lte 4模块

app/build.gradle

@@ -126,6 +126,13 @@ android {
         pickFirst 'lib/x86_64/libc++_shared.so'
         pickFirst 'lib/armeabi-v7a/libc++_shared.so'
         pickFirst 'lib/arm64-v8a/libc++_shared.so'
+
+        pickFirst 'lib/arm64-v8a/libxcrash.so'
+        pickFirst 'lib/arm64-v8a/libxcrash_dumper.so'
+        pickFirst 'lib/arm64-v8a/libsqlcipher.so'
+        pickFirst 'lib/armeabi-v7a/libsqlcipher.so'
+        pickFirst 'lib/x86/libsqlcipher.so'
+        pickFirst 'lib/x86_64/libsqlcipher.so'
     }
 
     packagingOptions {
@@ -193,9 +200,9 @@ dependencies {
     implementation 'com.commonsware.cwac:saferoom.x:1.3.0'
 
 
-    implementation 'com.dji:dji-sdk-v5-aircraft:5.16.0'
+    implementation 'com.dji:dji-sdk-v5-aircraft:5.18.0'
-    compileOnly  'com.dji:dji-sdk-v5-aircraft-provided:5.16.0'
+    compileOnly  'com.dji:dji-sdk-v5-aircraft-provided:5.18.0'
-    implementation 'com.dji:dji-sdk-v5-networkImp:5.16.0'
+    implementation 'com.dji:dji-sdk-v5-networkImp:5.18.0'
 
 //    implementation 'com.shd:dji-uxsdk:5.9.1'
 

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

@@ -33,6 +33,7 @@ import com.aros.apron.manager.FlightTaskProgressManager
 import com.aros.apron.manager.GimbalManager
 import com.aros.apron.manager.LEDsSettingsManager
 import com.aros.apron.manager.LTEManager
+import com.aros.apron.manager.MLTEManager
 import com.aros.apron.manager.MediaManager
 import com.aros.apron.manager.MissionV3Manager
 import com.aros.apron.manager.NavigationSatelliteSystemManager
@@ -803,6 +804,17 @@ open class MainActivity : BaseActivity() {
         GimbalManager.getInstance().setmode()
         PayloadWidgetManager.getInstance().initPayloadInfo()
 
+        if (PreferenceUtils.getInstance().lteEnable){
+            // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+            MLTEManager.getInstance().initLTEManager()
+            Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+
+        }
+
+
+
+        LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+
         LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
 
         Handler(Looper.getMainLooper()).postDelayed({
@@ -833,6 +845,16 @@ open class MainActivity : BaseActivity() {
         LEDsSettingsManager.getInstance().initLEDsInfo()
         RTKManager.getInstance().initRTKInfo()
         LTEManager.getInstance().initLTEInfo()
+
+
+        // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+        if (PreferenceUtils.getInstance().lteEnable){
+           // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+            MLTEManager.getInstance().initLTEManager()
+            Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+
+        }
+
         WirelessLinkManager.getInstance().initWirelessLink()
         CameraManager.getInstance().initCameraInfo()
         NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
@@ -885,11 +907,23 @@ open class MainActivity : BaseActivity() {
         initCameraStream()
         startVtxHeartbeat()
 
+
         SpeakerManager.getInstance().addMegaphoneInfoListener()
         GeoidManager.getInstance().init(this)
         GimbalManager.getInstance().setmode()
         PayloadWidgetManager.getInstance().initPayloadInfo()
 
+
+       // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+
+        if (PreferenceUtils.getInstance().lteEnable){
+            // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
+            MLTEManager.getInstance().initLTEManager()
+            Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+
+        }
+
+
         LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
 
         Handler(Looper.getMainLooper()).postDelayed({
@@ -1167,7 +1201,7 @@ open class MainActivity : BaseActivity() {
                                 }, 6000)
                             } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
                                 Handler().postDelayed(Runnable {
-                                    if (!Aprongim.getInstance().isTriggerSuccess) {
+                                    if (!Aprondown.getInstance().isTriggerSuccess) {
                                         LogUtil.log(TAG, "图传异常:飞往备降点")
                                         //测试图传丢失
                                         AlternateLandingManager.getInstance().startTaskProcess(null)

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

@@ -21,6 +21,7 @@ import com.aros.apron.manager.CameraManager;
 import com.aros.apron.manager.FlightManager;
 import com.aros.apron.manager.FlyToPointManager;
 import com.aros.apron.manager.GimbalManager;
+import com.aros.apron.manager.MLTEManager;
 import com.aros.apron.manager.MissionV3Manager;
 import com.aros.apron.manager.OSDManager;
 import com.aros.apron.manager.PayloadlightManager;
@@ -191,7 +192,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                                 MissionV3Manager.getInstance().taskExecute(message);
                                 Synchronizedstatus.setIsruning(true);
 
-
                                 Synchronizedstatus.setFlighttaskExecuteStatus(true);
 
                             }else{
@@ -318,7 +318,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     StickManager.getInstance().disableVirtualStick(message);
                     break;
                 case Constant.DRONE_CONTROL:
-                    LogUtil.log(TAG, "收到：DRC-飞行控制" + jsonString);
+                    LogUtil.log(TAG, " " + jsonString);
                     if (!Movement.getInstance().isAlternate() && !ApronArucoDetectPort.getInstance().isStartAruco() && !ApronArucoDetect.getInstance().isStartAruco() && !Aprongim.getInstance().isStartAruco() && !Aprondown.getInstance().isStartAruco()) {
                         resetVirtualStickHeartbeat();
                         StickManager.getInstance().sendVirtualStickAdvancedParam(message);
@@ -630,6 +630,55 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     }
                     break;
 
+                case Constant.LTE_GET_VERIFICATION_CODE:
+                    LogUtil.log(TAG, "收到：LTE认证-获取验证码 " + jsonString);
+                    if (message.getData() != null) {
+                        String phoneAreaCode = message.getData().getPhone_area_code();
+                        String phoneNumber = message.getData().getPhone_number();
+                        if (phoneNumber != null && !phoneNumber.isEmpty()) {
+                            if (phoneAreaCode == null || phoneAreaCode.isEmpty()) {
+                                phoneAreaCode = "86";
+                            }
+                            MLTEManager.getInstance().requestLTEVerificationCode(phoneAreaCode, phoneNumber);
+                        } else {
+                            LogUtil.log(TAG, "LTE认证手机号为空");
+                            sendEvent2Server("LTE认证手机号为空",1);
+                            sendFailMsg2Server(message, "LTE认证手机号为空");
+                        }
+                    }
+                    break;
+
+                case Constant.LTE_START_AUTHENTICATION:
+                    LogUtil.log(TAG, "收到：LTE认证-提交验证码 " + jsonString);
+                    String verificationCode = message.getData() != null ? message.getData().getVerification_code() : null;
+                    if (verificationCode != null && !verificationCode.isEmpty()) {
+                        MLTEManager.getInstance().startLTEAuthentication(verificationCode, new CommonCallbacks.CompletionCallback() {
+                            @Override
+                            public void onSuccess() {
+                                LogUtil.log(TAG, "LTE认证成功");
+                                sendEvent2Server("LTE认证成功",1);
+                                sendMsg2Server(message);
+                            }
+
+                            @Override
+                            public void onFailure(@NonNull IDJIError idjiError) {
+                                LogUtil.log(TAG, "LTE认证失败: " + new Gson().toJson(idjiError));
+                                sendEvent2Server("LTE认证失败",2);
+                                sendFailMsg2Server(message, "LTE认证失败: " + idjiError);
+                            }
+                        });
+                    } else {
+                        LogUtil.log(TAG, "LTE验证码为空");
+                        sendFailMsg2Server(message, "LTE验证码为空");
+                    }
+                    break;
+
+                case Constant.HANGXIANTEST:
+                    MLTEManager.getInstance().test();
+                    break;
+
+
+
 //            //获取控制权
 //            case 60007:
 //                LogUtil.log(TAG, "收到：获取控制权" + jsonString);
@@ -1027,7 +1076,8 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                 if (times < 5) {
                     PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
                     LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
-                    RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
+                    new Handler(Looper.getMainLooper()).postDelayed(() ->
+                            RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
                 }
             } else {
                 // 图传恢复 → 执行后续逻辑

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

@@ -352,6 +352,20 @@ public class Constant {
      */
     public static final String APP_UPDATE="app_update";
 
+    /**
+     *  LTE认证-获取验证码
+     */
+    public static final String LTE_GET_VERIFICATION_CODE="lte_get_verification_code";
+
+    /**
+     *  LTE认证-提交验证码
+     */
+    public static final String LTE_START_AUTHENTICATION="lte_start_authentication";
+
+    /**
+     *  航线测试
+     */
+    public static final String HANGXIANTEST="hangxiantest";
 }
 
 

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

@@ -122,6 +122,11 @@ public class MessageDown {
         private int language;
         private Tts tts;
 
+        //LTE认证
+        private String phone_area_code;
+        private String phone_number;
+        private String verification_code;
+
         //探照灯
         private int group;
         // brightness: 亮度 1-100 (int)
@@ -147,6 +152,30 @@ public class MessageDown {
             this.group = group;
         }
 
+        public String getPhone_area_code() {
+            return phone_area_code;
+        }
+
+        public void setPhone_area_code(String phone_area_code) {
+            this.phone_area_code = phone_area_code;
+        }
+
+        public String getPhone_number() {
+            return phone_number;
+        }
+
+        public void setPhone_number(String phone_number) {
+            this.phone_number = phone_number;
+        }
+
+        public String getVerification_code() {
+            return verification_code;
+        }
+
+        public void setVerification_code(String verification_code) {
+            this.verification_code = verification_code;
+        }
+
         public int getBrightness() {
             return brightness;
         }

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

@@ -77,6 +77,8 @@ public class Movement {
     private String minTemperaturePointX;//最小温度的位置
     private String minTemperaturePointY;
     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 int goHomeHeight;//返航高度
     private int failsafeAction;//失控动作
     private int heightLimit;//限高
@@ -2170,6 +2172,22 @@ public class Movement {
         this.LTELinkType = LTELinkType;
     }
 
+    public String getLtePhoneAreaCode() {
+        return ltePhoneAreaCode;
+    }
+
+    public void setLtePhoneAreaCode(String ltePhoneAreaCode) {
+        this.ltePhoneAreaCode = ltePhoneAreaCode;
+    }
+
+    public String getLtePhoneNumber() {
+        return ltePhoneNumber;
+    }
+
+    public void setLtePhoneNumber(String ltePhoneNumber) {
+        this.ltePhoneNumber = ltePhoneNumber;
+    }
+
     public int getIsVirtualStickAdvancedModeEnabled() {
         return isVirtualStickAdvancedModeEnabled;
     }

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

@@ -386,6 +386,7 @@ public class FlightManager extends BaseManager {
                     if (newValue != null) {
                         Movement.getInstance().setGps_number(newValue);
                         Movement.getInstance().setRtk_number(newValue);
+                       // LogUtil.log(TAG,"number"+newValue);
                         pushFlightAttitude();
                     }
                 }

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

@@ -19,6 +19,7 @@ import dji.sdk.keyvalue.value.airlink.WlmLinkFrequenceBand;
 import dji.sdk.keyvalue.value.airlink.WlmLinkQualityLevelInfo;
 import dji.sdk.keyvalue.value.airlink.WlmLinkStatus;
 import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
 import dji.v5.manager.KeyManager;
 import dji.v5.manager.aircraft.lte.LTEDongleInfoListener;
 import dji.v5.manager.aircraft.lte.LTELinkInfo;
@@ -140,4 +141,61 @@ public class LTEManager extends BaseManager {
             LogUtil.log(TAG, "初始化LTE失败");
         }
     }
+
+//    /**
+//     * 启动LTE认证，认证通过后可调用setLTEEnhancedTransmissionType开启LTE增强图传
+//     * 调用前需先通过getLTEAuthenticationVerificationCode获取验证码
+//     *
+//     * @param phoneNumber      LTE认证手机号码
+//     * @param verificationCode LTE认证验证码
+//     * @param callback         执行结果回调
+//     */
+//    public void startLTEAuthentication(String phoneNumber, String verificationCode, CommonCallbacks.CompletionCallback callback) {
+//        LogUtil.log(TAG, "startLTEAuthentication phone:" + phoneNumber);
+//        dji.v5.manager.interfaces.ILTEManager.getInstance().startLTEAuthentication(
+//                "86",
+//                phoneNumber,
+//                verificationCode,
+//                new CommonCallbacks.CompletionCallback() {
+//                    @Override
+//                    public void onResult(Object o, IDJIError iDJIError) {
+//                        if (iDJIError == null) {
+//                            LogUtil.log(TAG, "LTE认证成功");
+//                        } else {
+//                            LogUtil.log(TAG, "LTE认证失败: " + iDJIError.getDescription());
+//                        }
+//                        if (callback != null) {
+//                            callback.onResult(o, iDJIError);
+//                        }
+//                    }
+//                }
+//        );
+//    }
+//
+//    /**
+//     * 获取LTE认证验证码
+//     *
+//     * @param phoneNumber LTE认证手机号码
+//     * @param callback    执行结果回调
+//     */
+//    public void getLTEAuthenticationVerificationCode(String phoneNumber, CommonCallbacks.CompletionCallback callback) {
+//        LogUtil.log(TAG, "getLTEAuthenticationVerificationCode phone:" + phoneNumber);
+//        dji.v5.manager.interfaces.ILTEManager.getInstance().getLTEAuthenticationVerificationCode(
+//                "86",
+//                phoneNumber,
+//                new CommonCallbacks.CompletionCallback() {
+//                    @Override
+//                    public void onResult(Object o, IDJIError iDJIError) {
+//                        if (iDJIError == null) {
+//                            LogUtil.log(TAG, "获取验证码成功");
+//                        } else {
+//                            LogUtil.log(TAG, "获取验证码失败: " + iDJIError.getDescription());
+//                        }
+//                        if (callback != null) {
+//                            callback.onResult(o, iDJIError);
+//                        }
+//                    }
+//                }
+//        );
+//    }
 }

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

@@ -0,0 +1,182 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+import android.util.Log;
+
+import androidx.annotation.NonNull;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.LogUtil;
+import com.google.gson.Gson;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+import dji.v5.manager.aircraft.lte.LTEAuthenticationInfo;
+import dji.v5.manager.aircraft.lte.LTEAuthenticationInfoListener;
+import dji.v5.manager.aircraft.lte.LTELinkInfo;
+import dji.v5.manager.aircraft.lte.LTELinkInfoListener;
+import dji.v5.manager.aircraft.lte.LTELinkType;
+import dji.v5.manager.aircraft.lte.LTEManager;
+
+
+public class MLTEManager extends BaseManager {
+
+
+    private MLTEManager() {
+    }
+
+    private static class LTEHolder {
+        private static final MLTEManager INSTANCE = new MLTEManager();
+    }
+
+    public static MLTEManager getInstance() {
+        return LTEHolder.INSTANCE;
+    }
+
+    public void initLTEManager() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                KeyConnection));
+        if (isConnect != null && isConnect) {
+
+            LTEManager.getInstance().addLTELinkInfoListener(new LTELinkInfoListener() {
+                @Override
+                public void onLTELinkInfoUpdate(LTELinkInfo info) {
+                    if (info != null && info.getLTELinkType() != null) {
+                        Movement.getInstance().setLTELinkType(info.getLTELinkType().name());
+                        LogUtil.log(TAG, "当前图传类型:" + info.getLTELinkType().name());
+                    }
+                }
+            });
+
+//            LTEManager.getInstance().addLTEDongleInfoListener(new LTEDongleInfoListener() {
+//                @Override
+//                public void onLTEAircraftDongleInfoUpdate(@NonNull List<WlmDongleInfo> aircraftDongleInfos) {
+//                    if (!aircraftDongleInfos.isEmpty()) {
+//                        LogUtil.log(TAG, "aircraft DongleInfo:" + new Gson().toJson(aircraftDongleInfos.get(0)));
+//                    }
+//
+//                }
+//
+//                @Override
+//                public void onLTERemoteControllerDongleInfoUpdate(@NonNull List<WlmDongleInfo> remoteControllerDongleInfos) {
+//                    LogUtil.log(TAG, "remote DongleInfo:" + new Gson().toJson(remoteControllerDongleInfos.get(0)));
+//
+//                }
+//            });
+
+
+            // 监听认证信息（认证状态、剩余有效时间）
+            LTEManager.getInstance().addLTEAuthenticationInfoListener(new LTEAuthenticationInfoListener() {
+                @Override
+                public void onLTEAuthenticationInfoUpdate(LTEAuthenticationInfo info) {
+                    if (info != null) {
+                        LogUtil.log(TAG, "LTE认证信息 - 是否可用: " + info.isLTEAuthenticationAvailable()
+                                + ", 是否认证: " + info.isLTEAuthenticated()
+                                + ", 认证手机号: " + info.getLTEAuthenticatedPhoneNumber()
+                                + ", 剩余有效时间: " + info.getLTEAuthenticatedRemainingTime() + "秒"
+                                + ", 最后认证时间: " + info.getLTELastAuthenticatedTime());
+
+                        sendEvent2Server("LTE认证信息 - 是否可用: " + info.isLTEAuthenticationAvailable()
+                                + ", 是否认证: " + info.isLTEAuthenticated()
+                                + ", 认证手机号: " + info.getLTEAuthenticatedPhoneNumber()
+                                + ", 剩余有效时间: " + info.getLTEAuthenticatedRemainingTime() + "秒"
+                                + ", 最后认证时间: " + info.getLTELastAuthenticatedTime(), 1);
+
+                        if (!info.isLTEAuthenticationAvailable() || !info.isLTEAuthenticated()) {
+                            sendEvent2Server("⚠ LTE认证已过期或未认证，需要重新认证", 1);
+                        } 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);
+                        }
+
+
+                    }
+                }
+            });
+
+        }
+    }
+
+    private int setLTEEnhancedTransmissionTypeTimes;
+    private boolean isLTEEnhancedTransmissionLte;
+
+    public void setLTEEnhancedTransmissionType() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                KeyConnection));
+        if (isConnect != null && isConnect) {
+            LTEManager.getInstance().setLTEEnhancedTransmissionType(LTELinkType.OCU_SYNC_LTE, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    isLTEEnhancedTransmissionLte = true;
+                    LogUtil.log(TAG, "设置增强图传成功");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+                    LogUtil.log(TAG, "设置增强图传第" + setLTEEnhancedTransmissionTypeTimes + "次开启失败:" + new Gson().toJson(idjiError));
+                    if (!isLTEEnhancedTransmissionLte) {
+                        new Handler().postDelayed(new Runnable() {
+                            @Override
+                            public void run() {
+                                if (setLTEEnhancedTransmissionTypeTimes < 20) {
+                                    setLTEEnhancedTransmissionTypeTimes++;
+                                    setLTEEnhancedTransmissionType();
+                                }
+                            }
+                        }, 3000);
+                    }
+                }
+            });
+        }
+
+    }
+
+
+    /**
+     * 请求LTE验证码，同时保存手机号和区号到Movement
+     */
+    public void requestLTEVerificationCode(String phoneAreaCode, String phoneNumber) {
+        Movement.getInstance().setLtePhoneAreaCode(phoneAreaCode);
+        Movement.getInstance().setLtePhoneNumber(phoneNumber);
+        LTEManager.getInstance().getLTEAuthenticationVerificationCode(phoneAreaCode, phoneNumber, new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "LTE验证码发送成功，手机号: " + phoneNumber);
+                sendEvent2Server("LTE验证码发送成功，手机号: " + phoneNumber,1);
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                LogUtil.log(TAG, "LTE验证码发送失败: " + new Gson().toJson(idjiError));
+                sendEvent2Server("LTE验证码发送失败: " + new Gson().toJson(idjiError) + phoneNumber,2);
+            }
+        });
+    }
+
+    /**
+     * 提交LTE验证码进行认证
+     */
+    public void startLTEAuthentication(String verificationCode, CommonCallbacks.CompletionCallback callback) {
+        String phoneAreaCode = Movement.getInstance().getLtePhoneAreaCode();
+        String phoneNumber = Movement.getInstance().getLtePhoneNumber();
+        LTEManager.getInstance().startLTEAuthentication(phoneAreaCode, phoneNumber, verificationCode, callback);
+    }
+
+    public void test() {
+        LTEManager.getInstance().getLTEAuthenticationVerificationCode("86", "18505198302", new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "发送成功");
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+
+            }
+        });
+    }
+
+}

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

@@ -402,7 +402,11 @@ public class MissionV3Manager extends BaseManager {
                 @Override
                 public void onWaylineExecutingInfoUpdate(WaylineExecutingInfo excutingWaylineInfo) {
                     if (excutingWaylineInfo != null) {
+                        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) {
                             Movement.getInstance().setCurrentWaypointIndex(excutingWaylineInfo.getCurrentWaypointIndex());
                             Movement.getInstance().setTask_current_waypoint_index(excutingWaylineInfo.getCurrentWaypointIndex());
@@ -484,11 +488,15 @@ public class MissionV3Manager extends BaseManager {
         //3.检查飞机状态（不满足条件直接taskFail入库）
         boolean statusOk = verifyAircraftStatus(message);
 
+        //downLoadKMZFile(message);
+
         if (statusOk) {
             sendEvent2Server("条件满足进入自建和下发航线", 1);
             verifyGpsAndMissionState(message);
         }
 
+       // verifyGpsAndMissionState(message);
+
     }
 
 
@@ -567,8 +575,8 @@ 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 isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10 ||quality == 3);
-        boolean GPSSatelliteCountValid = GPSSatelliteCount > 14;
+        boolean GPSSatelliteCountValid = GPSSatelliteCount > 12;
 
         LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
 //        if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
@@ -622,6 +630,7 @@ 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");
                 TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
             }
 
@@ -646,6 +655,7 @@ public class MissionV3Manager extends BaseManager {
                         }
                         fos.flush();
                         sendEvent2Server("航线下载成功 ", 1);
+                        //LogUtil.log(TAG, "航线下载成功");
                         mainHandler.post(new Runnable() {
                             @Override
                             public void run() {
@@ -654,6 +664,7 @@ 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");
                         TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
                     }
                 }
@@ -883,7 +894,6 @@ public class MissionV3Manager extends BaseManager {
 
                     if( PreferenceUtils.getInstance().getMissionType()==0){
                         Movement.getInstance().setTask_status("paused");
-
                         sendFlightTaskProgress2Server();
                     }
 
@@ -1022,7 +1032,11 @@ public class MissionV3Manager extends BaseManager {
                 if (times < 5) {
                     PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
                     LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
-                    RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
+                    mainHandler.postDelayed(() ->
+                            RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
+                }else{
+                    sendEvent2Server("达到重启最大次数还没有获得图传", 2);
+                    TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
                 }
             } else {
 

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

@@ -78,90 +78,78 @@ public class PayloadWidgetManager extends BaseManager {
             if (payloadManager != null) {
                 IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_2);
                 if (iPayloadManager != null) {
-                    PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
+                    //基础信息
+                    PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadBasicInfoListener(new PayloadBasicInfoListener() {
                         @Override
-                        public void onSuccess() {
+                        public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
-                            //基础信息
+                            //LogUtil.log(TAG, "左侧负载基础信息:" + info.toString());
-                            PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadBasicInfoListener(new PayloadBasicInfoListener() {
+                            // XcFileLog.getInstace().w(TAG, "左侧负载基础信息:" + info.toString());
-                                @Override
+                            //cachedBasicInfo = info;
-                                public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
+                            //startPsdkWidgetReport();
-                                    //LogUtil.log(TAG, "左侧负载基础信息:" + info.toString());
-                                    // XcFileLog.getInstace().w(TAG, "左侧负载基础信息:" + info.toString());
-                                    //cachedBasicInfo = info;
-                                    //startPsdkWidgetReport();
-                                }
-                            });
-
-                            PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadDataListener(new PayloadDataListener() {
-                                @Override
-                                public void onDataFromPayloadUpdate(byte[] data) {
-                                    String cleanData = new String(data, java.nio.charset.StandardCharsets.UTF_8)
-                                            .replaceAll("[^\\x20-\\x7E\\u4e00-\\u9fa5]", "");
-                                    // LogUtil.log(TAG, "左侧负载数据信息:" + cleanData);
-                                    // XcFileLog.getInstace().w(TAG, "左侧负载数据信息:" + cleanData);
-
-
-                                    if (cleanData.contains("jwD")) {
-                                        payloadBuffer.setLength(0);
-                                        payloadBuffer.append(cleanData);
-                                        // LogUtil.log(TAG, "负载数据开始，清空缓存");
-                                    }
-
-
-                                    if (cleanData.contains("}")) {
-                                        if (payloadBuffer.length() > 0) {
-                                            payloadBuffer.append(cleanData);
-                                            String fullJson = payloadBuffer.toString();
-                                            payloadBuffer.setLength(0); // 清空，准备下次
-                                            // LogUtil.log(TAG, "负载完整数据: " + fullJson);
-                                            sendFloatingWindowText(fullJson);
-                                        } else {
-                                            //LogUtil.log(TAG, "负载数据: 缓存为空，忽略孤立}");
-                                        }
-                                    }
-
-
-                                }
-                            });
-
-                            //可以把负载设备控件打印
-                            PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() {
-                                @Override
-                                public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
-                                    //LogUtil.log(TAG, "左侧负载控件信息:" + info.toString());
-                                    //XcFileLog.getInstace().w(TAG, "左侧负载控件信息:" + info.toString());
-                                    //cachedWidgetInfo = info;
-                                    //如果负载为空
-                                    detectSpeaker(info, 2);
-
-                                    if (info.getConfigInterfaceWidgetList() == null || info.getMainInterfaceWidgetList() == null) {
-                                        PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
-                                            @Override
-                                            public void onSuccess() {
-                                                LogUtil.log(TAG, "负载重复拉取成功");
-
-                                            }
-
-                                            @Override
-                                            public void onFailure(@NonNull IDJIError idjiError) {
-                                                LogUtil.log(TAG, "负载重复拉取失败");
-                                            }
-                                        });
-                                    }
-                                }
-                            });
                         }
-
+                    });
+                    PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadDataListener(new PayloadDataListener() {
                         @Override
-                        public void onFailure(@NonNull IDJIError idjiError) {
+                        public void onDataFromPayloadUpdate(byte[] data) {
-                            LogUtil.log(TAG, "负载第一次拉取失败");
+                            String cleanData = new String(data, java.nio.charset.StandardCharsets.UTF_8)
+                                    .replaceAll("[^\\x20-\\x7E\\u4e00-\\u9fa5]", "");
+                            // LogUtil.log(TAG, "左侧负载数据信息:" + cleanData);
+                            // XcFileLog.getInstace().w(TAG, "左侧负载数据信息:" + cleanData);
+
+
+                            if (cleanData.contains("jwD")) {
+                                payloadBuffer.setLength(0);
+                                payloadBuffer.append(cleanData);
+                                // LogUtil.log(TAG, "负载数据开始，清空缓存");
+                            }
+
+
+                            if (cleanData.contains("}")) {
+                                if (payloadBuffer.length() > 0) {
+                                    payloadBuffer.append(cleanData);
+                                    String fullJson = payloadBuffer.toString();
+                                    payloadBuffer.setLength(0); // 清空，准备下次
+                                    // LogUtil.log(TAG, "负载完整数据: " + fullJson);
+                                    sendFloatingWindowText(fullJson);
+                                } else {
+                                    //LogUtil.log(TAG, "负载数据: 缓存为空，忽略孤立}");
+                                }
+                            }
+
+
+                        }
+                    });
+                    //可以把负载设备控件打印
+                    PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() {
+                        @Override
+                        public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
+                            //LogUtil.log(TAG, "左侧负载控件信息:" + info.toString());
+                            //XcFileLog.getInstace().w(TAG, "左侧负载控件信息:" + info.toString());
+                            //cachedWidgetInfo = info;
+                            //如果负载为空
+
+                            detectSpeaker(info, 2);
+
+                            if (info.getConfigInterfaceWidgetList() == null || info.getMainInterfaceWidgetList() == null) {
+                                PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
+                                    @Override
+                                    public void onSuccess() {
+                                        LogUtil.log(TAG, "负载重复拉取成功");
+
+                                    }
+
+                                    @Override
+                                    public void onFailure(@NonNull IDJIError idjiError) {
+                                        LogUtil.log(TAG, "负载重复拉取失败");
+                                    }
+                                });
+                            }
                         }
                     });
                 } else {
                     LogUtil.log(TAG, "监听LEFT_OR_MAIN PSDK数据失败:设备未连接");
                 }
 
-
                 IPayloadManager iPayloadManager3 = payloadManager.get(PayloadIndexType.PORT_3);
                 if (iPayloadManager3 != null) {
                     //基础信息
@@ -200,9 +188,6 @@ public class PayloadWidgetManager extends BaseManager {
                 } else {
                     LogUtil.log(TAG, "监听right_OR_MAIN PSDK数据失败:设备未连接");
                 }
-
-
-
             } else {
                 LogUtil.log(TAG, "监听psdk数据失败:未检测到设备");
             }

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

@@ -120,10 +120,10 @@ public class RTKManager extends BaseManager {
     //开启自定义网络RTK服务
     private void startNetworkRTKService() {
         if (PreferenceUtils.getInstance().getRtkType()==1) {
-            if (Movement.getInstance().getIs_fixed()==2) {
+//            if (Movement.getInstance().getIs_fixed()==2) {
-                LogUtil.log(TAG, "RTK服务已开启");
+//                LogUtil.log(TAG, "RTK服务已开启");
-                return;
+//                return;
-            }
+//            }
             RTKCustomNetworkSetting rtkCustomNetworkSetting = new RTKCustomNetworkSetting();
             rtkCustomNetworkSetting.setServerAddress(PreferenceUtils.getInstance().getNTRIP());
             rtkCustomNetworkSetting.setPort(Integer.valueOf(PreferenceUtils.getInstance().getNTRPort()));

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

@@ -229,10 +229,10 @@ public class SpeakerManager extends BaseManager {
             public void onUpdateMegaphoneInfo(MegaphoneInfo megaphoneInfo) {
                 if (megaphoneInfo == null) return;
                 //工作模式 音量 状态  播放模式
-                Movement.getInstance().setPlay_mode(String.valueOf(megaphoneInfo.getPlayMode().value));
+                Movement.getInstance().setPlay_mode(String.valueOf(megaphoneInfo.getPlayMode().ordinal()));
                 Movement.getInstance().setPlay_volume(String.valueOf(megaphoneInfo.getVolume()));
-                Movement.getInstance().setWork_mode(String.valueOf(megaphoneInfo.getWorkMode().co_a));
+                Movement.getInstance().setWork_mode(String.valueOf(megaphoneInfo.getWorkMode().ordinal()));
-                Movement.getInstance().setSystem_state(String.valueOf(megaphoneInfo.getStatus().co_a));
+                Movement.getInstance().setSystem_state(String.valueOf(megaphoneInfo.getStatus().ordinal()));
 
                 MegaphoneStatus status = megaphoneInfo.getStatus();
                 if (status == MegaphoneStatus.PLAYING) {
@@ -362,7 +362,7 @@ public class SpeakerManager extends BaseManager {
                                     @Override
                                     public void onSuccess() {
                                         LogUtil.log(TAG, "喊话器内容上传成功");
-                                        Synchronizedstatus.setSpeakrunning(false);
+                                        //Synchronizedstatus.setSpeakrunning(false);
                                     }
 
                                     @Override
@@ -581,46 +581,52 @@ public class SpeakerManager extends BaseManager {
             MegaphoneManager.getInstance().startPushingFileToMegaphone(fileInfo,
                     new CommonCallbacks.CompletionCallbackWithProgress<Integer>() {
 
+                        private boolean hasTriggeredPlay = false;
 
                         @Override
                         public void onProgressUpdate(Integer integer) {
                             Movement.getInstance().setTTS_status("in_progress");
                             Movement.getInstance().setSpeakerpercent(integer);
+
                             Movement.getInstance().setStep_key("upload");
                             LogUtil.log(TAG, "喊话器内容上传进度:" + integer + "%");
+
+                            if (integer >= 99 && !hasTriggeredPlay) {
+                                hasTriggeredPlay = true;
+                                new Handler().postDelayed(new Runnable() {
+                                    @Override
+                                    public void run() {
+                                        LogUtil.log(TAG, "开始播放音频");
+                                        MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() {
+                                            @Override
+                                            public void onSuccess() {
+                                                sendMsg2Server(message);
+                                                Movement.getInstance().setTTS_status("success");
+                                                Movement.getInstance().setStep_key("play");
+
+                                                SpeakerProgressReporter.getInstance().sendNowTTSProgress(psdkindex);
+                                                sendEvent2Server("喊话器播放TTS音频成功", 1);
+                                                LogUtil.log(TAG,"喊话器播放TTS音频成功");
+                                                Synchronizedstatus.setSpeakTTSrunning(false);
+                                            }
+
+                                            @Override
+                                            public void onFailure(@NonNull IDJIError error) {
+                                                sendFailMsg2Server(message, "喊话器播放TTS音频失败:" + getIDJIErrorMsg(error));
+                                                sendEvent2Server("喊话器播放TTS音频失败:" + getIDJIErrorMsg(error), 2);
+                                                LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error));
+                                                Synchronizedstatus.setSpeakTTSrunning(false);
+                                            }
+                                        });
+                                    }
+                                }, 1000);
+                            }
+
                         }
 
                         @Override
                         public void onSuccess() {
-
                             LogUtil.log(TAG, "喊话器内容上传成功");
-                            new Handler().postDelayed(new Runnable() {
-                                @Override
-                                public void run() {
-                                    LogUtil.log(TAG, "开始播放音频");
-                                    MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() {
-                                        @Override
-                                        public void onSuccess() {
-                                            sendMsg2Server(message);
-                                            Movement.getInstance().setTTS_status("success");
-                                            Movement.getInstance().setStep_key("play");
-
-                                            SpeakerProgressReporter.getInstance().sendNowTTSProgress(psdkindex);
-                                            sendEvent2Server("喊话器播放TTS音频成功", 1);
-                                            LogUtil.log(TAG,"喊话器播放TTS音频成功");
-                                            Synchronizedstatus.setSpeakTTSrunning(false);
-                                        }
-
-                                        @Override
-                                        public void onFailure(@NonNull IDJIError error) {
-                                            sendFailMsg2Server(message, "喊话器播放TTS音频失败:" + getIDJIErrorMsg(error));
-                                            sendEvent2Server("喊话器播放TTS音频失败:" + getIDJIErrorMsg(error), 2);
-                                            LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error));
-                                            Synchronizedstatus.setSpeakTTSrunning(false);
-                                        }
-                                    });
-                                }
-                            }, 1000);
                         }
 
                         @Override
@@ -636,9 +642,7 @@ public class SpeakerManager extends BaseManager {
             Synchronizedstatus.setSpeakTTSrunning(false);
         }
 
-        LogUtil.log(TAG, "设置 speakTTSrunning 为 false");
         LogUtil.log(TAG, "speakerTTSPlayStart 方法执行完成");
-        Synchronizedstatus.setSpeakTTSrunning(false);
     }
 
     public void setindex(){

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

@@ -52,7 +52,7 @@ public class StreamManager extends BaseManager {
     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 = 8000;
+    private static final long STREAM_REFRESH_INTERVAL_MS = 10000;
 
     private StreamManager() {
     }

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

@@ -182,8 +182,8 @@ public class TakeOffToPointManager 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 isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10 ||quality == 3);
-        boolean GPSSatelliteCountValid = GPSSatelliteCount > 15;
+        boolean GPSSatelliteCountValid = GPSSatelliteCount > 12;
 
         LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
 //        if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
@@ -467,7 +467,11 @@ public class TakeOffToPointManager extends BaseManager {
                 if (times < 5) {
                     PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
                     LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
-                    RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
+                    mainHandler.postDelayed(() ->
+                            RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
+                }else{
+                    sendEvent2Server("达到重启最大次数还没有获得图传", 2);
+                    TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
                 }
             } else {
                 // 图传恢复 → 执行后续逻辑

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

@@ -258,12 +258,11 @@ public class Aprondown  {
 
                     if (ids.empty()) {
                         LogUtil.log(TAG_LOG, "预处理失败，回退原图检测");
-                        corners.clear(); // 清空之前的结果
+                        corners.clear();
                         detector.detectMarkers(grayImgMat, corners, ids);
                         LogUtil.log(TAG_LOG, "原图检测: " + (ids.empty() ? "仍未检出" : "成功，数量=" + corners.size()));
                     }
 
-
                     processedMat.release();
 
 
@@ -567,7 +566,8 @@ public class Aprondown  {
         startFastStick = false;
         isStartAruco = false;
         consecutiveTriggerCount = 0;
-        frameCounter = 0;  // 【新增】重置帧计数
+        frameCounter = 0;  // 重置帧计数
+        Apronmixvalue.getInstance().setIsaglinetrue(false); // 下次降落重新对准
     }
 
 

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

@@ -91,6 +91,11 @@ public class Aprongim {
     // 记录上一帧满足的降落条件类型：0=无, 1=单码精准降落(15/17号), 2=几何中心降落
     private int lastLandingCondition = 0;
 
+    // ========== 【新增】6个独立分支计数器 ==========
+    private int[] landingCounters = new int[22]; // ID作为索引
+    private int counterRound = 0;
+
+
     // ========== 【新增】高度稳定性监测 ==========
     private long lastHeightCheckTime = 0;
     private double lastUltrasonicHeight = 0;
@@ -249,19 +254,22 @@ public class Aprongim {
         if(isDoublePayload){
             if (ultHeight <=5)
             {
-                LENS_OFFSET_X=-130;
+                LENS_OFFSET_X=-80;
                 LENS_OFFSET_Y=120;
             }else if(ultHeight<10){
-                LENS_OFFSET_X=-90;
+                LENS_OFFSET_X=-70;
                 LENS_OFFSET_Y=80;
             } else if (ultHeight<20) {
-                LENS_OFFSET_X=-70;
+                LENS_OFFSET_X=-60;
                 LENS_OFFSET_Y=60;
+            }else if(ultHeight<30){
+                LENS_OFFSET_X=-40;
+                LENS_OFFSET_Y=20;
             }
         }else{
             if (ultHeight <=5)
             {
-                LENS_OFFSET_X=120;
+                LENS_OFFSET_X=100;
                 LENS_OFFSET_Y = 100;
             }else if(ultHeight<10){
                 LENS_OFFSET_X=80;
@@ -271,7 +279,6 @@ public class Aprongim {
                 LENS_OFFSET_Y = 60;
             }
         }
-
         lastFuture = executor.schedule(new Runnable() {
             @Override
             public void run() {
@@ -532,86 +539,203 @@ public class Aprongim {
         double absY = Math.abs(offsetY);
         double z = ultHeight / 10.0;
 
-        // 降落条件判断（连续帧）
+        // ========== 【6个独立分支计数器降落判定】 ==========
         boolean isSpecialLanding = false;
         double singleErrX = 0, singleErrY = 0;
 
-        // 单挂模式：检查15号
+        if (ultHeight <= 4) {
-        if (!isDoublePayload && target15 != null && ultHeight <= 4) {
+            // 当前帧可见码的Map
-            Mat corner = target15.getConner();
+            java.util.HashMap<Integer, ArucoMarker> markerMap = new java.util.HashMap<>();
-            double cx = 0, cy = 0;
+            for (ArucoMarker m : markers) {
-            for (int i = 0; i < 4; i++) {
+                markerMap.put(m.getId(), m);
-                double[] p = corner.get(0, i);
-                cx += p[0];
-                cy += p[1];
             }
-            cx /= 4.0; cy /= 4.0;
-            singleErrX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
-            singleErrY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
 
-            if (Math.abs(singleErrX) < 60 && Math.abs(singleErrY) < 60) {
+            boolean foundLanding = false;
-                isSpecialLanding = true;
+            int landingId = 0;
-                offsetX = singleErrX;
+
-                offsetY = singleErrY;
+            // ===== 单挂模式：13 15 17 14 16 18 =====
-                absX = Math.abs(singleErrX);
+            if (!isDoublePayload) {
-                absY = Math.abs(singleErrY);
+                // ---- 13号 ----
+                ArucoMarker marker13 = markerMap.get(13);
+                if (marker13 != null) {
+                    Mat corner = marker13.getConner();
+                    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 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); }
+                } else { landingCounters[13] = 0; }
+
+                // ---- 15号 ----
+                ArucoMarker marker15 = markerMap.get(15);
+                if (marker15 != null) {
+                    Mat corner = marker15.getConner();
+                    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 - 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 (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; }
+
+                // ---- 17号 ----
+                ArucoMarker marker17 = markerMap.get(17);
+                if (marker17 != null) {
+                    Mat corner = marker17.getConner();
+                    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 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); }
+                } else { landingCounters[17] = 0; }
+
+                // ---- 14号 ----
+                ArucoMarker marker14 = markerMap.get(14);
+                if (marker14 != null) {
+                    Mat corner = marker14.getConner();
+                    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 errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
+                    if (Math.abs(errX) < 70 && 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; }
+
+                // ---- 16号 ----
+                ArucoMarker marker16 = markerMap.get(16);
+                if (marker16 != null) {
+                    Mat corner = marker16.getConner();
+                    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 - 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 (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; }
+
+                // ---- 18号 ----
+                ArucoMarker marker18 = markerMap.get(18);
+                if (marker18 != null) {
+                    Mat corner = marker18.getConner();
+                    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 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); }
+                } else { landingCounters[18] = 0; }
             }
-        }
+            // ===== 双挂模式：15 17 19 16 18 20 =====
+            else {
+                // ---- 15号 ----
+                ArucoMarker marker15d = markerMap.get(15);
+                if (marker15d != null) {
+                    Mat corner = marker15d.getConner();
+                    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 +240.0;
+                    double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
+                    if (Math.abs(errX) < 55 && 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; }
 
-        // 双挂模式：检查17号
+                // ---- 17号 ----
-        if (isDoublePayload && target17 != null && ultHeight <= 4) {
+                ArucoMarker marker17d = markerMap.get(17);
-            Mat corner = target17.getConner();
+                if (marker17d != null) {
-            double cx = 0, cy = 0;
+                    Mat corner = marker17d.getConner();
-            for (int i = 0; i < 4; i++) {
+                    double cx = 0, cy = 0;
-                double[] p = corner.get(0, i);
+                    for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
-                cx += p[0];
+                    cx /= 4.0; cy /= 4.0;
-                cy += p[1];
+                    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 (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; }
+
+                // ---- 19号 ----
+                ArucoMarker marker19d = markerMap.get(19);
+                if (marker19d != null) {
+                    Mat corner = marker19d.getConner();
+                    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 errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
+                    if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[19]++; } else { landingCounters[19] = 0; }
+                    if (landingCounters[19] >= 2 && !foundLanding) { foundLanding = true; landingId = 19; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
+                } else { landingCounters[19] = 0; }
+
+                // ---- 16号 ----
+                ArucoMarker marker16d = markerMap.get(16);
+                if (marker16d != null) {
+                    Mat corner = marker16d.getConner();
+                    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 +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 (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; }
+
+                // ---- 18号 ----
+                ArucoMarker marker18d = markerMap.get(18);
+                if (marker18d != null) {
+                    Mat corner = marker18d.getConner();
+                    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 - 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 (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; }
+
+                // ---- 20号 ----
+                ArucoMarker marker20d = markerMap.get(20);
+                if (marker20d != null) {
+                    Mat corner = marker20d.getConner();
+                    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 errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
+                    if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[20]++; } else { landingCounters[20] = 0; }
+                    if (landingCounters[20] >= 2 && !foundLanding) { foundLanding = true; landingId = 20; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
+                } else { landingCounters[20] = 0; }
             }
-            cx /= 4.0; cy /= 4.0;
-            singleErrX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
-            singleErrY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
 
-            if (Math.abs(singleErrX) < 60 && Math.abs(singleErrY) < 60) {
+            LogUtil.log(TAG_LOG, "【计数器】13=" + landingCounters[13] + " 14=" + landingCounters[14] + " 15=" + landingCounters[15] + " 16=" + landingCounters[16] + " 17=" + landingCounters[17] + " 18=" + landingCounters[18]+ " 19=" + landingCounters[19]+ " 20=" + landingCounters[20]);
-                isSpecialLanding = true;
-                offsetX = singleErrX;
-                offsetY = singleErrY;
-                absX = Math.abs(singleErrX);
-                absY = Math.abs(singleErrY);
-            }
-        }
 
-        // 连续帧判断
+            // 触发降落
-        int currentCondition = 0;
+            if (foundLanding) {
-        if (isSpecialLanding) {
+                LogUtil.log(TAG_LOG, "【降落触发】ID=" + landingId + " 连续2帧满足条件");
-            currentCondition = 1;
+                DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 0f);
-        } else if (ultHeight <= 4 && absX < 60 && absY < 60 && validCount >= 8) {
-            currentCondition = 2;
-        }
-
-        if (currentCondition == 0 || currentCondition != lastLandingCondition) {
-            if (consecutiveTriggerCount > 0) {
-                consecutiveTriggerCount = 0;
-                LogUtil.log(TAG_LOG, "【计数器清零】条件变化 last=" + lastLandingCondition + " curr=" + currentCondition);
-            }
-            lastLandingCondition = currentCondition;
-        }
-
-        if (currentCondition > 0) {
-            consecutiveTriggerCount++;
-            if (consecutiveTriggerCount >= TRIGGER_FRAME_THRESHOLD) {
                 startFastStick = true;
-                consecutiveTriggerCount = 0;
+                for (int i = 0; i < landingCounters.length; i++) { landingCounters[i] = 0; }
-                lastLandingCondition = 0;
-
-                LogUtil.log(TAG_LOG, currentCondition == 1 ?
-                        "【降落触发】单双挂精准条件满足" :
-                        "【降落触发】几何中心对准，码数量=" + validCount);
-
                 handler.postDelayed(() -> handler.post(runnable), 300);
                 return;
             }
+
+            // 第二帧结束，没有触发 → 重置
+            counterRound++;
+            if (counterRound >= 2) {
+                counterRound = 0;
+                for (int i = 0; i < landingCounters.length; i++) { landingCounters[i] = 0; }
+                LogUtil.log(TAG_LOG, "【计数器重置】2帧未触发，重新从0开始");
+            }
         }
 
+
         double outX = 0, outY = 0, outZ = 0;
 
         // 分段PID控制（原有逻辑保持不变）
@@ -943,12 +1067,16 @@ public class Aprongim {
     public void setDetectedBigMarkers() {
         startFastStick = false;
         isStartAruco = false;
-        consecutiveTriggerCount = 0;
         frameCounter = 0;
         // 【关键】重置旋转标志，下次降落重新用6号旋转
         isYawAligned = false;
+        Apronmixvalue.getInstance().setIsaglinetrue(false);
         currentLandingMode = 0;
-        lastLandingCondition = 0;
+        // 重置分支计数器
+        counterRound = 0;
+        for (int i = 0; i < landingCounters.length; i++) {
+            landingCounters[i] = 0;
+        }
     }
 
     private int handlerCallbackCount = 0;

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

@@ -177,14 +177,17 @@ public class ApronArucoDetectPort {
         if(isDoublePayload){
             if (ultHeight <=5)
             {
-                LENS_OFFSET_X=-180;
+                LENS_OFFSET_X=-80;
                 LENS_OFFSET_Y=120;
             }else if(ultHeight<10){
-                LENS_OFFSET_X=-120;
+                LENS_OFFSET_X=-70;
                 LENS_OFFSET_Y=80;
             } else if (ultHeight<20) {
-                LENS_OFFSET_X=-80;
+                LENS_OFFSET_X=-60;
                 LENS_OFFSET_Y=60;
+            }else if(ultHeight<30){
+                LENS_OFFSET_X=-40;
+                LENS_OFFSET_Y=20;
             }
         }else{
             if (ultHeight <=5)
@@ -561,7 +564,7 @@ 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 +220.0;
+                    double errX = cx - imgWidth / 2.0 +240.0;
                     double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
                     if (Math.abs(errX) < 55 && 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); }
@@ -600,7 +603,7 @@ 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 +220.0;
+                    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 (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); }
@@ -659,8 +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/1800);
+            pidControlX.setInputFilterAll((float)offsetX/1750);
-            pidControlY.setInputFilterAll(-(float)offsetY/1800);
+            pidControlY.setInputFilterAll(-(float)offsetY/1750);
             if (pidControlX.get_pid()<0){
                 if (pidControlX.get_pid()<-0.125){
                     outX=absX<120?0:-0.125;

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

@@ -6,50 +6,57 @@ import android.content.SharedPreferences;
 import java.util.Calendar;
 
 /**
- * SharePreference基类 
+ * SharePreference基类
- * 这里只写了对最常用的三种基本数据类型的操作。 
+ * 这里只写了对最常用的三种基本数据类型的操作。
- */  
+ */
 public class BasePreference {
 
     private Context context;
     private SharedPreferences sp;
     private SharedPreferences.Editor editor;
     private String FILE_NAME = "userInfo";
-  
+
     protected BasePreference(Context context) {
-        this.context = context;  
+        this.context = context;
         sp = context.getSharedPreferences(FILE_NAME, Context.MODE_PRIVATE);
     }
 
     protected void userLoginOut(){
         sp.edit().clear().commit();
     }
-  
+
     protected void setString(String key, String value) {
         sp.edit().putString(key, value).apply();
-    }  
+    }
-  
+
     protected String getString(String key) {
-        return sp.getString(key, null);  
+        return sp.getString(key, null);
-    }  
+    }
-  
+
     protected void setBoolean(String key, boolean value) {
-        sp.edit().putBoolean(key, value).commit();  
+        sp.edit().putBoolean(key, value).commit();
-    }  
+    }
-  
+
     protected boolean getBoolean(String key) {
         return sp.getBoolean(key, false);
-    }  
+    }
-  
+
     protected void setInt(String key, int value) {
-        sp.edit().putInt(key, value).apply();  
+        sp.edit().putInt(key, value).apply();
-    }  
+    }
-  
+
     protected int getInt(String key) {
-        return sp.getInt(key, 0);  
+        return sp.getInt(key, 0);
+    }
+
+    /**
+     * 同步写入（commit），适用于重启前需要确保数据落盘的场景
+     */
+    protected void setIntCommit(String key, int value) {
+        sp.edit().putInt(key, value).commit();
     }
 
     protected int getYearInt(String key){
         return sp.getInt(key, Calendar.getInstance().get(Calendar.YEAR));
     }
-}  
+}

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

@@ -451,7 +451,7 @@ public class PreferenceUtils extends BasePreference {
     }
 
     public void setRestartAMSTimes(int restartAMSTimes) {
-        setInt(RESTART_AMS_TIMES, restartAMSTimes);
+        setIntCommit(RESTART_AMS_TIMES, restartAMSTimes);
     }
 
     public String getAttitudeHead() {

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

@@ -126,6 +126,14 @@ public class XTtsPcmGenerator {
             }
         }
 
+        // 额外等待 500ms，确保回调线程的最后一批 PCM 数据写入完成
+        LogUtil.log(TAG, "等待回调线程完成数据写入");
+        try {
+            Thread.sleep(500);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+
         // 关闭资源
         close();
 

app/src/main/java/com/aros/apron/xclog/CrashHandler.java

@@ -4,6 +4,8 @@ import java.io.PrintWriter;
 import java.io.StringWriter;
 import java.io.Writer;
 
+import com.aros.apron.tools.LogUtil;
+
 /**
  * Date: 2016-12-06
  * Time: 17:17
@@ -40,6 +42,7 @@ public class CrashHandler implements Thread.UncaughtExceptionHandler {
         printWriter.close();
         String stringBuilder = "------Crash------\n" +
                 writer.toString();
+        LogUtil.log(TAG, stringBuilder);
         XcFileLog.getInstace().e(TAG, stringBuilder);
         //如果处理了，让主程序继续运行3秒再退出，保证异步的写操作能及时完成
 //        try {