseActivity() {
     override fun onResume() {
         super.onResume()
 
-//        while (!OpenCVLoader.initLocal()) {
-//            LogUtil.log("qwq", "opencv 初始化失败，阻塞等待重试...")
-//            try {
-//                Thread.sleep(300) // 休眠 300ms 再试，防止 CPU 爆炸
-//            } catch (e: InterruptedException) {
-//                LogUtil.log("qwq", "初始化被中断，跳出循环")
-//                break
-//            }
-//        }
-//        LogUtil.log("qwq", "opencv 初始化完成，继续执行后续代码")
-
         dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_6X6_250)
 
         compositeDisposable = CompositeDisposable()
-        compositeDisposable!!.add(
+        // 延迟订阅 RxJava 流，避免在初始 layout 阶段触发大量 widget 更新导致 ANR
-            systemStatusListPanelWidget!!.closeButtonPressed()
+        Handler(Looper.getMainLooper()).postDelayed({
-                .observeOn(AndroidSchedulers.mainThread())
+            if (compositeDisposable == null) return@postDelayed
-                .subscribe { pressed: Boolean ->
+            compositeDisposable!!.add(
-                    if (pressed) {
+                systemStatusListPanelWidget!!.closeButtonPressed()
-                        systemStatusListPanelWidget!!.hide()
+                    .observeOn(AndroidSchedulers.mainThread())
-                    }
+                    .subscribe { pressed: Boolean ->
-                })
+                        if (pressed) {
-        compositeDisposable!!.add(
+                            systemStatusListPanelWidget!!.hide()
-            simulatorControlWidget!!.getUIStateUpdates()
-                .observeOn(AndroidSchedulers.mainThread())
-                .subscribe { simulatorControlWidgetState: SimulatorControlWidget.UIState? ->
-                    if (simulatorControlWidgetState is VisibilityUpdated) {
-                        if ((simulatorControlWidgetState as VisibilityUpdated).isVisible) {
-                            hideOtherPanels(simulatorControlWidget!!)
                         }
-                    }
+                    })
-                })
+            compositeDisposable!!.add(
-        compositeDisposable!!.add(
+                simulatorControlWidget!!.getUIStateUpdates()
-            cameraSourceProcessor.toFlowable()
+                    .observeOn(AndroidSchedulers.mainThread())
-                .observeOn(io())
+                    .subscribe { simulatorControlWidgetState: SimulatorControlWidget.UIState? ->
-                .throttleLast(500, TimeUnit.MILLISECONDS)
+                        if (simulatorControlWidgetState is VisibilityUpdated) {
-                .subscribeOn(io())
+                            if ((simulatorControlWidgetState as VisibilityUpdated).isVisible) {
-                .subscribe(Consumer { result: CameraSource ->
+                                hideOtherPanels(simulatorControlWidget!!)
-                    runOnUiThread { onCameraSourceUpdated(result.devicePosition, result.lensType) }
+                            }
-                })
+                        }
-        )
+                    })
-        compositeDisposable!!.add(
+            compositeDisposable!!.add(
-            ObservableInMemoryKeyedStore.getInstance()
+                cameraSourceProcessor.toFlowable()
-                .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED))
+                    .observeOn(io())
-                .observeOn(ui())
+                    .throttleLast(500, TimeUnit.MILLISECONDS)
-                .subscribe { broadcastValues: BroadcastValues? ->
+                    .subscribeOn(io())
-                    isGimableAdjustClicked(
+                    .subscribe(Consumer { result: CameraSource ->
-                        broadcastValues!!
+                        runOnUiThread { onCameraSourceUpdated(result.devicePosition, result.lensType) }
-                    )
+                    })
-                })
+            )
+            compositeDisposable!!.add(
+                ObservableInMemoryKeyedStore.getInstance()
+                    .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED))
+                    .observeOn(ui())
+                    .subscribe { broadcastValues: BroadcastValues? ->
+                        isGimableAdjustClicked(
+                            broadcastValues!!
+                        )
+                    })
+        }, 500)
         ViewUtil.setKeepScreen(this, true)
     }
 
     override fun onPause() {
-        if (compositeDisposable != null) {
+        // 在后台线程 dispose RxJava 订阅，避免阻塞主线程导致 ANR
-            compositeDisposable!!.dispose()
+        // DJI UX widget 的 unregisterReactions() 会同步清理 RxJava 队列，可能耗时很长
+        val disposable = compositeDisposable
+        if (disposable != null && !disposable.isDisposed) {
+            Thread {
+                try {
+                    disposable.dispose()
+                } catch (e: Exception) {
+                    LogUtil.log(TAG, "dispose compositeDisposable error: ${e.message}")
+                }
+            }.start()
             compositeDisposable = null
         }
         super.onPause()
@@ -471,6 +473,43 @@ open class MainActivity : BaseActivity() {
         }
     }
 
+    /**
+     * 强制刷新两个FPVWidget的视频流（重新向MediaDataCenter注册）
+     * 用于起飞/航线执行后视频流卡死的场景
+     */
+    fun refreshVideoStream() {
+        val primarySource = primaryFpvWidget?.widgetModel?.getCameraIndex()
+        val secondarySource = secondaryFPVWidget?.widgetModel?.getCameraIndex()
+        if (primarySource != null && primarySource != ComponentIndexType.UNKNOWN) {
+            primaryFpvWidget?.updateVideoSource(primarySource)
+        }
+        if (secondarySource != null && secondarySource != ComponentIndexType.UNKNOWN) {
+            secondaryFPVWidget?.updateVideoSource(secondarySource)
+        }
+        LogUtil.log(TAG, "强制刷新视频流: primary=$primarySource, secondary=$secondarySource")
+    }
+
+    /**
+     * 智能刷新视频流：有云台(secondary)就模拟点击切换，没有就直接刷新当前流
+     * 兼容只有FPV没有云台的设备
+     */
+    fun smartRefreshVideoStream() {
+        val secondarySource = secondaryFPVWidget?.widgetModel?.getCameraIndex()
+        if (secondarySource != null && secondarySource != ComponentIndexType.UNKNOWN) {
+            // 有云台：模拟真实点击，触发 swapVideoSource()
+            secondaryFPVWidget?.post {
+                secondaryFPVWidget?.performClick()
+            }
+            LogUtil.log(TAG, "智能刷新：有云台，模拟点击 FPV Widget")
+        } else {
+            // 没有云台：直接刷新当前流
+            primaryFpvWidget?.post {
+                refreshVideoStream()
+            }
+            LogUtil.log(TAG, "智能刷新：无云台，直接刷新主视频流")
+        }
+    }
+
     private fun updateInteractionEnabled() {
         fpvInteractionWidget!!.isInteractionEnabled = !CameraUtil.isFPVTypeView(
             primaryFpvWidget!!.widgetModel.getCameraIndex()
@@ -514,16 +553,13 @@ open class MainActivity : BaseActivity() {
         WPMZManager.getInstance().init(this)
         MqttManager.getInstance().needConnect()
 
-        initDJIManager()
-//        //开启相机图传
-//        enableStream()
-//        if(PreferenceUtils.getInstance().cameraLocationType==3){
-//            initFpvStream()
-//        }else{
-//            initCameraStream()
-//        }
         initView()
 
+        // 后台线程初始化 DJI 相关模块，避免阻塞主线程导致 ANR
+        Thread {
+            initDJIManager()
+        }.start()
+
 
     }
 
@@ -683,213 +719,181 @@ open class MainActivity : BaseActivity() {
         DJINetworkManager.getInstance().removeNetworkStatusListener(networkStatusListener)
     }
 
-    private val handler: Handler = Handler(Looper.getMainLooper())
     private var initTimes = 0
 
     private fun initDJIManager() {
-        val isFlightControllerConnect =
+        // 在后台线程中轮询等待飞控/相机连接，避免阻塞主线程
+        var isFlightControllerConnect =
             KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
-        val isCameraConnect =
+        var isCameraConnect =
             KeyManager.getInstance()
                 .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1))
-        //  LogUtil.log(TAG,isCameraConnect.toString())
-        if (PreferenceUtils.getInstance().cameraLocationType == 3) {
-            if (isFlightControllerConnect == null || isFlightControllerConnect != true) {
-                handler.postDelayed({
-                    initDJIManager()
-                }, 1000)
-            } else {
 
-                initTimes++
+        val cameraLocationType = PreferenceUtils.getInstance().cameraLocationType
-                LogUtil.log(TAG, "下视觉初始化$initTimes")
-                cameraManager.setKeepAliveDecoding(true);
-                FlightManager.getInstance().initFlightInfo()
-                BatteryManager.getInstance().initBatteryInfo()
-                StickManager.getInstance().initStickInfo()
-                GimbalManager.getInstance().initGimbalInfo()
-                AlternateLandingManager.getInstance().initAlterLandingInfo()
-                OSDManager.getInstance().initOsd()
-                FlightTaskProgressManager.getInstance().initFlightTaskProgress()
-                MediaManager.getInstance().init()
-                StreamManager.getInstance().initStreamManager()
-                LEDsSettingsManager.getInstance().initLEDsInfo()
-                RTKManager.getInstance().initRTKInfo()
-                //负载
-                //PayloadWidgetManager.getInstance().initPayloadInfo()
-                //初始化上报
-                NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
-                NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
 
+        // 根据 cameraLocationType 轮询等待连接
+        while (true) {
+            val flightConnected = isFlightControllerConnect != null && isFlightControllerConnect == true
+            val cameraConnected = isCameraConnect != null && isCameraConnect == true
 
-                LTEManager.getInstance().initLTEInfo()
+            val shouldInit = when (cameraLocationType) {
-                WirelessLinkManager.getInstance().initWirelessLink()
+                3 -> flightConnected
-                CameraManager.getInstance().initCameraInfo()
+                4, 5 -> flightConnected || cameraConnected
-                //ApronArucoDetect.getInstance().init()
+                else -> flightConnected || cameraConnected
-                GeoidManager.getInstance().init(this);
-
-                MissionV3Manager.getInstance().initMissionManager()
-                enableStream()
-                initFpvStream()
-                startVtxHeartbeat()
-                SpeakerManager.getInstance().initMegaphoneInfo()
-
-                GimbalManager.getInstance().setmode()
-
-
-                //GimbalManager.getInstance().gimsetmode()
-                //PayloadWidgetManager.getInstance().initPayloadInfo();
-
-
-                LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
-
-
-
-
-                Handler(Looper.getMainLooper()).postDelayed({
-                    when (PreferenceUtils.getInstance().customStreamType) {
-                        1 -> StreamManager.getInstance().startLiveWithRTSP()
-                        2 -> StreamManager.getInstance().startLiveWithCustom()
-                        else -> StreamManager.getInstance().startLiveWithCustom()
-                    }
-                    SimplePortScanner.getInstance().startScan()
-
-                }, 5000)  // 参数别改：5秒延迟确保相机就绪
-
-                LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
             }
 
-        } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
+            if (shouldInit) break
-            if ((isFlightControllerConnect == null || isFlightControllerConnect != true) && (isCameraConnect == null || isCameraConnect != true)) {
-                handler.postDelayed({
-                    initDJIManager()
-                }, 1000)
-            } else {
-                initTimes++
-                cameraManager.setKeepAliveDecoding(true);
-                LogUtil.log(TAG, "云台初始化$initTimes")
-                FlightManager.getInstance().initFlightInfo()
-                BatteryManager.getInstance().initBatteryInfo()
-                StickManager.getInstance().initStickInfo()
-                GimbalManager.getInstance().initGimbalInfo()
-                AlternateLandingManager.getInstance().initAlterLandingInfo()
-                OSDManager.getInstance().initOsd()
-                FlightTaskProgressManager.getInstance().initFlightTaskProgress()
-                MediaManager.getInstance().init()
-                StreamManager.getInstance().initStreamManager()
-                LEDsSettingsManager.getInstance().initLEDsInfo()
-                RTKManager.getInstance().initRTKInfo()
-                //负载
-                //PayloadWidgetManager.getInstance().initPayloadInfo()
-                //初始化上报
-                LTEManager.getInstance().initLTEInfo()
-                WirelessLinkManager.getInstance().initWirelessLink()
-                CameraManager.getInstance().initCameraInfo()
-                //
 
-
+            try {
-                NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
+                Thread.sleep(1000)
-                NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
+            } catch (e: InterruptedException) {
-
+                Thread.currentThread().interrupt()
-                //ApronArucoDetect.getInstance().init()
+                return
-                MissionV3Manager.getInstance().initMissionManager()
-                enableStream()
-                initMixedStream()
-                startVtxHeartbeat()
-
-                SpeakerManager.getInstance().initMegaphoneInfo()
-
-                GeoidManager.getInstance().init(this);
-
-                GimbalManager.getInstance().setmode()
-                //GimbalManager.getInstance().gimsetmode()
-                //开启雷达监听器
-                //PerceptionManager.getInstance().isladraopeninti()
-
-
-                LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
-
-
-                Handler(Looper.getMainLooper()).postDelayed({
-                    when (PreferenceUtils.getInstance().customStreamType) {
-                        1 -> StreamManager.getInstance().startLiveWithRTSP()
-                        2 -> StreamManager.getInstance().startLiveWithCustom()
-                        else -> StreamManager.getInstance().startLiveWithCustom()
-                    }
-                    SimplePortScanner.getInstance().startScan()
-
-                }, 5000)  // 参数别改：5秒延迟确保相机就绪
-
-
-                LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
             }
-        } else {
-            if ((isFlightControllerConnect == null || isFlightControllerConnect != true) && (isCameraConnect == null || isCameraConnect != true)) {
-                handler.postDelayed({
-                    initDJIManager()
-                }, 1000)
-            } else {
-                initTimes++
-                cameraManager.setKeepAliveDecoding(true);
-                LogUtil.log(TAG, "云台初始化$initTimes")
-                FlightManager.getInstance().initFlightInfo()
-                BatteryManager.getInstance().initBatteryInfo()
-                StickManager.getInstance().initStickInfo()
-                GimbalManager.getInstance().initGimbalInfo()
-                AlternateLandingManager.getInstance().initAlterLandingInfo()
-                OSDManager.getInstance().initOsd()
-                FlightTaskProgressManager.getInstance().initFlightTaskProgress()
-                MediaManager.getInstance().init()
-                StreamManager.getInstance().initStreamManager()
-                LEDsSettingsManager.getInstance().initLEDsInfo()
-                RTKManager.getInstance().initRTKInfo()
-                //负载
-                //PayloadWidgetManager.getInstance().initPayloadInfo()
-                //初始化上报
-                LTEManager.getInstance().initLTEInfo()
-                WirelessLinkManager.getInstance().initWirelessLink()
-                CameraManager.getInstance().initCameraInfo()
-                //
 
+            isFlightControllerConnect =
+                KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
+            isCameraConnect =
+                KeyManager.getInstance()
+                    .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1))
+        }
 
-                NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
+        // 飞控/相机连接后，在主线程执行初始化
-                NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
+        runOnUiThread {
-
+            when (cameraLocationType) {
-                //ApronArucoDetect.getInstance().init()
+                3 -> initForCameraLocationType3()
-                MissionV3Manager.getInstance().initMissionManager()
+                4, 5 -> initForCameraLocationType4Or5()
-                enableStream()
+                else -> initForCameraLocationTypeDefault()
-                initCameraStream()
-                startVtxHeartbeat()
-                //
-                SpeakerManager.getInstance().initMegaphoneInfo()
-
-                //GimbalManager.getInstance().gimsetmode()
-
-                GeoidManager.getInstance().init(this);
-
-                //开启雷达监听器
-                //PerceptionManager.getInstance().isladraopeninti()
-                GimbalManager.getInstance().setmode()
-
-                LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
-
-
-
-                Handler(Looper.getMainLooper()).postDelayed({
-                    when (PreferenceUtils.getInstance().customStreamType) {
-                        1 -> StreamManager.getInstance().startLiveWithRTSP()
-                        2 -> StreamManager.getInstance().startLiveWithCustom()
-                        else -> StreamManager.getInstance().startLiveWithCustom()
-                    }
-                    SimplePortScanner.getInstance().startScan()
-
-                }, 5000)  // 参数别改：5秒延迟确保相机就绪
-
-
-                LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
             }
         }
     }
 
+    private fun initForCameraLocationType3() {
+        initTimes++
+        LogUtil.log(TAG, "下视觉初始化$initTimes")
+        cameraManager.setKeepAliveDecoding(true)
+        FlightManager.getInstance().initFlightInfo()
+        BatteryManager.getInstance().initBatteryInfo()
+        StickManager.getInstance().initStickInfo()
+        GimbalManager.getInstance().initGimbalInfo()
+        AlternateLandingManager.getInstance().initAlterLandingInfo()
+        OSDManager.getInstance().initOsd()
+        FlightTaskProgressManager.getInstance().initFlightTaskProgress()
+        MediaManager.getInstance().init()
+        StreamManager.getInstance().initStreamManager()
+        LEDsSettingsManager.getInstance().initLEDsInfo()
+        RTKManager.getInstance().initRTKInfo()
+        NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
+        NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
+        LTEManager.getInstance().initLTEInfo()
+        WirelessLinkManager.getInstance().initWirelessLink()
+        CameraManager.getInstance().initCameraInfo()
+        GeoidManager.getInstance().init(this)
+        MissionV3Manager.getInstance().initMissionManager()
+        enableStream()
+        initFpvStream()
+        startVtxHeartbeat()
+        SpeakerManager.getInstance().initMegaphoneInfo()
+        GimbalManager.getInstance().setmode()
+
+        LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
+
+        Handler(Looper.getMainLooper()).postDelayed({
+            when (PreferenceUtils.getInstance().customStreamType) {
+                1 -> StreamManager.getInstance().startLiveWithRTSP()
+                2 -> StreamManager.getInstance().startLiveWithCustom()
+                else -> StreamManager.getInstance().startLiveWithCustom()
+            }
+            SimplePortScanner.getInstance().startScan()
+        }, 5000)
+
+        LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
+    }
+
+    private fun initForCameraLocationType4Or5() {
+        initTimes++
+        cameraManager.setKeepAliveDecoding(true)
+        LogUtil.log(TAG, "云台初始化$initTimes")
+        FlightManager.getInstance().initFlightInfo()
+        BatteryManager.getInstance().initBatteryInfo()
+        StickManager.getInstance().initStickInfo()
+        GimbalManager.getInstance().initGimbalInfo()
+        AlternateLandingManager.getInstance().initAlterLandingInfo()
+        OSDManager.getInstance().initOsd()
+        FlightTaskProgressManager.getInstance().initFlightTaskProgress()
+        MediaManager.getInstance().init()
+        StreamManager.getInstance().initStreamManager()
+        LEDsSettingsManager.getInstance().initLEDsInfo()
+        RTKManager.getInstance().initRTKInfo()
+        LTEManager.getInstance().initLTEInfo()
+        WirelessLinkManager.getInstance().initWirelessLink()
+        CameraManager.getInstance().initCameraInfo()
+        NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
+        NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
+        MissionV3Manager.getInstance().initMissionManager()
+        enableStream()
+        initMixedStream()
+        startVtxHeartbeat()
+        SpeakerManager.getInstance().initMegaphoneInfo()
+        GeoidManager.getInstance().init(this)
+        GimbalManager.getInstance().setmode()
+
+        LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
+
+        Handler(Looper.getMainLooper()).postDelayed({
+            when (PreferenceUtils.getInstance().customStreamType) {
+                1 -> StreamManager.getInstance().startLiveWithRTSP()
+                2 -> StreamManager.getInstance().startLiveWithCustom()
+                else -> StreamManager.getInstance().startLiveWithCustom()
+            }
+            SimplePortScanner.getInstance().startScan()
+        }, 5000)
+
+        LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
+    }
+
+    private fun initForCameraLocationTypeDefault() {
+        initTimes++
+        cameraManager.setKeepAliveDecoding(true)
+        LogUtil.log(TAG, "云台初始化$initTimes")
+        FlightManager.getInstance().initFlightInfo()
+        BatteryManager.getInstance().initBatteryInfo()
+        StickManager.getInstance().initStickInfo()
+        GimbalManager.getInstance().initGimbalInfo()
+        AlternateLandingManager.getInstance().initAlterLandingInfo()
+        OSDManager.getInstance().initOsd()
+        FlightTaskProgressManager.getInstance().initFlightTaskProgress()
+        MediaManager.getInstance().init()
+        StreamManager.getInstance().initStreamManager()
+        LEDsSettingsManager.getInstance().initLEDsInfo()
+        RTKManager.getInstance().initRTKInfo()
+        LTEManager.getInstance().initLTEInfo()
+        WirelessLinkManager.getInstance().initWirelessLink()
+        CameraManager.getInstance().initCameraInfo()
+        NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
+        NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
+        MissionV3Manager.getInstance().initMissionManager()
+        enableStream()
+        initCameraStream()
+        startVtxHeartbeat()
+        SpeakerManager.getInstance().initMegaphoneInfo()
+        GeoidManager.getInstance().init(this)
+        GimbalManager.getInstance().setmode()
+
+        LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
+
+        Handler(Looper.getMainLooper()).postDelayed({
+            when (PreferenceUtils.getInstance().customStreamType) {
+                1 -> StreamManager.getInstance().startLiveWithRTSP()
+                2 -> StreamManager.getInstance().startLiveWithCustom()
+                else -> StreamManager.getInstance().startLiveWithCustom()
+            }
+            SimplePortScanner.getInstance().startScan()
+        }, 5000)
+
+        LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
+    }
+
     private fun enableStream() {
         cameraManager.enableStream(ComponentIndexType.PORT_1, true);
         cameraManager.enableStream(ComponentIndexType.FPV, true);
@@ -1075,8 +1079,7 @@ open class MainActivity : BaseActivity() {
     fun onEvent(message: String?) {
         when (message) {
             FLAG_START_DETECT_ARUCO_APRON -> {
-
+                
-
                 MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(
                     VisionAssistDirection.DOWN,
                     object : CompletionCallback {
@@ -1106,12 +1109,6 @@ open class MainActivity : BaseActivity() {
                         }
                     })
 
-
-
-
-
-
-
                 KeyManager.getInstance().performAction<EmptyMsg>(
                     KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
                     object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
@@ -1261,9 +1258,8 @@ open class MainActivity : BaseActivity() {
                 startArucoType = 0
 
             "REFRESH_VIDEO_SOURCE" -> {
-                // 起飞后刷新视频源，避免FPVWidget因相机状态变化卡死
+                // 智能刷新：有云台模拟点击，没有云台直接刷新
-                swapVideoSource()
+                smartRefreshVideoStream()
-                LogUtil.log(TAG,"刷新视频流")
             }
 
             MqttCallBack.FLAG_RESET_CLEAN_MODE ->

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

@@ -25,8 +25,9 @@ public class MqttActionCallBack implements IMqttActionListener {
 
     @Override
     public void onSuccess(IMqttToken asyncActionToken) {
-        ToastUtil.showToast("MQtt连接成功");
         LogUtil.log(TAG, "MQtt连接成功：-------");
+        // 异步显示Toast，避免Binder IPC阻塞当前主线程消息导致ANR
+        new Handler().post(() -> ToastUtil.showToast("MQtt连接成功"));
         try {
             mqttAndroidClient.subscribe(AMSConfig.DOWN_UAV_SERVICES, 1);//订阅主题:注册
         } catch (MqttException e) {

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

@@ -28,6 +28,13 @@ public class DockCloseManager extends BaseManager {
     // 是否允许继续重试（开门后设为false，防止关门重试把已开的门又关了）
     private volatile boolean allowRetry = true;
 
+    public void resetState() {
+        sendDockCloseSuccessTimes = 0;
+        isSendDockCloseSuccess = false;
+        allowRetry = true;
+        LogUtil.log(TAG, "关舱状态已重置");
+    }
+
     public void stopRetry() {
         allowRetry = false;
     }

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

@@ -36,6 +36,12 @@ public class DockOpenManager extends BaseManager {
         return DockOpenHolder.INSTANCE;
     }
 
+    public void resetState() {
+        sendDockOpenSuccessTimes = 0;
+        isSendDockOpenSuccess = false;
+        LogUtil.log(TAG, "开舱状态已重置");
+    }
+
     public void sendDockOpenMsg2Server() {
         if (sendDockOpenSuccessTimes >= maxRetries) {
             LogUtil.log(TAG, "达到最大重试次数或已发送开舱"+isSendDockOpenSuccess+sendDockOpenSuccessTimes);

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

@@ -432,6 +432,7 @@ public class FlightManager extends BaseManager {
                 public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
                     if (newValue != null) {
                         Movement.getInstance().setWind_speed(newValue);
+
                         pushFlightAttitude();
                     }
                 }
@@ -888,6 +889,11 @@ public class FlightManager extends BaseManager {
     }
 
 
+    public void resetOpenCabinDoorState() {
+        sendOpenCabinDoorMsg = false;
+        LogUtil.log(TAG, "开舱门状态已重置");
+    }
+
     private static final int FLYING_HEIGHT_THRESHOLD = 10; // 开舱门飞行高度阈值
     private static final int DISTANCE_THRESHOLD = 500; // 返航距离阈值
 
@@ -1340,6 +1346,8 @@ public class FlightManager extends BaseManager {
 
             Movement.getInstance().setTask_current_step(25);
             sendOpenCabinDoorMsg = false;
+            DockOpenManager.getInstance().resetState();
+            DockCloseManager.getInstance().resetState();
         }
     }
 

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

@@ -269,41 +269,51 @@ public class GimbalManager extends BaseManager {
                     break;
                 //俯仰向下
                 case 3:
-                    GimbalAngleRotation rotation1 = new GimbalAngleRotation();
+                    // 跟随模式下发送ABSOLUTE_ANGLE旋转会冲突，先切FREE模式
-                    rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+                    KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.FREE, new CommonCallbacks.CompletionCallback() {
-                    if (!TextUtils.isEmpty(Movement.getInstance().getGimbal_yaw() + "")) {
+                        @Override
-                        rotation1.setYaw(Movement.getInstance().getGimbal_yaw());
+                        public void onSuccess() {
-                        LogUtil.log(TAG,"俯仰向下"+Movement.getInstance().getGimbal_yaw());
+                            LogUtil.log(TAG, "case3: 云台切换FREE模式成功");
-                    }
+                            // 再发送绝对角度旋转
-                    rotation1.setPitch(-90.0);
+                            GimbalAngleRotation rotation1 = new GimbalAngleRotation();
-                    KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                            rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+                            if (!TextUtils.isEmpty(Movement.getInstance().getGimbal_yaw() + "")) {
+                                rotation1.setYaw(Movement.getInstance().getGimbal_yaw());
+                                LogUtil.log(TAG,"俯仰向下 yaw="+Movement.getInstance().getGimbal_yaw());
+                            }
+                            rotation1.setPitch(-90.0);
+                            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
                                 @Override
                                 public void onSuccess(EmptyMsg emptyMsg) {
-                                    sendMsg2Server(message);
+                                    LogUtil.log(TAG,"俯仰向下成功");
+                                    // 旋转完成后恢复跟随模式
+                                    KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
+                                        @Override
+                                        public void onSuccess() {
+                                            LogUtil.log(TAG, "case3: 云台恢复跟随模式");
+                                            sendMsg2Server(message);
+                                        }
+                                        @Override
+                                        public void onFailure(@NonNull IDJIError idjiError) {
+                                            sendMsg2Server(message);
+                                        }
+                                    });
                                 }
 
                                 @Override
                                 public void onFailure(@NonNull IDJIError error) {
                                     sendFailMsg2Server(message, "偏航向下失败:" + getIDJIErrorMsg(error));
                                 }
-                            }
+                            });
-                    );
+                        }
 
-//                    GimbalAngleRotation rotation1 = new GimbalAngleRotation();
+                        @Override
-//                    rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+                        public void onFailure(@NonNull IDJIError idjiError) {
-//                    rotation1.setPitch(-90.0);
+                            LogUtil.log(TAG, "case3: 云台切换FREE模式失败");
-//                    KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                            // 仍然尝试旋转（可能已经在FREE模式）
-//                                @Override
+                            sendMsg2Server(message);
-//                                public void onSuccess(EmptyMsg emptyMsg) {
+                        }
-//                                    sendMsg2Server(message);
+                    });
-//                                }
-//
-//                                @Override
-//                                public void onFailure(@NonNull IDJIError error) {
-//                                    sendFailMsg2Server(message, "偏航向下失败:" + getIDJIErrorMsg(error));
-//                                }
-//                            }
-//                    );
                     break;
             }
 
@@ -324,7 +334,7 @@ public class GimbalManager extends BaseManager {
 //                    LookAtMode.LOOK_AT_GIMBAL_FOLLOWING : LookAtMode.LOOK_AT_GIMBAL_FREE);
 
             lookAtInfo.setMode(message.getData().isLocked() ?
-                    LookAtMode.LOOK_AT_GIMBAL_FREE : LookAtMode.LOOK_AT_GIMBAL_FREE);
+                    LookAtMode.LOOK_AT_GIMBAL_FOLLOWING : LookAtMode.LOOK_AT_GIMBAL_FOLLOWING);
 
             LocationCoordinate3D locationCoordinate3D = new LocationCoordinate3D();
             locationCoordinate3D.setLatitude(message.getData().getLatitude());

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

@@ -22,6 +22,7 @@ import com.aros.apron.entity.ApronExecutionStatus;
 import com.aros.apron.entity.Movement;
 import com.aros.apron.tools.LogUtil;
 import com.aros.apron.tools.PreferenceUtils;
+import com.aros.apron.manager.StreamManager;
 import com.autonavi.base.amap.mapcore.FileUtil;
 import com.google.gson.Gson;
 
@@ -68,6 +69,11 @@ public class MediaManager extends BaseManager {
 
     /* ===== 已上传文件名集合（本次任务内有效） ===== */
     private final Set<String> uploadedFileNames = new HashSet<>();
+    /* ===== S3 bucket是否已检查 ===== */
+    private volatile boolean bucketChecked = false;
+    /* ===== 下载失败重试计数 ===== */
+    private int downloadFailTimes = 0;
+    private static final int MAX_DOWNLOAD_RETRY = 3;
     private MediaManager() {
     }
 
@@ -100,6 +106,8 @@ public class MediaManager extends BaseManager {
     public void enablePlayback() {
         // 每次进入媒体模式时清空已上传文件集合
         uploadedFileNames.clear();
+        bucketChecked = false;
+        downloadFailTimes = 0;
         // 重置失败计数和标志
         enterPlayBackFailTimes = 0;
         isEnablePlayback = false;
@@ -107,6 +115,7 @@ public class MediaManager extends BaseManager {
         pullMediaFileListFromCameraFailTimes = 0;
         updatingWaitCount = 0;
         pullqwq = false;
+        pullStartTime = System.currentTimeMillis(); // 开始计时
 
         LogUtil.log(TAG, "已清空上传文件集合");
 
@@ -155,13 +164,25 @@ public class MediaManager extends BaseManager {
     private int pullMediaFileListFromCameraFailTimes;
 
     private int updatingWaitCount = 0;
-    private static final int MAX_UPDATING_WAIT = 60; // 最多等待30秒
+    private static final int MAX_UPDATING_WAIT = 15; // 最多等待15秒，无文件时快速跳过
     private boolean pullqwq = false;
     private boolean isPullMediaFileListFromCameraSuccess;
+    private long pullStartTime = 0; // 记录整个拉取流程开始时间
+    private static final int MAX_PULL_DURATION = 25; // 整个拉取流程最多25秒，超时强制关机
 
     private void pullMediaFileListFromCamera() {
+        // 全局超时检查：防止状态机异常导致无限循环
+        long elapsed = (System.currentTimeMillis() - pullStartTime) / 1000;
+        if (elapsed >= MAX_PULL_DURATION) {
+            LogUtil.log(TAG, "拉取流程总耗时 " + elapsed + "s，超时强制关机");
+            ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+            sendEvent2Server("媒体文件拉取超时", 2);
+            disablePlayback();
+            return;
+        }
+
         mState = MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
-        LogUtil.log(TAG, "当前状态：" + mState + "，准备拉取文件列表");
+        LogUtil.log(TAG, "当前状态：" + mState + "，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
         // 2. 当状态为UP_TO_DATE时，表示拉取完成，可以获取数据
@@ -172,6 +193,8 @@ public class MediaManager extends BaseManager {
                 @Override
                 public void onSuccess() {
                     LogUtil.log(TAG, "拉取文件列表成功");
+                    // 重置pullqwq标志，下次调用重新从IDLE拉取
+                    pullqwq = false;
                     // 拉取成功后，等待状态变为UP_TO_DATE
                     new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 1000);
                 }
@@ -203,13 +226,13 @@ public class MediaManager extends BaseManager {
                 // 检查文件列表是否为空
                 if (rawList == null || rawList.isEmpty()) {
                     LogUtil.log(TAG, "文件列表为空，重试拉取");
-                    // 重试拉取文件列表
+                    // 状态已经是UP_TO_DATE时，空列表可能确实无文件，快速重试2次后放弃
-                    if (pullMediaFileListFromCameraFailTimes < 5) {
+                    if (pullMediaFileListFromCameraFailTimes < 2) {
                         pullMediaFileListFromCameraFailTimes++;
                         LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
                         new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 2000);
                     } else {
-                        LogUtil.log(TAG, "重试次数达到上限，拉取失败");
+                        LogUtil.log(TAG, "UP_TO_DATE状态文件列表持续为空，确认无文件");
                         ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
                         sendEvent2Server("拉取媒体文件失败",2);
                         disablePlayback();
@@ -240,6 +263,8 @@ public class MediaManager extends BaseManager {
                 if (mediaFiles.isEmpty()) {
                     LogUtil.log(TAG, "所有文件均已上传，直接清理");
                     downLoadMediaFileIndex = 0;
+                    // 提前设置关机标志，让 aircraftStoredReply 能立即回复成功
+                    ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
                     removeAllFiles();
                     return;
                 }
@@ -249,8 +274,8 @@ public class MediaManager extends BaseManager {
                 }
             } catch (Exception e) {
                 LogUtil.log(TAG, "获取文件列表数据失败: " + e.getMessage());
-                // 发生异常时重试
+                // 发生异常时快速重试2次
-                if (pullMediaFileListFromCameraFailTimes < 5) {
+                if (pullMediaFileListFromCameraFailTimes < 2) {
                     pullMediaFileListFromCameraFailTimes++;
                     LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
                     new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 2000);
@@ -319,6 +344,7 @@ public class MediaManager extends BaseManager {
         }
 
         LogUtil.log(TAG, "File size: " + mediaFile.getFileSize());
+        downloadFailTimes = 0;
 
         File dirs = new File(getSDCardPath() + mediaFileDir);
         if (!dirs.exists()) {
@@ -341,7 +367,7 @@ public class MediaManager extends BaseManager {
             final BufferedOutputStream finalBos = new BufferedOutputStream(finalOutputStream);
             bos = finalBos;
 
-            mediaFile.pullOriginalMediaFileFromCamera(0L, new MediaFileDownloadListener() {
+            mediaFile.pullOriginalMediaFileFromCamera(offset, new MediaFileDownloadListener() {
                 @Override
                 public void onStart() {
                     // No action needed for start
@@ -393,10 +419,19 @@ public class MediaManager extends BaseManager {
                     } catch (IOException e) {
                         Log.e(TAG, "Error closing file: " + e.getMessage());
                     }
-                    ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                    // 下载失败重试机制
-                    sendEvent2Server("第" + downLoadMediaFileIndex + "个文件下载失败",2);
+                    if (downloadFailTimes < MAX_DOWNLOAD_RETRY) {
-                    disablePlayback();
+                        downloadFailTimes++;
-                    LogUtil.log(TAG, "发送关闭无人机");
+                        LogUtil.log(TAG, "第" + downloadFailTimes + "次下载失败，2秒后重试同一文件");
+                        new Handler().postDelayed(() -> {
+                            pullOriginalMediaFileFromCamera();
+                        }, 2000);
+                    } else {
+                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                        sendEvent2Server("第" + downLoadMediaFileIndex + "个文件下载失败(已重试" + MAX_DOWNLOAD_RETRY + "次)",2);
+                        disablePlayback();
+                        LogUtil.log(TAG, "发送关闭无人机");
+                    }
                 }
             });
 
@@ -427,7 +462,10 @@ public class MediaManager extends BaseManager {
         public String getAWSSecretKey() {
             return PreferenceUtils.getInstance().getSecretKey(); // minio的密钥
         }
-    }, Region.getRegion(Regions.US_EAST_1), new ClientConfiguration());
+    }, Region.getRegion(Regions.US_EAST_1), new ClientConfiguration()
+            .withConnectionTimeout(30000)
+            .withSocketTimeout(300000)
+            .withMaxErrorRetry(3));
 
     @RequiresApi(Build.VERSION_CODES.O)
     public void minIOUpLoad(final File file, final MediaFile mediaFile) {
@@ -437,9 +475,17 @@ public class MediaManager extends BaseManager {
                     public void subscribe(ObservableEmitter<String> emitter) throws Exception {
                         // 服务器地址
                         s3.setEndpoint(PreferenceUtils.getInstance().getUploadUrl()); // http://ip:端口号
-                        boolean bucketExists = s3.doesBucketExist(PreferenceUtils.getInstance().getBucketName());
+                        // Bucket只在首次上传时检查创建，后续上传不再重复请求
-                        if (!bucketExists) {
+                        if (!bucketChecked) {
-                            s3.createBucket(PreferenceUtils.getInstance().getBucketName());
+                            synchronized (this) {
+                                if (!bucketChecked) {
+                                    boolean bucketExists = s3.doesBucketExist(PreferenceUtils.getInstance().getBucketName());
+                                    if (!bucketExists) {
+                                        s3.createBucket(PreferenceUtils.getInstance().getBucketName());
+                                    }
+                                    bucketChecked = true;
+                                }
+                            }
                         }
 
                         // 上传文件到网关MINIO存储服务
@@ -503,6 +549,8 @@ public class MediaManager extends BaseManager {
 
                     @Override
                     public void onNext(String url) {
+                        // 上传成功，重置下载重试计数
+                        downloadFailTimes = 0;
                         //上传完成发送事件
                         sendMediaUpload2Server(mediaFile.getFileName(),mediaFiles.size(),downLoadMediaFileIndex);
                     }
@@ -528,7 +576,8 @@ public class MediaManager extends BaseManager {
                     @RequiresApi(Build.VERSION_CODES.O)
                     @Override
                     public void onComplete() {
-                        // 每上传一张就清除缓存
+                        // 每上传一张就清除缓存，并记录已上传文件名
+                        uploadedFileNames.add(mediaFile.getFileName());
                         FileUtil.deleteFile(file);
                         LogUtil.log(TAG, "File " + downLoadMediaFileIndex + " uploaded successfully.");
                         sendEvent2Server( "第" + downLoadMediaFileIndex + "个文件已上传",1);
@@ -579,6 +628,8 @@ public class MediaManager extends BaseManager {
 
     //退出媒体模式
     public void  disablePlayback() {
+        // 任务结束，停止视频流刷新定时器
+        StreamManager.getInstance().stopStreamRefreshTimer();
         MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
             @Override
             public void onSuccess() {

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

@@ -568,7 +568,7 @@ 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);
-        boolean GPSSatelliteCountValid = GPSSatelliteCount > 15;
+        boolean GPSSatelliteCountValid = GPSSatelliteCount > 14;
 
         LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
 //        if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
@@ -794,6 +794,9 @@ public class MissionV3Manager extends BaseManager {
             PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
             PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
             PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
+            // 重置开舱门标志，避免上次任务未正常落地导致本次无法开舱
+            FlightManager.getInstance().resetOpenCabinDoorState();
+            DockOpenManager.getInstance().resetState();
             PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
             CommonCallbacks.CompletionCallback callback = new CommonCallbacks.CompletionCallback() {
                 @Override
@@ -822,7 +825,7 @@ public class MissionV3Manager extends BaseManager {
                     if (!isMissionStart) {
                         if (missionStateCode != 3 && missionStateCode != 4 && missionStateCode != 5 && missionStateCode != 6
                                 && missionStateCode != 7 && missionStateCode != 8 && missionStateCode != 9 && missionStateCode != 10) {
-                            if (startMissionFailTimes < 50) {
+                            if (startMissionFailTimes < 80) {
                                 mainHandler.postDelayed(new Runnable() {
                                     @Override
                                     public void run() {

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

@@ -68,7 +68,7 @@ public class OSDManager extends BaseManager {
                 return;
             }
             lastExecuteTime = now;
-            Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
+            Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyAirSenseSystemConnected));
             if (!Movement.getInstance().isMissionFinish()) {
                 if (isConnect != null && isConnect) {
                     pushFlightAttitude();

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

@@ -48,9 +48,60 @@ public class StreamManager extends BaseManager {
     private final ExecutorService streamExecutor = Executors.newSingleThreadExecutor();
     private final Handler mainHandler = new Handler(Looper.getMainLooper());
 
+    // ========== 5秒定时刷新视频流，防止起飞卡死 ==========
+    private final Handler streamRefreshHandler = new Handler(Looper.getMainLooper());
+    private Runnable streamRefreshRunnable = null;
+    private volatile boolean isStreamRefreshing = false;
+    private static final long STREAM_REFRESH_INTERVAL_MS = 5000;
+
     private StreamManager() {
     }
 
+    /**
+     * 启动5秒定时刷新视频流（起飞/航线执行时调用，防止视频流卡死）
+     * 原理：模拟真实的用户点击 FPVWidget 触发 swapVideoSource()，等同于用户手动点击屏幕
+     */
+    public void startStreamRefreshTimer() {
+        if (isStreamRefreshing) {
+            LogUtil.log(TAG, "视频流刷新定时器已运行，跳过");
+            return;
+        }
+        isStreamRefreshing = true;
+        LogUtil.log(TAG, "启动5秒视频流刷新定时器");
+
+        streamRefreshRunnable = new Runnable() {
+            @Override
+            public void run() {
+                if (!isStreamRefreshing) return;
+
+                try {
+                    // 委托给 MainActivity 的统一刷新方法，自动处理 FPV-only 和 FPV+gimbal 两种设备
+                    MainActivity mainActivity = MainActivity.Companion.getInstance();
+                    if (mainActivity != null) {
+                        mainActivity.smartRefreshVideoStream();
+                    }
+                } catch (Exception e) {
+                    LogUtil.log(TAG, "定时刷新视频流异常: " + e.getMessage());
+                }
+
+                streamRefreshHandler.postDelayed(this, STREAM_REFRESH_INTERVAL_MS);
+            }
+        };
+        streamRefreshHandler.postDelayed(streamRefreshRunnable, STREAM_REFRESH_INTERVAL_MS);
+    }
+
+    /**
+     * 停止5秒定时刷新视频流（任务结束/航线完成时调用）
+     */
+    public void stopStreamRefreshTimer() {
+        isStreamRefreshing = false;
+        if (streamRefreshRunnable != null) {
+            streamRefreshHandler.removeCallbacks(streamRefreshRunnable);
+            streamRefreshRunnable = null;
+        }
+        LogUtil.log(TAG, "停止视频流刷新定时器");
+    }
+
     private static class StreamHolder {
         private static final StreamManager INSTANCE = new StreamManager();
     }
@@ -61,6 +112,7 @@ public class StreamManager extends BaseManager {
 
     // ========== 【新增】重置推流状态，用于端口关闭后重启 ==========
     public void resetStreamState() {
+        stopStreamRefreshTimer(); // 重置时也停止定时器
         startLiveFailTimes = 0;
         isLiveStreamAlreadyStart = false;
         isStartingRTSP = false; // 重置并发标志
@@ -293,17 +345,18 @@ public class StreamManager extends BaseManager {
                 LogUtil.log(TAG, "RTSP 推流已在运行，无需重复启动");
                 isLiveStreamAlreadyStart = true;
                 isStartingRTSP = false;
+                startStreamRefreshTimer(); // 推流在运行就启动定时器
                 SimplePortScanner.getInstance().startScan(); // 确保端口扫描在运行
                 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，尝试切换 FPV Widget 恢复");
+                LogUtil.log(TAG, "相机流未准备好，尝试模拟点击 FPV Widget 恢复");
                 mainHandler.post(() -> {
                     MainActivity mainActivity = MainActivity.Companion.getInstance();
                     if (mainActivity != null) {
-                        mainActivity.swapVideoSource();
+                        mainActivity.smartRefreshVideoStream();
                     }
                 });
 
@@ -312,6 +365,7 @@ public class StreamManager extends BaseManager {
                         if (startLiveFailTimes < 3) {
                             startLiveFailTimes++;
                             LogUtil.log(TAG, "相机流未准备好，第" + startLiveFailTimes + "次重试");
+                            isStartingRTSP = false; // 先重置标志，让重试调用能正常进入
                             startLiveWithRTSP();
                         } else {
                             LogUtil.log(TAG, "相机流未准备好，重试次数已达上限，强制启动");
@@ -320,6 +374,7 @@ public class StreamManager extends BaseManager {
                         }
                     });
                 }, 2000);
+                isStartingRTSP = false; // 释放锁，让重试能正常进入
                 return;
             }
 
@@ -417,10 +472,14 @@ public class StreamManager extends BaseManager {
                         public void onSuccess() {
                             mainHandler.post(() -> {
                                 LogUtil.log(TAG, "强制启动 RTSP 推流成功");
+                                // 统一刷新视频流
                                 MainActivity mainActivity = MainActivity.Companion.getInstance();
-                                mainActivity.swapVideoSource();
+                                if (mainActivity != null) {
+                                    mainActivity.smartRefreshVideoStream();
+                                }
                                 isLiveStreamAlreadyStart = true;
                                 isStartingRTSP = false; // 重置并发标志
+                                startStreamRefreshTimer(); // 强制启动成功也启动定时器
                                 SimplePortScanner.getInstance().startScan();
                             });
                         }
@@ -450,6 +509,7 @@ public class StreamManager extends BaseManager {
             LogUtil.log(TAG, "推流已在运行，跳过启动 (isRestart=" + isRestart + ")");
             isLiveStreamAlreadyStart = true;
             isStartingRTSP = false; // 重置并发标志
+            startStreamRefreshTimer();
             SimplePortScanner.getInstance().startScan(); // 确保端口扫描在运行
             return;
         }
@@ -466,6 +526,8 @@ public class StreamManager extends BaseManager {
                     startLiveFailTimes = 0; // 重置失败计数
                     isStartingRTSP = false; // 重置并发标志
                     LogUtil.log(TAG, "========== RTSP 推流启动成功 ==========");
+                    // 启动5秒定时刷新视频流，防止起飞卡死
+                    startStreamRefreshTimer();
                     // 开始端口扫描
                     SimplePortScanner.getInstance().startScan();
                 });

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

@@ -383,6 +383,11 @@ public class TakeOffToPointManager extends BaseManager {
             PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
             PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
             PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
+
+            // 重置开舱门标志，避免上次任务未正常落地导致本次无法开舱
+            FlightManager.getInstance().resetOpenCabinDoorState();
+            DockOpenManager.getInstance().resetState();
+
             PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
             CommonCallbacks.CompletionCallback callback = new CommonCallbacks.CompletionCallback() {
                 @Override

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

@@ -657,7 +657,7 @@ public class Aprondown  {
 
     private void performOperation() {
         LogUtil.log(TAG_LOG, "快速下拉中..." + handlerCallbackCount);
-        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
+        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -6);
         handlerCallbackCount++;
     }
 

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

@@ -907,7 +907,7 @@ public class Aprongim {
 
     private void performOperation() {
         LogUtil.log(TAG_LOG, String.format("【执行移动】速降 vz=-4 count=%d/20", handlerCallbackCount));
-        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
+        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -6);
         handlerCallbackCount++;
     }
 

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

@@ -635,7 +635,7 @@ public class ApronArucoDetect  {
 
     private void performOperation() {
         LogUtil.log(TAG_LOG, "快速下拉中..." + handlerCallbackCount);
-        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
+        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -6);
         handlerCallbackCount++;
     }
 

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

@@ -870,7 +870,7 @@ public class ApronArucoDetectPort {
 
     private void performOperation() {
         LogUtil.log(TAG_LOG, String.format("【执行移动】速降 vz=-4 count=%d/20", handlerCallbackCount));
-        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
+        DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -6);
         handlerCallbackCount++;
     }
 

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

@@ -101,11 +101,16 @@ public class Generakmzaltheratools extends BaseManager {
 
         //全局过度速度
         config.setGlobalTransitionalSpeed(7.0);
+
         //全局返航高度
-        config.setGlobalRTHHeight(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+        double wpellheight=GpsUtils.wgs84Altitude(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon()));
+
+        config.setGlobalRTHHeight(wpellheight);
         config.setIsGlobalRTHHeightSet(true);
+
+
         //安全起飞高度
-        config.setSecurityTakeOffHeight(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+        config.setSecurityTakeOffHeight(wpellheight);
         config.setIsSecurityTakeOffHeightSet(true);
 
 
@@ -125,7 +130,7 @@ public class Generakmzaltheratools extends BaseManager {
         //double wpheight=GpsUtils.egm96Altitude(data.getTargetHeight(),data.getTargetLatitude(),data.getTargetLongitude());
 
         //double wp1ellheighet=GpsUtils.wgs84Altitude();
-        double wpellheight=GpsUtils.wgs84Altitude(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon()));
+        //double wpellheight=GpsUtils.wgs84Altitude(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon()));
 
         wp1.setWaypointIndex(0);
         wp1.setLocation(new WaylineLocationCoordinate2D(lat.getLatitude(), lat.getLongitude()));

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

@@ -180,6 +180,9 @@
             app:layout_constraintTop_toBottomOf="@+id/widget_remaining_flight_time"
             tools:ignore="TouchTargetSizeCheck,SpeakableTextPresentCheck" />
 
+
+
+
         <dji.v5.ux.cameracore.widget.cameracontrols.CameraControlsWidget
             android:id="@+id/widget_camera_controls"
             android:layout_width="0dp"