.gitignore

@@ -1,67 +1,26 @@
-<<<<<<< HEAD
-# ----------- Gradle / 构建产物 -----------
+# Android 构建产物（不上传）
 .gradle/
+.idea/
+app/build/
+*/build/
 build/
-*.apk
-*.aab
-
-# ----------- 本地密钥 / 环境文件 -----------
-local.properties
-*.jks
-*.keystore
-google-services.json
-
-# ----------- IDEA / AS 缓存 & 个人配置 -----------
-.idea/caches/
-.idea/libraries/
-.idea/workspace.xml
-.idea/tasks.xml
-.idea/navEditor.xml
-.idea/assetWizardSettings.xml
-*.iml
-
-# ----------- OS 垃圾 -----------
-.DS_Store
-Thumbs.db
-
-# ----------- NDK / 外部构建缓存 -----------
-.externalNativeBuild
-.cxx
-*.hprof
-=======
-# ---> Android
-# Gradle files
-.gradle/
-build/
-
-# Local configuration file (sdk path, etc)
-local.properties
-
-# Log/OS Files
-*.log
-
-# Android Studio generated files and folders
 captures/
 .externalNativeBuild/
 .cxx/
 *.apk
-output.json
+*.aab
+*.dex
+local.properties
+*.log
 
-# IntelliJ
-*.iml
-.idea/
-misc.xml
-deploymentTargetDropDown.xml
-render.experimental.xml
+# 系统文件
+.DS_Store
+Thumbs.db
 
-# Keystore files
-*.jks
-*.keystore
-
-# Google Services (e.g. APIs or Firebase)
-google-services.json
-
-# Android Profiling
-*.hprof
-
->>>>>>> 91bdec4aa6da285c4dd9a861e3b748515542f0b4
+# 允许上传的（源码+配置）
+!app/src/
+!build.gradle
+!settings.gradle
+!gradle/
+!gradlew
+!gradlew.bat

.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

.idea/.name

@@ -1 +0,0 @@
-MSDKSample

.idea/compiler.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="17" />
-  </component>
-</project>

.idea/gradle.xml

@@ -1,21 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="GradleMigrationSettings" migrationVersion="1" />
-  <component name="GradleSettings">
-    <option name="linkedExternalProjectsSettings">
-      <GradleProjectSettings>
-        <option name="testRunner" value="GRADLE" />
-        <option name="distributionType" value="DEFAULT_WRAPPED" />
-        <option name="externalProjectPath" value="$PROJECT_DIR$" />
-        <option name="gradleJvm" value="17" />
-        <option name="modules">
-          <set>
-            <option value="$PROJECT_DIR$" />
-            <option value="$PROJECT_DIR$/android-sdk-v5-uxsdk" />
-            <option value="$PROJECT_DIR$/app" />
-          </set>
-        </option>
-      </GradleProjectSettings>
-    </option>
-  </component>
-</project>

.idea/jarRepositories.xml

@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="RemoteRepositoriesConfiguration">
-    <remote-repository>
-      <option name="id" value="central" />
-      <option name="name" value="Maven Central repository" />
-      <option name="url" value="https://repo1.maven.org/maven2" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="jboss.community" />
-      <option name="name" value="JBoss Community repository" />
-      <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="MavenRepo" />
-      <option name="name" value="MavenRepo" />
-      <option name="url" value="https://repo.maven.apache.org/maven2/" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="BintrayJCenter" />
-      <option name="name" value="BintrayJCenter" />
-      <option name="url" value="https://jcenter.bintray.com/" />
-    </remote-repository>
-    <remote-repository>
-      <option name="id" value="Google" />
-      <option name="name" value="Google" />
-      <option name="url" value="https://dl.google.com/dl/android/maven2/" />
-    </remote-repository>
-  </component>
-</project>

.idea/kotlinc.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="KotlinJpsPluginSettings">
-    <option name="version" value="1.7.21" />
-  </component>
-</project>

.idea/misc.xml

@@ -1,9 +0,0 @@
-<project version="4">
-  <component name="ExternalStorageConfigurationManager" enabled="true" />
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="17" project-jdk-type="JavaSDK">
-    <output url="file://$PROJECT_DIR$/build/classes" />
-  </component>
-  <component name="ProjectType">
-    <option name="id" value="Android" />
-  </component>
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
-  </component>
-</project>

README.md

@@ -1,3 +0,0 @@
-# makcar
-
-马克图姆小车

android-sdk-v5-uxsdk/build.gradle

@@ -1,14 +1,15 @@
 apply plugin: 'com.android.library'
 apply plugin: 'kotlin-android'
+apply plugin: 'kotlin-android-extensions'
 apply plugin: 'kotlin-kapt'
 
 android {
-    compileSdkVersion Integer.parseInt(project.ANDROID_COMPILE_SDK_VERSION)
+    compileSdkVersion 32
 
     resourcePrefix "uxsdk_"
     defaultConfig {
-        minSdkVersion Integer.parseInt(project.ANDROID_MIN_SDK_VERSION)
-        targetSdkVersion Integer.parseInt(project.ANDROID_TARGET_SDK_VERSION)
+        minSdkVersion 24
+        targetSdkVersion 32
         versionCode 1
         versionName "1.0"
     }
@@ -22,49 +23,50 @@ android {
         jvmTarget = JavaVersion.VERSION_1_8
         freeCompilerArgs += ["-Xjvm-default=all"]
     }
-
     buildFeatures {
         viewBinding true
     }
 }
 
 dependencies {
-    implementation deps.annotation
-    implementation deps.appcompat
-    implementation deps.multidex
-    implementation deps.legacySupport
-    implementation deps.recyclerview
-    implementation deps.okio
-    implementation deps.wire
-    implementation deps.constraintLayout
-    implementation deps.lifecycleJava8
-    implementation deps.lifecycleRuntime
-    implementation deps.lifecycleProcess
-    implementation deps.media
-    implementation deps.kotlinLib
-    implementation deps.ktxCore
-    implementation deps.rx3Android
-    implementation deps.wpmzSdk
-    implementation deps.rx3Kt
-    implementation deps.lottie
-    implementation deps.cardview
-    implementation deps.mikepenzCommunityMaterial
-    implementation deps.mikepenzGoogleMaterial
-    implementation deps.mikepenzIconicsViews
-    implementation deps.mikepenzIconicsCore
-    implementation deps.mikepenzIonicons
-    implementation deps.material
+    implementation 'androidx.annotation:annotation:1.1.0'
+    implementation 'androidx.appcompat:appcompat:1.3.1'
+    implementation 'androidx.multidex:multidex:2.0.1'
+    implementation 'androidx.legacy:legacy-support-v4:1.0.0'
+    implementation 'androidx.recyclerview:recyclerview:1.1.0'
+    implementation 'com.squareup.okio:okio:1.17.2'
+    implementation 'com.squareup.wire:wire-runtime:2.2.0'
+    implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
+    implementation 'androidx.lifecycle:lifecycle-common-java8:2.3.1'
+    implementation 'androidx.lifecycle:lifecycle-runtime:2.3.1'
+    implementation 'androidx.lifecycle:lifecycle-process:2.3.1'
+    implementation 'androidx.media:media:1.0.0'
+//    implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$KOTLIN_VERSION"
+    implementation "androidx.core:core-ktx:1.3.2"
+    implementation 'io.reactivex.rxjava3:rxandroid:3.0.0'
+    implementation 'io.reactivex.rxjava3:rxkotlin:3.0.0'
 
-    api deps.maplibreTurf
-    api deps.maplibreSdk
+    implementation 'com.dji:wpmzsdk:1.0.1.7'
+    implementation 'io.reactivex.rxjava2:rxjava:2.2.4'
+    implementation 'com.airbnb.android:lottie:3.3.1'//RTK扫描页中使用，用于实现动画效果
+    implementation 'androidx.cardview:cardview:1.0.0'//PopoverView中使用
+    implementation "com.mikepenz:community-material-typeface:3.5.95.1-kotlin@aar"
+    implementation 'com.mikepenz:google-material-typeface:3.0.1.4.original-kotlin@aar'
+    implementation 'com.mikepenz:iconics-views:4.0.2@aar'
+    implementation 'com.mikepenz:iconics-core:4.0.2@aar'
+    implementation  'com.mikepenz:ionicons-typeface:2.0.1.5-kotlin@aar'
+    implementation 'com.google.android.material:material:1.0.0'//AvoidanceShortcutWidget使用
+
+    api 'org.maplibre.gl:android-sdk-turf:5.9.1'
+    api 'org.maplibre.gl:android-sdk:10.3.1'
 
 
-    api deps.playservicesplaces
-    api deps.playservicesmaps
-    api deps.playserviceslocation
-    api deps.playservicesbase
+    api 'com.google.android.gms:play-services-places:16.0.0'
+    api  'com.google.android.gms:play-services-maps:16.0.0'
+    api 'com.google.android.gms:play-services-location:16.0.0'
+    api 'com.google.android.gms:play-services-base:16.0.0'
 
-    compileOnly deps.aircraftProvided
-    implementation deps.aircraft
+    compileOnly "com.dji:dji-sdk-v5-aircraft-provided:5.15.0"
+    compileOnly "com.dji:dji-sdk-v5-aircraft:5.15.0"
 
 }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/cameracore/widget/cameracapture/CameraCaptureWidget.java

@@ -169,7 +169,7 @@ public class CameraCaptureWidget extends ConstraintLayoutWidget<Object> implemen
         widgetMap.put(cameraMode, view);
         view.setVisibility(INVISIBLE);
         addView(view);
-        ConstraintLayout.LayoutParams lp = new Constraints.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT);
+        LayoutParams lp = new Constraints.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT);
         view.setLayoutParams(lp);
     }
 

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/cameracore/widget/cameracapture/shootphoto/ShootPhotoWidgetModel.java

@@ -336,7 +336,7 @@ public class ShootPhotoWidgetModel extends WidgetModel implements ICameraIndex {
 
     private boolean isSupportShootPhoto(){
         CameraType cameraType = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.KeyCameraType ,cameraIndex) ,CameraType.NOT_SUPPORTED);
-        return cameraType == CameraType.M3T || cameraType == CameraType.M3E || cameraType == CameraType.M3TA || cameraType == CameraType.M3M || cameraType == CameraType.ZENMUSE_H20T;
+        return cameraType == CameraType.M3T || cameraType == CameraType.M3E || cameraType == CameraType.M3M || cameraType == CameraType.ZENMUSE_H20T;
     }
 
     //region Helpers

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/cameracore/widget/fpvinteraction/FPVInteractionWidget.java

@@ -228,7 +228,7 @@ public class FPVInteractionWidget extends FrameLayoutWidget<Object> implements V
                     addDisposable(Flowable.combineLatest(widgetModel.getControlMode(), widgetModel.isAeLocked(), Pair::new)
                             .firstOrError()
                             .observeOn(SchedulerProvider.ui())
-                            .subscribe((Pair<SettingDefinitions.ControlMode, Boolean> values) -> updateTarget(values.first, values.second, targetX, targetY),
+                            .subscribe((Pair<ControlMode, Boolean> values) -> updateTarget(values.first, values.second, targetX, targetY),
                                     UxErrorHandle.logErrorConsumer(TAG, "Update Target: ")));
                 }
                 break;

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/CompassCalibrationDialog.java

@@ -80,7 +80,7 @@ public class CompassCalibrationDialog extends BaseDialog implements View.OnClick
         initialize(context);
     }
 
-    protected CompassCalibrationDialog(@NonNull Context context, boolean cancelable, @Nullable DialogInterface.OnCancelListener cancelListener) {
+    protected CompassCalibrationDialog(@NonNull Context context, boolean cancelable, @Nullable OnCancelListener cancelListener) {
         super(context, cancelable, cancelListener);
         initialize(context);
     }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/DJISDKModel.java

@@ -42,7 +42,7 @@ public class DJISDKModel {
     }
 
     public static DJISDKModel getInstance() {
-        return DJISDKModel.SingletonHolder.instance;
+        return SingletonHolder.instance;
     }
 
     /**

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/TabModeWidget.java

@@ -86,7 +86,7 @@ public class TabModeWidget extends RoundedLinearLayout implements View.OnClickLi
             addView(tab);
 
             if (mFixedSize) {
-                LinearLayout.LayoutParams params = (LinearLayout.LayoutParams)tab.getLayoutParams();
+                LayoutParams params = (LayoutParams)tab.getLayoutParams();
                 if (params != null) {
                     params.weight = 1;
                     params.width = 0;

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/charts/gesture/PreviewChartTouchHandler.java

@@ -16,7 +16,7 @@ public class PreviewChartTouchHandler extends ChartTouchHandler {
         this.isValueSelectionEnabled = false;
     }
 
-    protected class PreviewChartGestureListener extends ChartTouchHandler.ChartGestureListener {
+    protected class PreviewChartGestureListener extends ChartGestureListener {
         protected PreviewChartGestureListener() {
             super();
         }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/charts/model/SelectedValue.java

@@ -6,12 +6,12 @@ public class SelectedValue {
     private SelectedValueType type;
 
     public SelectedValue() {
-        this.type = SelectedValue.SelectedValueType.NONE;
+        this.type = SelectedValueType.NONE;
         this.clear();
     }
 
     public SelectedValue(int firstIndex, int secondIndex, SelectedValueType type) {
-        this.type = SelectedValue.SelectedValueType.NONE;
+        this.type = SelectedValueType.NONE;
         this.set(firstIndex, secondIndex, type);
     }
 
@@ -21,7 +21,7 @@ public class SelectedValue {
         if (null != type) {
             this.type = type;
         } else {
-            this.type = SelectedValue.SelectedValueType.NONE;
+            this.type = SelectedValueType.NONE;
         }
 
     }
@@ -33,7 +33,7 @@ public class SelectedValue {
     }
 
     public void clear() {
-        this.set(Integer.MIN_VALUE, Integer.MIN_VALUE, SelectedValue.SelectedValueType.NONE);
+        this.set(Integer.MIN_VALUE, Integer.MIN_VALUE, SelectedValueType.NONE);
     }
 
     public boolean isSet() {

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/charts/model/Viewport.java

@@ -8,7 +8,7 @@ public class Viewport implements Parcelable {
     public float top;
     public float right;
     public float bottom;
-    public static final Parcelable.Creator<Viewport> CREATOR = new Parcelable.Creator<Viewport>() {
+    public static final Creator<Viewport> CREATOR = new Creator<Viewport>() {
         public Viewport createFromParcel(Parcel in) {
             Viewport v = new Viewport();
             v.readFromParcel(in);

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/communication/CameraKeys.java

@@ -0,0 +1,37 @@
+/*
+ * Copyright (c) 2018-2020 DJI
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+package dji.v5.ux.core.communication;
+
+/**
+ * Class containing all UX keys related to camera functions
+ */
+public final class CameraKeys extends UXKeys {
+
+    @UXParamKey(type = Integer.class, updateType = UpdateType.ON_CHANGE)
+    public static final String PEAK_THRESHOLD = "PeakThreshold";
+
+    private CameraKeys() {
+        super();
+    }
+}

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/communication/FlatStore.java

@@ -39,7 +39,7 @@ public class FlatStore {
     }
 
     public static FlatStore getInstance() {
-        return FlatStore.SingletonHolder.instance;
+        return SingletonHolder.instance;
     }
 
     /**

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/communication/ObservableInMemoryKeyedStore.java

@@ -57,7 +57,7 @@ public class ObservableInMemoryKeyedStore implements ObservableKeyedStore {
     }
 
     public static ObservableInMemoryKeyedStore getInstance() {
-        return ObservableInMemoryKeyedStore.SingletonHolder.instance;
+        return SingletonHolder.instance;
     }
 
     /**

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/extension/ViewExtensions.kt

@@ -175,7 +175,7 @@ var ImageView.imageDrawable: Drawable?
  * @param dialogClickListener
  */
 fun View.showAlertDialog(
-    @StyleRes dialogTheme: Int = R.style.Theme_AppCompat_Dialog,
+    @StyleRes dialogTheme: Int = com.airbnb.lottie.R.style.Theme_AppCompat_Dialog,
     title: String? = getString(R.string.uxsdk_alert),
     icon: Drawable? = null,
     message: String? = null,
@@ -206,7 +206,7 @@ fun View.showAlertDialog(
  * @param dialogClickListener
  */
 fun View.showConfirmationDialog(
-    @StyleRes dialogTheme: Int = R.style.Theme_AppCompat_Dialog,
+    @StyleRes dialogTheme: Int = com.airbnb.lottie.R.style.Theme_AppCompat_Dialog,
     title: String? = getString(R.string.uxsdk_alert),
     icon: Drawable? = null,
     message: String? = null,

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/ui/RangeSeekBar.java

@@ -91,17 +91,17 @@ public class RangeSeekBar extends View {
         // 高度
         int heightNeeded = mThumbSize;
 
-        int heightSize = View.MeasureSpec.getSize(heightMeasureSpec);
-        int heightMode = View.MeasureSpec.getMode(heightMeasureSpec);
+        int heightSize = MeasureSpec.getSize(heightMeasureSpec);
+        int heightMode = MeasureSpec.getMode(heightMeasureSpec);
 
-        if (heightMode == View.MeasureSpec.EXACTLY) {
-            heightMeasureSpec = View.MeasureSpec.makeMeasureSpec(heightSize, View.MeasureSpec.EXACTLY);
-        } else if (heightMode == View.MeasureSpec.AT_MOST) {
-            heightMeasureSpec = View.MeasureSpec.makeMeasureSpec(
-                    heightSize < heightNeeded ? heightSize : heightNeeded, View.MeasureSpec.EXACTLY);
+        if (heightMode == MeasureSpec.EXACTLY) {
+            heightMeasureSpec = MeasureSpec.makeMeasureSpec(heightSize, MeasureSpec.EXACTLY);
+        } else if (heightMode == MeasureSpec.AT_MOST) {
+            heightMeasureSpec = MeasureSpec.makeMeasureSpec(
+                    heightSize < heightNeeded ? heightSize : heightNeeded, MeasureSpec.EXACTLY);
         } else {
-            heightMeasureSpec = View.MeasureSpec.makeMeasureSpec(
-                    heightNeeded, View.MeasureSpec.EXACTLY);
+            heightMeasureSpec = MeasureSpec.makeMeasureSpec(
+                    heightNeeded, MeasureSpec.EXACTLY);
         }
 
         super.onMeasure(widthMeasureSpec, heightMeasureSpec);

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/ui/setting/taplayout/QTabView.java

@@ -66,8 +66,8 @@ public class QTabView extends TabView {
 
     private void initBadge() {
         mBadge = new TextView(mContext);
-        FrameLayout.LayoutParams
-                params2 = new FrameLayout.LayoutParams(FrameLayout.LayoutParams.WRAP_CONTENT, FrameLayout.LayoutParams.WRAP_CONTENT);
+        LayoutParams
+                params2 = new LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT);
         params2.gravity = Gravity.RIGHT | Gravity.TOP;
         params2.setMargins(0, dp2px(5), dp2px(5), 0);
         mBadge.setLayoutParams(params2);
@@ -104,7 +104,7 @@ public class QTabView extends TabView {
         int dp = AndUtil.isTabletDevice(ContextUtil.getContext()) ? 10 : 7;
         mIcon.setPadding(dp2px(dp), dp2px(dp), dp2px(dp), dp2px(dp));
         mIcon.setScaleType(ImageView.ScaleType.FIT_CENTER);
-        FrameLayout.LayoutParams params = new FrameLayout.LayoutParams(getResources().getDimensionPixelSize(R.dimen.uxsdk_38_dp),
+        LayoutParams params = new LayoutParams(getResources().getDimensionPixelSize(R.dimen.uxsdk_38_dp),
                 getResources().getDimensionPixelSize(R.dimen.uxsdk_38_dp));
         mIcon.setLayoutParams(params);
         if (mTabIcon.mNormalIcon != 0) {
@@ -119,15 +119,15 @@ public class QTabView extends TabView {
     }
 
     private void setBadgeImp(int num) {
-        FrameLayout.LayoutParams lp = (FrameLayout.LayoutParams) mBadge.getLayoutParams();
+        LayoutParams lp = (LayoutParams) mBadge.getLayoutParams();
         if (num <= 9) {
             lp.width = dp2px(12);
             lp.height = dp2px(12);
             gd.setShape(GradientDrawable.OVAL);
             mBadge.setPadding(0, 0, 0, 0);
         } else {
-            lp.width = FrameLayout.LayoutParams.WRAP_CONTENT;
-            lp.height = FrameLayout.LayoutParams.WRAP_CONTENT;
+            lp.width = LayoutParams.WRAP_CONTENT;
+            lp.height = LayoutParams.WRAP_CONTENT;
             mBadge.setPadding(dp2px(3), 0, dp2px(3), 0);
             gd.setShape(GradientDrawable.RECTANGLE);
             gd.setCornerRadius(dp2px(6));
@@ -291,8 +291,8 @@ public class QTabView extends TabView {
             public Builder() {
                 mSelectedIcon = 0;
                 mNormalIcon = 0;
-                mIconWidth = FrameLayout.LayoutParams.WRAP_CONTENT;
-                mIconHeight = FrameLayout.LayoutParams.WRAP_CONTENT;
+                mIconWidth = LayoutParams.WRAP_CONTENT;
+                mIconHeight = LayoutParams.WRAP_CONTENT;
                 mIconGravity = Gravity.LEFT;
                 mBackground = 0;
             }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/util/CameraUtil.java

@@ -97,7 +97,6 @@ public final class CameraUtil {
         CAMERA_TYPE_STRING_MAP.put(CameraType.M30T, "M30T");
         CAMERA_TYPE_STRING_MAP.put(CameraType.M3E, "M3E");
         CAMERA_TYPE_STRING_MAP.put(CameraType.M3T, "M3T");
-        CAMERA_TYPE_STRING_MAP.put(CameraType.M3TA, "M3TA");
         CAMERA_TYPE_STRING_MAP.put(CameraType.M3M, "M3M");
         CAMERA_TYPE_STRING_MAP.put(CameraType.ZENMUSE_L1, "L1");
         CAMERA_TYPE_STRING_MAP.put(CameraType.ZENMUSE_P1, "P1");

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/util/CommonUtils.java

@@ -0,0 +1,48 @@
+//package dji.v5.ux.core.util;
+//
+//import java.util.ArrayList;
+//import java.util.List;
+//
+//import dji.sdk.keyvalue.value.common.ComponentIndexType;
+//
+///**
+// * Class Description
+// *
+// * @author Hoker
+// * @date 2021/11/23
+// * <p>
+// * Copyright (c) 2021, DJI All Rights Reserved.
+// */
+//public class CommonUtils {
+//
+//    public static List<Integer> toList(int [] ints){
+//        List<Integer> list = new ArrayList<>();
+//        if (ints == null){
+//            return list;
+//        }
+//        for (int i : ints){
+//            list.add(i);
+//        }
+//        return list;
+//    }
+//
+//    public static SettingDefinitions.GimbalIndex getGimbalIndex(ComponentIndexType devicePosition) {
+//        if (devicePosition == null){
+//            return SettingDefinitions.GimbalIndex.UNKONWN;
+//        }
+//        switch (devicePosition) {
+//            case LEFT_OR_MAIN:
+//                return SettingDefinitions.GimbalIndex.PORT;
+//            case RIGHT:
+//                return SettingDefinitions.GimbalIndex.STARBOARD;
+//            case UP:
+//                return SettingDefinitions.GimbalIndex.TOP;
+//            default:
+//                return SettingDefinitions.GimbalIndex.UNKONWN;
+//        }
+//    }
+//
+//    private CommonUtils() {
+//
+//    }
+//}

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/util/MobileGPSLocationUtil.java

@@ -86,7 +86,7 @@ public class MobileGPSLocationUtil {
     }
 
     public static MobileGPSLocationUtil getInstance() {
-        return MobileGPSLocationUtil.LazyHolder.INSTANCE;
+        return LazyHolder.INSTANCE;
     }
 
     private MobileGPSLocationUtil() {

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/battery/BatteryGroupInfoWidget.java

@@ -107,7 +107,7 @@ public class BatteryGroupInfoWidget extends ConstraintLayoutWidget<Object> {
         batteryChargeRemaining.setText(getResources().getString(R.string.uxsdk_battery_percent, percent));
     }
 
-    public void setOnDetailOnClickListener(@Nullable View.OnClickListener listener) {
+    public void setOnDetailOnClickListener(@Nullable OnClickListener listener) {
         batteryDetail.setVisibility(listener == null ? GONE : VISIBLE);
         batteryDetail.setOnClickListener(listener);
     }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/flightmode/FlightModeWidget.kt

@@ -190,7 +190,11 @@ open class FlightModeWidget @JvmOverloads constructor(
     //region Reactions to model
     private fun updateUI(flightModeState: FlightModeState) {
         if (flightModeState is FlightModeState.FlightModeUpdated) {
-            flightModeTextView.text = flightModeState.flightModeString
+            if (flightModeState.flightModeString.equals("P-GPS")){
+                flightModeTextView.text = ""
+            }else{
+                flightModeTextView.text = flightModeState.flightModeString
+            }
             iconImageView.setColorFilter(connectedStateIconColor, PorterDuff.Mode.SRC_IN)
             flightModeTextView.setTextColor(connectedStateTextColor)
             widgetStateDataProcessor.onNext(FlightModeUpdated(flightModeState.flightModeString))

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/fpv/FPVWidget.kt

@@ -362,7 +362,7 @@ open class FPVWidget @JvmOverloads constructor(
     private fun updateCameraName(cameraName: String) {
         cameraNameTextView.text = cameraName
         if (cameraName.isNotEmpty() && isCameraSourceNameVisible) {
-            cameraNameTextView.visibility = View.VISIBLE
+            cameraNameTextView.visibility = View.INVISIBLE
         } else {
             cameraNameTextView.visibility = View.INVISIBLE
         }
@@ -371,7 +371,7 @@ open class FPVWidget @JvmOverloads constructor(
     private fun updateCameraSide(cameraSide: String) {
         cameraSideTextView.text = cameraSide
         if (cameraSide.isNotEmpty() && isCameraSourceSideVisible) {
-            cameraSideTextView.visibility = View.VISIBLE
+            cameraSideTextView.visibility = View.INVISIBLE
         } else {
             cameraSideTextView.visibility = View.INVISIBLE
         }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/systemstatus/SystemStatusWidget.kt

@@ -190,12 +190,19 @@ open class SystemStatusWidget @JvmOverloads constructor(
     }
 
     private fun updateMessage(messageData: SystemStatusWidgetModel.WarningStatusMessageData) {
-        systemStatusTextView.text =
-            if (isMaxHeightMessage(messageData.message)) {
-                messageData.message + " - " + formatMaxHeight(messageData.maxHeight, messageData.unitType)
-            } else {
+        if (isMaxHeightMessage(messageData.message)){
+            systemStatusTextView.text =messageData.message + " - " + formatMaxHeight(messageData.maxHeight, messageData.unitType)
+        }else{
+            val str:String = if (messageData.message.contains("(GPS)")){
+                messageData.message.replace("(GPS)", "").trim()
+            }else if(messageData.message.contains("（GPS）")){
+                messageData.message.replace("（GPS）", "").trim()
+            }else{
                 messageData.message
             }
+            systemStatusTextView.text =str
+
+        }
     }
 
     private fun isMaxHeightMessage(text: String?): Boolean {

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/visualcamera/zoom/FocalZoomWidget.java

@@ -33,7 +33,7 @@ public class FocalZoomWidget extends ConstraintLayoutWidget<Object> implements I
         int widthMeasureSpec = (int) getResources().getDimension(R.dimen.uxsdk_42_dp);
         int heightMeasureSpec = (int) getResources().getDimension(R.dimen.uxsdk_250_dp);
         focalZoomWidgetView = new FocalZoomWidgetView(context, attrs, defStyleAttr);
-        ConstraintLayout.LayoutParams layoutParams = new ConstraintLayout.LayoutParams(widthMeasureSpec, heightMeasureSpec);
+        LayoutParams layoutParams = new LayoutParams(widthMeasureSpec, heightMeasureSpec);
         this.addView(focalZoomWidgetView, layoutParams);
     }
 

app/.gitignore

@@ -1 +0,0 @@
-/build

app/build.gradle

@@ -1,100 +1,232 @@
-apply plugin: 'com.android.application'
-apply plugin: 'kotlin-android'
-apply plugin: 'kotlin-kapt'
+plugins {
+    id 'com.android.application'
+//    id 'com.google.protobuf'
+    id 'org.jetbrains.kotlin.android'
+}
 
 android {
-    namespace 'com.example.makcar'
-    compileSdk 34
+    compileSdk 32
 
     defaultConfig {
-        applicationId "com.example.makcar"
-        minSdk 27
-        targetSdk 33
-        versionCode 1
-        versionName "1.0"
-
+        applicationId "com.aros.apron"
+        minSdk 24
+        targetSdk 29
+        versionCode 46
+        versionName "v1.9.1"
+        multiDexEnabled true
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         ndk {
-            abiFilters 'arm64-v8a' // 当前 MSDK 只支持 arm64-v8a 架构
-        }
-        // MSDK 相关的 so 库，加上一下配置
-        packagingOptions {
-            pickFirst 'lib/arm64-v8a/libc++_shared.so'
-            pickFirst 'lib/armeabi-v7a/libc++_shared.so'
-        }
-
-        // MSDK 相关的 so 库，加上一下配置
-        packagingOptions {
-            doNotStrip "*/*/libconstants.so"
-            doNotStrip "*/*/libdji_innertools.so"
-            doNotStrip "*/*/libdjibase.so"
-            doNotStrip "*/*/libDJICSDKCommon.so"
-            doNotStrip "*/*/libDJIFlySafeCore-CSDK.so"
-            doNotStrip "*/*/libdjifs_jni-CSDK.so"
-            doNotStrip "*/*/libDJIRegister.so"
-            doNotStrip "*/*/libdjisdk_jni.so"
-            doNotStrip "*/*/libDJIUpgradeCore.so"
-            doNotStrip "*/*/libDJIUpgradeJNI.so"
-            doNotStrip "*/*/libDJIWaypointV2Core-CSDK.so"
-            doNotStrip "*/*/libdjiwpv2-CSDK.so"
-            doNotStrip "*/*/libFlightRecordEngine.so"
-            doNotStrip "*/*/libvideo-framing.so"
-            doNotStrip "*/*/libwaes.so"
-            doNotStrip "*/*/libagora-rtsa-sdk.so"
-            doNotStrip "*/*/libc++.so"
-            doNotStrip "*/*/libc++_shared.so"
-            doNotStrip "*/*/libmrtc_28181.so"
-            doNotStrip "*/*/libmrtc_agora.so"
-            doNotStrip "*/*/libmrtc_core.so"
-            doNotStrip "*/*/libmrtc_core_jni.so"
-            doNotStrip "*/*/libmrtc_data.so"
-            doNotStrip "*/*/libmrtc_log.so"
-            doNotStrip "*/*/libmrtc_onvif.so"
-            doNotStrip "*/*/libmrtc_rtmp.so"
-            doNotStrip "*/*/libmrtc_rtsp.so"
+            // 设置支持的SO库架构
+//            abiFilters 'armeabi', 'armeabi-v7a', 'arm64-v8a', 'x86', 'x86_64', 'mips', 'mips64'
+            abiFilters 'arm64-v8a'
         }
     }
 
+//    buildTypes {
+//        release {
+//            minifyEnabled false
+//            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+//        }
+//    }
+
     buildTypes {
         release {
-            minifyEnabled false
+            minifyEnabled true      // 是否进行混淆
+            signingConfig signingConfigs.debug
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+            // 混淆文件的位置
+        }
+
+        debug {
+            minifyEnabled true
+            signingConfig signingConfigs.debug
             proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
         }
     }
+    signingConfigs {
+        debug {
+            storeFile file('apron.jks')
+            storePassword "123456"
+            keyAlias "key0"
+            keyPassword "123456"
+        }
+    }
+
+    dexOptions {
+        javaMaxHeapSize "4g"
+    }
+    // 默认 proto 文件目录为 src/main/proto
+    // 若不需要自定义目录，则可不加 sourceSets
+    sourceSets {
+//        main {
+//            proto {
+//                srcDir 'src/main/proto'
+//            }
+//        }
+    }
+
+//    protobuf {
+//        protoc {
+//            artifact = 'com.google.protobuf:protoc:3.17.3'
+//        }
+//
+//        // 默认路径为 build/generated/source/proto
+//        // 该目录下会按 buildType 生成 debug / release 目录
+//        generatedFilesBaseDir = "$projectDir/src/proto"
+//
+//        generateProtoTasks {
+//            all().each { task ->
+//                task.builtins {
+//                    java {
+//                        option "lite"
+////                    outputSubDir = "../" // 能通过该参数将生成文件从 debug / release 目录中移出
+//                    }
+//                }
+//            }
+//        }
+//    }
+//    clean {
+//        delete protobuf.generatedFilesBaseDir
+//    }
+
+    lintOptions {
+        checkReleaseBuilds false
+// Or, if you prefer, you can continue to check for errors in release builds,
+// but continue the build even when errors are found:
+        abortOnError false
+    }
+
+
     compileOptions {
-        sourceCompatibility JavaVersion.VERSION_1_8
-        targetCompatibility JavaVersion.VERSION_1_8
+        sourceCompatibility = JavaVersion.VERSION_1_8
+        targetCompatibility = JavaVersion.VERSION_1_8
     }
     kotlinOptions {
-        jvmTarget = '1.8'
+        jvmTarget = "1.8"
+
+        freeCompilerArgs += [
+                "-Xjvm-default=all",
+        ]
+
+    }
+    packagingOptions {
+        // 因为mrtc库内部使用了NDK的c++_shared的编译参数
+        // 与其他库重复引用了，因此选其中一个即可
+        pickFirst 'lib/arm64-v8a/libc++_shared.so'
+        pickFirst 'lib/armeabi-v7a/libc++_shared.so'
+    }
+
+    packagingOptions {
+        doNotStrip "*/*/libconstants.so"
+        doNotStrip "*/*/libdji_innertools.so"
+        doNotStrip "*/*/libdjibase.so"
+        doNotStrip "*/*/libDJICSDKCommon.so"
+        doNotStrip "*/*/libDJIFlySafeCore-CSDK.so"
+        doNotStrip "*/*/libdjifs_jni-CSDK.so"
+        doNotStrip "*/*/libDJIRegister.so"
+        doNotStrip "*/*/libdjisdk_jni.so"
+        doNotStrip "*/*/libDJIUpgradeCore.so"
+        doNotStrip "*/*/libDJIUpgradeJNI.so"
+        doNotStrip "*/*/libDJIWaypointV2Core-CSDK.so"
+        doNotStrip "*/*/libdjiwpv2-CSDK.so"
+        doNotStrip "*/*/libffmpeg.so"
+        doNotStrip "*/*/libFlightRecordEngine.so"
+        doNotStrip "*/*/libvideo-framing.so"
+        doNotStrip "*/*/libwaes.so"
+        doNotStrip "*/*/libagora-rtsa-sdk.so"
+        doNotStrip "*/*/libc++.so"
+        doNotStrip "*/*/libc++_shared.so"
+        doNotStrip "*/*/libmrtc_28181.so"
+        doNotStrip "*/*/libmrtc_agora.so"
+        doNotStrip "*/*/libmrtc_core.so"
+        doNotStrip "*/*/libmrtc_core_jni.so"
+        doNotStrip "*/*/libmrtc_data.so"
+        doNotStrip "*/*/libmrtc_log.so"
+        doNotStrip "*/*/libmrtc_onvif.so"
+        doNotStrip "*/*/libmrtc_rtmp.so"
+        doNotStrip "*/*/libmrtc_rtsp.so"
     }
     buildFeatures {
         viewBinding true
     }
+    configurations {
+        cleanedAnnotations
+        implementation.exclude group: 'org.jetbrains', module: 'annotations'
+    }
+    namespace 'com.aros.apron'
 }
 
 dependencies {
-    implementation project(":android-sdk-v5-uxsdk")
-    implementation "com.dji:dji-sdk-v5-aircraft:$SDK_VERSION"
-    compileOnly "com.dji:dji-sdk-v5-aircraft-provided:$SDK_VERSION"
+    implementation fileTree(include: ['*.jar', '*.aar'], dir: 'libs')
+    implementation "org.jetbrains.kotlin:kotlin-stdlib:1.7.1"
+    implementation 'androidx.lifecycle:lifecycle-extensions:2.2.0'
+    implementation 'androidx.lifecycle:lifecycle-common-java8:2.3.1'
+    implementation 'androidx.lifecycle:lifecycle-runtime-ktx:2.5.1'
+    implementation 'androidx.lifecycle:lifecycle-viewmodel-ktx:2.5.1'
+    implementation 'androidx.lifecycle:lifecycle-livedata-ktx:2.5.1'
+    implementation 'androidx.lifecycle:lifecycle-process:2.5.1'
+    implementation 'androidx.appcompat:appcompat:1.3.1'
+    implementation "androidx.fragment:fragment-ktx:1.3.3"
 
-    implementation 'androidx.core:core-ktx:1.9.0'
-    implementation 'androidx.appcompat:appcompat:1.6.1'
     implementation 'com.google.android.material:material:1.8.0'
     implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
+    implementation files('libs\\dom4j-2.1.4.jar')
+    implementation project(':opencv')
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.1.5'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1'
+    implementation 'androidx.multidex:multidex:2.0.1'
 
-    implementation("androidx.lifecycle:lifecycle-runtime-ktx:2.6.2")
+    implementation 'com.yanzhenjie:permission:2.0.3'
+    implementation 'com.commonsware.cwac:saferoom.x:1.3.0'
 
-//    implementation platform('org.jetbrains.kotlin:kotlin-bom:1.8.10')
-//    implementation 'org.jetbrains.kotlin:kotlin-stdlib'   // 仅此一句即可
 
-    // 2. 把其他库拖进来的旧 jdk7/jdk8 排除掉
-    configurations.all {
-        exclude group: 'org.jetbrains.kotlin', module: 'kotlin-stdlib-jdk7'
-        exclude group: 'org.jetbrains.kotlin', module: 'kotlin-stdlib-jdk8'
-    }
+    implementation 'com.dji:dji-sdk-v5-aircraft:5.15.0'
+    compileOnly  'com.dji:dji-sdk-v5-aircraft-provided:5.15.0'
+    implementation 'com.dji:dji-sdk-v5-networkImp:5.15.0'
+
+//    implementation 'com.shd:dji-uxsdk:5.9.1'
+
+    implementation 'com.squareup.okio:okio:1.15.0'
+    implementation 'com.squareup.wire:wire-runtime:2.2.0'
+    implementation 'com.airbnb.android:lottie:3.3.1'
+    implementation 'com.iqiyi.xcrash:xcrash-android-lib:3.1.0'
+
+    implementation 'org.eclipse.paho:org.eclipse.paho.client.mqttv3:1.2.0'
+    implementation 'org.eclipse.paho:org.eclipse.paho.android.service:1.1.1'
+    implementation 'org.greenrobot:eventbus:3.1.1'
+    implementation 'com.orhanobut:logger:2.1.1'
+    api 'com.squareup.retrofit2:retrofit:2.9.0'
+    api 'com.squareup.retrofit2:converter-gson:2.9.0'
+    api 'com.squareup.okhttp3:logging-interceptor:5.0.0-alpha.9'
+
+    implementation 'com.google.protobuf:protobuf-javalite:4.0.0-rc-2'
+//    implementation 'com.thoughtworks.xstream:xstream:1.4.20'
+    implementation 'com.tencent.bugly:crashreport:4.0.4'
+    //其中latest.release指代最新Bugly SDK版本号，也可以指定明确的版本号，例如4.0.3
+
+    implementation 'com.amap.api:3dmap:7.3.0'
+    implementation 'com.amap.api:search:7.3.0'
+
+    implementation 'io.reactivex.rxjava3:rxkotlin:3.0.0'
+    implementation 'io.reactivex.rxjava3:rxandroid:3.0.0'
+
+    //H264推流
+//    implementation 'com.github.pedroSG94.RootEncoder:library:2.3.3'
+
+    //amazonaws
+    implementation 'com.amazonaws:aws-android-sdk-s3:2.72.0'
+    implementation 'com.amazonaws:aws-android-sdk-mobile-client:2.72.0'
+
+//    implementation 'io.minio:minio:8.3.7'
+//// 串口
+//    implementation 'com.github.licheedev:Android-SerialPort-API:2.0.0'
+//    // modbus4j
+//    implementation 'com.github.licheedev:modbus4j:v3.0.6-alpha1'
+//    implementation 'com.github.licheedev:Modbus4Android:2.0.2'
+//    implementation 'com.quickbirdstudios:opencv-contrib:4.5.3.0'
+
+    //implementation 'com.quickbirdstudios:opencv-contrib:3.4.5'
+    implementation project(path: ':android-sdk-v5-uxsdk')
 
 }

app/proguard-rules.pro

@@ -1,21 +1,157 @@
-# Add project specific ProGuard rules here.
-# You can control the set of applied configuration files using the
-# proguardFiles setting in build.gradle.
-#
-# For more details, see
-#   http://developer.android.com/guide/developing/tools/proguard.html
+-keepattributes Exceptions,InnerClasses,*Annotation*,Signature,EnclosingMethod
 
-# If your project uses WebView with JS, uncomment the following
-# and specify the fully qualified class name to the JavaScript interface
-# class:
-#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
-#   public *;
-#}
+-dontshrink
+-dontoptimize
+-dontpreverify
+-dontnote
+-ignorewarnings
 
-# Uncomment this to preserve the line number information for
-# debugging stack traces.
-#-keepattributes SourceFile,LineNumberTable
+-keepclassmembers enum * {
+    public static <methods>;
+}
 
-# If you keep the line number information, uncomment this to
-# hide the original source file name.
-#-renamesourcefileattribute SourceFile
+# 避免混淆Annotation、内部类、泛型、匿名类
+-keepattributes *Annotation*,InnerClasses,Signature,EnclosingMethod
+-keep class com.aros.apron.entity.** { *; }
+-keep class com.aros.apron.callback.** { *; }
+# 保持Paho MQTT库的关键类不被混淆
+-keep class org.eclipse.paho.** { *; }
+-keepclassmembers class org.eclipse.paho.** { *; }
+-keepnames class * implements java.io.Serializable
+-keepclassmembers class * implements java.io.Serializable {
+    static final long serialVersionUID;
+    private static final java.io.ObjectStreamField[] serialPersistentFields;
+    !static !transient <fields>;
+    private void writeObject(java.io.ObjectOutputStream);
+    private void readObject(java.io.ObjectInputStream);
+    java.lang.Object writeReplace();
+    java.lang.Object readResolve();
+}
+-keep class * extends android.os.Parcelable {
+    public static final android.os.Parcelable$Creator *;
+}
+-dontwarn com.tencent.bugly.**
+-keep public class com.tencent.bugly.**{*;}
+-keep,allowshrinking class * extends dji.publics.DJIUI.** {
+    public <methods>;
+}
+#加固后的AAR，其内容无法被混淆工具识别，所以MSDK外部依赖的类，必须被Keep。
+-keep class net.sqlcipher.** { *; }
+-keep class net.sqlcipher.database.* { *; }
+-keep class dji.** { *; }
+-keep class com.dji.** { *; }
+-keep class djimrtc.** { *; }
+-keep class com.google.** { *; }
+-keep class org.bouncycastle.** { *; }
+-keep class org.** { *; }
+-keep class com.squareup.wire.** { *; }
+-keep class sun.misc.Unsafe { *; }
+-keep class com.secneo.** {*;}
+-keep class org.greenrobot.eventbus.**{*;}
+-keep class com.commonsware.**{*;}
+-keep class io.reactivex.**{*;}
+-keep class okhttp3.**{*;}
+-keep class okio.**{*;}
+-keep class org.bouncycastle.**{*;}
+-keep class sun.**{*;}
+-keep class java.**{*;}
+-keep class com.amap.api.**{*;}
+-keep class com.here.**{*;}
+-keep class com.mapbox.**{*;}
+-keep class retrofit2.**{*;}
+
+-keepclasseswithmembers,allowshrinking class * {
+    native <methods>;
+}
+
+-keep class * implements com.google.gson.TypeAdapterFactory
+-keep class * implements com.google.gson.JsonSerializer
+-keep class * implements com.google.gson.JsonDeserializer
+
+-keep class androidx.appcompat.widget.SearchView { *; }
+
+-keepclassmembers class * extends android.app.Service
+-keepclassmembers public class * extends android.view.View {
+    void set*(***);
+    *** get*();
+}
+-keepclassmembers class * extends android.app.Activity {
+    public void *(android.view.View);
+}
+-keep class kotlin.** { *; }
+-keep class androidx.** { *; }
+-keep class android.** { *; }
+-keep class com.android.** { *; }
+-keep class android.media.** { *; }
+-keep class okio.** { *; }
+-keep class com.lmax.disruptor.** {
+    *;
+}
+
+-dontwarn com.mapbox.services.android.location.LostLocationEngine
+-dontwarn com.mapbox.services.android.location.MockLocationEngine
+-keepclassmembers class * implements android.arch.lifecycle.LifecycleObserver {
+    <init>(...);
+}
+# ViewModel's empty constructor is considered to be unused by proguard
+-keepclassmembers class * extends android.arch.lifecycle.ViewModel {
+    <init>(...);
+}
+# keep Lifecycle State and Event enums values
+-keepclassmembers class android.arch.lifecycle.Lifecycle$State { *; }
+-keepclassmembers class android.arch.lifecycle.Lifecycle$Event { *; }
+# keep methods annotated with @OnLifecycleEvent even if they seem to be unused
+# (Mostly for LiveData.LifecycleBoundObserver.onStateChange(), but who knows)
+-keepclassmembers class * {
+    @android.arch.lifecycle.OnLifecycleEvent *;
+}
+
+-keepclassmembers class * implements android.arch.lifecycle.LifecycleObserver {
+    <init>(...);
+}
+
+-keep class * implements android.arch.lifecycle.LifecycleObserver {
+    <init>(...);
+}
+-keepclassmembers class android.arch.** { *; }
+-keep class android.arch.** { *; }
+-dontwarn android.arch.**
+
+
+#<------------ utmiss config start------------>
+-keep class dji.sdk.utmiss.** { *; }
+-keep class utmisslib.** { *; }
+#<------------ utmiss config end------------>
+
+# 地图相关
+-keep class com.dji.mapkit.amap.provider.AMapProvider {*;}
+-keep class com.dji.mapkit.maplibre.provider.MapLibreProvider {*;}
+-keep class com.dji.mapkit.core.** {*;}
+-keep class com.autonavi.** {*;}
+-keep class com.alibaba.fastjson.**{*;}
+
+
+## keep 千寻相关接口
+-keep class com.qx.wz.dj.rtcm.** {*;}
+
+# 在项目的proguard-rules.pro文件中添加以下规则
+
+# 排除OpenCV的.so文件
+-keep class org.opencv.** { *; }
+-keep class org.opencv.engine.** { *; }
+-keep class org.opencv.imgproc.** { *; }
+-keep class org.opencv.core.** { *; }
+-keep class org.opencv.features2d.** { *; }
+-keep class org.opencv.ml.** { *; }
+-keep class org.opencv.photo.** { *; }
+-keep class org.opencv.video.** { *; }
+-keep class org.opencv.calib3d.** { *; }
+-keep class org.opencv.utils.** { *; }
+-keep class org.opencv.flann.** { *; }
+-keep class org.opencv.objdetect.** { *; }
+-keep class org.opencv.xfeatures2d.** { *; }
+-keep class org.opencv.ximgproc.** { *; }
+-keep class org.opencv.xphoto.** { *; }
+
+# 如果你有自定义的OpenCV类，确保也要保证这些类不被混淆
+-keep class com.example.opencv.** { *; }

app/release/output-metadata.json

@@ -0,0 +1,20 @@
+{
+  "version": 3,
+  "artifactType": {
+    "type": "APK",
+    "kind": "Directory"
+  },
+  "applicationId": "com.aros.apron",
+  "variantName": "release",
+  "elements": [
+    {
+      "type": "SINGLE",
+      "filters": [],
+      "attributes": [],
+      "versionCode": 46,
+      "versionName": "v1.9.1",
+      "outputFile": "app-release.apk"
+    }
+  ],
+  "elementType": "File"
+}

app/src/androidTest/java/com/example/makcar/ExampleInstrumentedTest.kt

@@ -1,24 +0,0 @@
-package com.example.makcar
-
-import androidx.test.platform.app.InstrumentationRegistry
-import androidx.test.ext.junit.runners.AndroidJUnit4
-
-import org.junit.Test
-import org.junit.runner.RunWith
-
-import org.junit.Assert.*
-
-/**
- * Instrumented test, which will execute on an Android device.
- *
- * See [testing documentation](http://d.android.com/tools/testing).
- */
-@RunWith(AndroidJUnit4::class)
-class ExampleInstrumentedTest {
-    @Test
-    fun useAppContext() {
-        // Context of the app under test.
-        val appContext = InstrumentationRegistry.getInstrumentation().targetContext
-        assertEquals("com.example.makcar", appContext.packageName)
-    }
-}

app/src/main/AndroidManifest.xml

@@ -1,51 +1,114 @@
 <?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools">
-
+<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+    <uses-permission android:name="android.permission.BLUETOOTH" />
+    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+    <uses-permission android:name="android.permission.VIBRATE" />
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
+    <uses-permission android:name="android.permission.WAKE_LOCK" />
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
+    <uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS" />
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.MANAGE_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
+    <uses-permission android:name="android.permission.READ_PHONE_STATE" />
     <uses-permission android:name="android.permission.RECORD_AUDIO" />
+    <uses-permission android:name="android.permission.CAMERA" />
+    <uses-permission android:name="android.permission.CHANGE_CONFIGURATION" />
+    <uses-permission android:name="android.permission.WRITE_SETTINGS" />
+    <uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- bugly -->
 
+    <uses-permission android:name="android.permission.READ_LOGS" />
+
+    <!-- 开机启动所需权限 -->
+    <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
     <uses-feature
         android:name="android.hardware.usb.host"
-        android:required="false" />
+        android:required="false"/>
     <uses-feature
         android:name="android.hardware.usb.accessory"
-        android:required="true" />
-
+        android:required="true"/>
     <application
-        android:screenOrientation="landscape"
-        android:name=".MyApplication"
+        android:name="com.aros.apron.app.ApronApp"
+        android:largeHeap = "true"
+        android:hardwareAccelerated = "false"
         android:allowBackup="true"
-        android:dataExtractionRules="@xml/data_extraction_rules"
-        android:fullBackupContent="@xml/backup_rules"
-        android:icon="@mipmap/ic_launcher"
-        android:label="@string/app_name"
+        android:icon="@mipmap/app_icon"
+        android:label="@string/appName"
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
-        android:theme="@style/Theme.Makcar"
-        tools:targetApi="31">
+        android:theme="@style/Theme.ApronV5"
+        android:requestLegacyExternalStorage="true"
+        android:networkSecurityConfig="@xml/network_security_config"
+        >
+
+        <!-- AMaps -->
+        <meta-data
+            android:name="com.amap.api.v2.apikey"
+            android:value="988f506b616b82b02e4d656c9b20c82f" />
+
+        <meta-data
+            android:name="com.dji.sdk.API_KEY"
+            android:value="d237f2b4554af77800e894d2"/>
+        <meta-data
+            android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
+            android:resource="@xml/accessory_filter" />
+
         <activity
-            android:name=".LoadingPage"
+            android:name=".activity.ConnectionActivity"
+            android:configChanges="orientation"
+            android:screenOrientation="landscape"
+            android:windowSoftInputMode="stateAlwaysHidden"
             android:exported="true">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED" />
                 <category android:name="android.intent.category.LAUNCHER" />
             </intent-filter>
-            <meta-data
-                android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
-                android:resource="@xml/accessory_filter" />
         </activity>
 
-        <meta-data
-            android:name="com.dji.sdk.API_KEY"
-            android:value="9c7503f4b88032fe08905212" />
 
         <activity
-            android:name=".MainActivity"
+            android:name=".activity.MediaActivity"
+            android:configChanges="orientation"
+            android:screenOrientation="landscape"
+            android:windowSoftInputMode="stateAlwaysHidden"
             android:exported="true">
         </activity>
+        <activity
+            android:name=".activity.ConfigActivity"
+            android:configChanges="orientation"
+            android:screenOrientation="landscape"
+            android:windowSoftInputMode="stateAlwaysHidden"
+            android:exported="true">
+        </activity>
+
+        <activity
+            android:name=".activity.MainActivity"
+            android:configChanges="orientation"
+            android:screenOrientation="landscape"
+            android:windowSoftInputMode="stateAlwaysHidden"
+            android:exported="true">
+        </activity>
+        <service android:name="org.eclipse.paho.android.service.MqttService" />
+        <!-- 开机启动 -->
+        <receiver
+            android:name=".receiver.AutoStartReceiver"
+            android:enabled="true"
+            android:exported="true">
+            <intent-filter>
+                <!--.接收启动完成的广播-->
+                <action android:name="android.intent.action.BOOT_COMPLETED" />
+                <category android:name="android.intent.category.HOME" />
+            </intent-filter>
+        </receiver>
+        <service android:name="com.amazonaws.mobileconnectors.s3.transferutility.TransferService" android:enabled="true" />
+
     </application>
 
 </manifest>

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

@@ -0,0 +1,381 @@
+package com.aros.apron.activity
+
+import android.os.Bundle
+import android.os.Handler
+import android.text.TextUtils
+import android.widget.CompoundButton.GONE
+import android.widget.CompoundButton.VISIBLE
+import com.aros.apron.base.BaseActivity
+import com.aros.apron.databinding.ActivityConfigBinding
+import com.aros.apron.tools.LogUtil
+import com.aros.apron.tools.PreferenceUtils
+import com.aros.apron.tools.RestartAPPTool.restartApp
+import com.aros.apron.tools.ToastUtil
+import dji.sdk.keyvalue.key.FlightControllerKey
+import dji.sdk.keyvalue.key.KeyTools
+import dji.v5.manager.KeyManager
+
+class ConfigActivity : BaseActivity() {
+
+    private lateinit var configBinding: ActivityConfigBinding
+
+    override fun useEventBus(): Boolean {
+        return false
+    }
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        configBinding = ActivityConfigBinding.inflate(layoutInflater)
+        setContentView(configBinding.root)
+        initView()
+        LogUtil.log(TAG,"进入AMS配置界面")
+    }
+
+    private fun initView() {
+        configBinding.cbHaveRtk.isChecked = PreferenceUtils.getInstance().haveRTK
+        configBinding.cbLteEnable.isChecked = PreferenceUtils.getInstance().lteEnable
+        configBinding.cbCloseObstacle.isChecked = PreferenceUtils.getInstance().closeObsEnable
+        configBinding.cbDebuggingMode.isChecked = PreferenceUtils.getInstance().isDebugMode
+        configBinding.cbCleanMode.isChecked = PreferenceUtils.getInstance().isCleanMode
+        configBinding.cbLEDsSettings.isChecked = PreferenceUtils.getInstance().navigationLEDsOn
+        configBinding.rbRtkCustom.isChecked = PreferenceUtils.getInstance().rtkType == 1
+
+        configBinding.rbRtkDji.isChecked = PreferenceUtils.getInstance().rtkType == 2
+        configBinding.layoutRtkCustom.visibility =
+            if (PreferenceUtils.getInstance().rtkType == 1) VISIBLE else {
+                GONE
+            }
+        configBinding.rbRtkCustom.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                configBinding.layoutRtkCustom.visibility = VISIBLE
+            } else {
+                configBinding.layoutRtkCustom.visibility = GONE
+            }
+        }
+        configBinding.rbRtsp.isChecked = PreferenceUtils.getInstance().customStreamType==1
+        configBinding.rbRtmp.isChecked = PreferenceUtils.getInstance().customStreamType==2
+        configBinding.rbNo.isChecked = PreferenceUtils.getInstance().customStreamType==3
+        configBinding.layoutStreamRtsp.visibility =
+            if (PreferenceUtils.getInstance().customStreamType==1) VISIBLE else {
+                GONE
+            }
+        configBinding.layoutStream.visibility =
+            if (PreferenceUtils.getInstance().customStreamType==2) VISIBLE else {
+                GONE
+            }
+        configBinding.rbRtsp.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                configBinding.layoutStreamRtsp.visibility = VISIBLE
+            } else {
+                configBinding.layoutStreamRtsp.visibility = GONE
+            }
+        }
+        configBinding.rbRtmp.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                configBinding.layoutStream.visibility = VISIBLE
+            } else {
+                configBinding.layoutStream.visibility = GONE
+            }
+        }
+        configBinding.rbNo.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                configBinding.layoutStream.visibility = GONE
+                configBinding.layoutStreamRtsp.visibility = GONE
+            }
+        }
+        configBinding.etStreamUrl.setText(PreferenceUtils.getInstance().customStreamUrl)
+        configBinding.etRtspUserName.setText(PreferenceUtils.getInstance().rtspUserName)
+        configBinding.etRtspPassword.setText(PreferenceUtils.getInstance().rtspPassWord)
+        configBinding.etRtspPort.setText(PreferenceUtils.getInstance().rtspPort)
+
+        configBinding.etNtrip.setText(PreferenceUtils.getInstance().ntrip)
+        configBinding.etNtrPort.setText(PreferenceUtils.getInstance().ntrPort)
+        configBinding.etNtrAccount.setText(PreferenceUtils.getInstance().ntrAccount)
+        configBinding.etNtrPassword.setText(PreferenceUtils.getInstance().ntrPassword)
+        configBinding.etNtrMountpoint.setText(PreferenceUtils.getInstance().ntrMountPoint)
+        configBinding.etMqttServerUri.setText(PreferenceUtils.getInstance().mqttServerUri)
+        configBinding.etMqttUsername.setText(PreferenceUtils.getInstance().mqttUserName)
+        configBinding.etMqttPassword.setText(PreferenceUtils.getInstance().mqttPassword)
+        configBinding.etMqttSn.setText(PreferenceUtils.getInstance().mqttSn)
+        configBinding.etMinioUploadUrl.setText(PreferenceUtils.getInstance().uploadUrl)
+        configBinding.etMinioBucketName.setText(PreferenceUtils.getInstance().bucketName)
+        configBinding.etMinioObjectKey.setText(PreferenceUtils.getInstance().objectKey)
+        configBinding.etMinioAccessKey.setText(PreferenceUtils.getInstance().accessKey)
+        configBinding.etMinioSecretKey.setText(PreferenceUtils.getInstance().secretKey)
+
+//        configBinding.etDockerLat.setText(PreferenceUtils.getInstance().dockerLat)
+//        configBinding.etDockerLon.setText(PreferenceUtils.getInstance().dockerLon)
+//        configBinding.etAircraftHeading.setText(PreferenceUtils.getInstance().aircraftHeading)
+        configBinding.etMinimumBattery.setText(PreferenceUtils.getInstance().minumumBattery)
+        configBinding.etForcedBattery.setText(PreferenceUtils.getInstance().forcedBattery)
+        configBinding.etSetAlternateTimes.setText(PreferenceUtils.getInstance().alternatePointTimes)
+
+        configBinding.cbNeedUploadVideo.isChecked = PreferenceUtils.getInstance().needUpLoadVideo
+
+        when (PreferenceUtils.getInstance().missionInterruptAction) {
+            1 -> configBinding.rbHover.isChecked = true
+            2 -> configBinding.rbResume.isChecked = true
+            3 -> configBinding.rbGohome.isChecked = true
+        }
+        configBinding.rbRtkFirst.isChecked = PreferenceUtils.getInstance().landType == 1
+        configBinding.rbVisionFirst.isChecked = PreferenceUtils.getInstance().landType == 2
+        configBinding.rbGps.isChecked = PreferenceUtils.getInstance().satelliteSystem == 1
+        configBinding.rbBeidou.isChecked = PreferenceUtils.getInstance().satelliteSystem == 2
+        configBinding.rbCameraCenter.isChecked = PreferenceUtils.getInstance().cameraLocationType ==1//中间
+        configBinding.rbCameraRight.isChecked = PreferenceUtils.getInstance().cameraLocationType ==2//右边
+        configBinding.btnConfig.setOnClickListener { config() }
+
+
+        configBinding.tvSetAircraftLoc.setOnClickListener {
+            val isConnect = KeyManager.getInstance()
+                .getValue(KeyTools.createKey(FlightControllerKey.KeyConnection))
+            if (isConnect != null && isConnect) {
+                var locationCoordinate3D = KeyManager.getInstance()
+                    .getValue(KeyTools.createKey(FlightControllerKey.KeyAircraftLocation3D))
+                if (locationCoordinate3D != null) {
+                    configBinding.etDockerLat.setText(locationCoordinate3D?.latitude.toString())
+                    configBinding.etDockerLon.setText(locationCoordinate3D?.longitude.toString())
+                    configBinding.etAircraftHeading.setText("假数据")
+                } else {
+                    configBinding.etDockerLat.setText("")
+                    configBinding.etDockerLon.setText("")
+                    configBinding.etAircraftHeading.setText("")
+                    ToastUtil.showToast("获取机库位置失败")
+                }
+            } else {
+                ToastUtil.showToast("设备未连接")
+            }
+        }
+    }
+
+    private fun config() {
+        if (configBinding.rbRtkCustom.isChecked) {
+            if (TextUtils.isEmpty(configBinding.etNtrip.text)) {
+                ToastUtil.showToast("未配置网络RTK地址")
+                return
+            }
+            if (TextUtils.isEmpty(configBinding.etNtrPort.text)) {
+                ToastUtil.showToast("未配置网络RTK端口")
+                return
+            }
+            if (TextUtils.isEmpty(configBinding.etNtrAccount.text)) {
+                ToastUtil.showToast("未配置网络RTK账户")
+                return
+            }
+            if (TextUtils.isEmpty(configBinding.etNtrPassword.text)) {
+                ToastUtil.showToast("未配置网络RTK密码")
+                return
+            }
+            if (TextUtils.isEmpty(configBinding.etNtrMountpoint.text)) {
+                ToastUtil.showToast("未配置网络RTK挂载点")
+                return
+            }
+        }
+        if (configBinding.cbHaveRtk.isChecked) {
+            if (!configBinding.rbRtkCustom.isChecked && !configBinding.rbRtkDji.isChecked) {
+                ToastUtil.showToast("未配置RTK类型")
+                return
+            }
+        }
+        if (TextUtils.isEmpty(configBinding.etMqttServerUri.text)) {
+            ToastUtil.showToast("未配置MQTT服务器地址")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMqttUsername.text)) {
+            ToastUtil.showToast("未配置MQTT用户名")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMqttPassword.text)) {
+            ToastUtil.showToast("未配置MQTT密码")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMqttSn.text)) {
+            ToastUtil.showToast("未配置MQTT设备编号")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMinioUploadUrl.text)) {
+            ToastUtil.showToast("未配置minio文件上传地址")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMinioBucketName.text)) {
+            ToastUtil.showToast("未配置minio桶名")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMinioObjectKey.text)) {
+            ToastUtil.showToast("未配置minio ObjectKey")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMinioAccessKey.text)) {
+            ToastUtil.showToast("未配置minio AccessKey")
+            return
+        }
+        if (TextUtils.isEmpty(configBinding.etMinioSecretKey.text)) {
+            ToastUtil.showToast("未配置minio SecretKey")
+            return
+        }
+
+        if (!configBinding.rbHover.isChecked && !configBinding.rbResume.isChecked && !configBinding.rbGohome.isChecked) {
+            ToastUtil.showToast("未配置航线中断动作")
+            return
+        }
+        if (!configBinding.rbRtkFirst.isChecked && !configBinding.rbVisionFirst.isChecked) {
+            ToastUtil.showToast("至少配置一种降落方式")
+            return
+        }
+        if (configBinding.rbRtkFirst.isChecked) {
+            if (!configBinding.cbHaveRtk.isChecked) {
+                ToastUtil.showToast("RTK优先需配置RTK模块")
+                return
+            }
+        }
+
+        if (!configBinding.rbCameraRight.isChecked && !configBinding.rbCameraCenter.isChecked) {
+            ToastUtil.showToast("未配置主相机位置")
+            return
+        }
+        if (configBinding.rbRtsp.isChecked) {
+            if (TextUtils.isEmpty(configBinding.etRtspUserName.text)) {
+                ToastUtil.showToast("未配置Rtsp用户名")
+                return
+            }
+            if (TextUtils.isEmpty(configBinding.etRtspPassword.text)) {
+                ToastUtil.showToast("未配置Rtsp密码")
+                return
+            }
+            if (TextUtils.isEmpty(configBinding.etRtspPort.text)) {
+                ToastUtil.showToast("未配置Rtsp端口")
+                return
+            }
+        }
+//        if (TextUtils.isEmpty(configBinding.etDockerLat.text) || TextUtils.isEmpty(configBinding.etDockerLon.text)
+//            || TextUtils.isEmpty(configBinding.etAircraftHeading.text)) {
+//            ToastUtil.showToast("未标定起飞朝向")
+//            return
+//        }
+        if (TextUtils.isEmpty(configBinding.etMinimumBattery.text) || TextUtils.isEmpty(configBinding.etForcedBattery.text)) {
+            ToastUtil.showToast("未配置电池阈值")
+            return
+        }
+        var minimumBattery=configBinding.etMinimumBattery.text.toString()
+        var forcedBattery=configBinding.etForcedBattery.text.toString()
+        if (minimumBattery.toInt()<35){
+            ToastUtil.showToast("允许起飞电量不得低于35%")
+            return
+        }
+        if (forcedBattery.toInt()>=minimumBattery.toInt()){
+            ToastUtil.showToast("强制返航电量需小于允许起飞电量")
+            return
+        }
+        if ((minimumBattery.toInt()-forcedBattery.toInt())<10){
+            ToastUtil.showToast("强制返航电量需小于允许起飞电量最少10%")
+            return
+        }
+
+
+        PreferenceUtils.getInstance().minumumBattery =
+            configBinding.etMinimumBattery.text.toString()
+        PreferenceUtils.getInstance().forcedBattery =
+            configBinding.etForcedBattery.text.toString()
+
+        PreferenceUtils.getInstance().alternatePointTimes =
+            configBinding.etSetAlternateTimes.text.toString()
+
+        PreferenceUtils.getInstance().setHaveRtk(configBinding.cbHaveRtk.isChecked)
+        PreferenceUtils.getInstance().closeObsEnable = configBinding.cbCloseObstacle.isChecked
+        if (configBinding.rbRtkCustom.isChecked) {
+            PreferenceUtils.getInstance().rtkType = 1
+        } else if (configBinding.rbRtkDji.isChecked) {
+            PreferenceUtils.getInstance().rtkType = 2
+        } else {
+            PreferenceUtils.getInstance().rtkType = -1
+        }
+        PreferenceUtils.getInstance().isDebugMode = configBinding.cbDebuggingMode.isChecked
+        PreferenceUtils.getInstance().isCleanMode = configBinding.cbCleanMode.isChecked
+        PreferenceUtils.getInstance().navigationLEDsOn = configBinding.cbLEDsSettings.isChecked
+        PreferenceUtils.getInstance().lteEnable = configBinding.cbLteEnable.isChecked
+        if (configBinding.rbRtsp.isChecked) {
+            PreferenceUtils.getInstance().customStreamType = 1
+        } else if (configBinding.rbRtmp.isChecked) {
+            PreferenceUtils.getInstance().customStreamType = 2
+        } else if (configBinding.rbNo.isChecked) {
+            PreferenceUtils.getInstance().customStreamType = 3
+        } else {
+            PreferenceUtils.getInstance().rtkType = -1
+        }
+
+        if (configBinding.rbRtmp.isChecked) {
+            PreferenceUtils.getInstance().customStreamUrl =
+                configBinding.etStreamUrl.text.toString().replace("", "")
+        }
+        if (configBinding.rbRtsp.isChecked) {
+            PreferenceUtils.getInstance().rtspUserName =
+                configBinding.etRtspUserName.text.toString().replace("", "")
+            PreferenceUtils.getInstance().rtspPassWord =
+                configBinding.etRtspPassword.text.toString().replace("", "")
+            PreferenceUtils.getInstance().rtspPort =
+                configBinding.etRtspPort.text.toString().replace("", "")
+        }
+
+        PreferenceUtils.getInstance().ntrip = configBinding.etNtrip.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().ntrPort =
+            configBinding.etNtrPort.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().ntrAccount =
+            configBinding.etNtrAccount.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().ntrPassword =
+            configBinding.etNtrPassword.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().ntrMountPoint =
+            configBinding.etNtrMountpoint.text.toString().replace(" ", "")
+
+        PreferenceUtils.getInstance().mqttServerUri =
+            configBinding.etMqttServerUri.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().mqttUserName =
+            configBinding.etMqttUsername.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().mqttPassword =
+            configBinding.etMqttPassword.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().mqttSn =
+            configBinding.etMqttSn.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().uploadUrl =
+            configBinding.etMinioUploadUrl.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().bucketName =
+            configBinding.etMinioBucketName.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().objectKey =
+            configBinding.etMinioObjectKey.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().accessKey =
+            configBinding.etMinioAccessKey.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().secretKey =
+            configBinding.etMinioSecretKey.text.toString().replace(" ", "")
+        PreferenceUtils.getInstance().needUpLoadVideo = configBinding.cbNeedUploadVideo.isChecked
+
+
+        if (configBinding.rbHover.isChecked) {
+            PreferenceUtils.getInstance().missionInterruptAction = 1
+        } else if (configBinding.rbResume.isChecked) {
+            PreferenceUtils.getInstance().missionInterruptAction = 2
+        } else {
+            PreferenceUtils.getInstance().missionInterruptAction = 3
+        }
+
+        if (configBinding.rbVisionFirst.isChecked) {
+            PreferenceUtils.getInstance().landType = 2
+        } else {
+            PreferenceUtils.getInstance().landType = 1
+        }
+        if (configBinding.rbGps.isChecked) {
+            PreferenceUtils.getInstance().satelliteSystem = 1
+        } else {
+            PreferenceUtils.getInstance().satelliteSystem = 2
+        }
+        if (configBinding.rbCameraCenter.isChecked) {
+            PreferenceUtils.getInstance().cameraLocationType = 1
+        } else {
+            PreferenceUtils.getInstance().cameraLocationType = 2
+        }
+        ToastUtil.showToast("配置已保存")
+        Handler().postDelayed(Runnable {
+            restartApp()
+        }, 1000)
+
+    }
+
+
+}

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

@@ -0,0 +1,377 @@
+package com.aros.apron.activity
+
+import android.Manifest
+import android.annotation.SuppressLint
+import android.content.Intent
+import android.os.Bundle
+import android.os.Handler
+import android.os.Looper
+import android.text.TextUtils
+import android.view.View
+import androidx.activity.viewModels
+import androidx.appcompat.app.AppCompatActivity
+import com.aros.apron.R
+import com.aros.apron.app.ApronApp
+import com.aros.apron.base.BaseActivity
+import com.aros.apron.constant.AMSConfig
+import com.aros.apron.databinding.ActivityConnectionBinding
+import com.aros.apron.models.MSDKInfoVm
+import com.aros.apron.models.MSDKManagerVM
+import com.aros.apron.models.globalViewModels
+import com.aros.apron.tools.LogUtil
+import com.aros.apron.tools.MqttManager
+import com.aros.apron.tools.PreferenceUtils
+import com.aros.apron.tools.RestartAPPTool.restartApp
+import com.aros.apron.tools.ToastUtil
+import com.tencent.bugly.crashreport.CrashReport
+import com.yanzhenjie.permission.AndPermission
+import dji.sdk.keyvalue.key.CameraKey
+import dji.sdk.keyvalue.key.DJIKey
+import dji.sdk.keyvalue.key.FlightControllerKey
+import dji.sdk.keyvalue.key.KeyTools
+import dji.sdk.keyvalue.value.camera.CameraType
+import dji.sdk.keyvalue.value.common.ComponentIndexType
+import dji.v5.manager.KeyManager
+import dji.v5.utils.common.StringUtils
+
+
+open class ConnectionActivity : BaseActivity() {
+
+    private val REQUIRED_PERMISSION_LIST = arrayOf(
+        Manifest.permission.VIBRATE,
+        Manifest.permission.INTERNET,
+        Manifest.permission.ACCESS_WIFI_STATE,
+        Manifest.permission.WAKE_LOCK,
+        Manifest.permission.ACCESS_COARSE_LOCATION,
+        Manifest.permission.ACCESS_NETWORK_STATE,
+        Manifest.permission.ACCESS_FINE_LOCATION,
+        Manifest.permission.CHANGE_WIFI_STATE,
+        Manifest.permission.CHANGE_NETWORK_STATE,
+        Manifest.permission.WRITE_EXTERNAL_STORAGE,
+        //            Manifest.permission.MOUNT_UNMOUNT_FILESYSTEMS,
+        //            Manifest.permission.WRITE_SETTINGS,
+        Manifest.permission.BLUETOOTH,
+        Manifest.permission.BLUETOOTH_ADMIN,
+        Manifest.permission.READ_EXTERNAL_STORAGE,
+        Manifest.permission.READ_PHONE_STATE,
+        Manifest.permission.CAMERA,
+        Manifest.permission.RECORD_AUDIO
+    )
+
+    private val msdkInfoVm: MSDKInfoVm by viewModels()
+    private val TAG="ConnectionActivity"
+    private val msdkManagerVM: MSDKManagerVM by globalViewModels()
+    private lateinit var connectionBinding: ActivityConnectionBinding
+    private val handler: Handler = Handler(Looper.getMainLooper())
+
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        connectionBinding = ActivityConnectionBinding.inflate(layoutInflater)
+        setContentView(connectionBinding.root)
+        window.decorView.apply {
+            systemUiVisibility =
+                View.SYSTEM_UI_FLAG_HIDE_NAVIGATION or View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY or View.SYSTEM_UI_FLAG_FULLSCREEN or View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
+        }
+        initMSDKInfoView()
+        checkAndRequestPermissions()
+        connectionBinding.config?.setOnClickListener {
+            startActivity(Intent(this, ConfigActivity::class.java))
+        }
+//        Utils.sHA1(this)
+        //默认自动启动辅助服务
+//        Settings.Secure.putString(
+//            contentResolver,
+//            Settings.Secure.ENABLED_ACCESSIBILITY_SERVICES,
+//            "${packageName}/${BluetoothAccessibilityService::class.java.canonicalName}"
+//        )
+//        Settings.Secure.putInt(contentResolver, Settings.Secure.ACCESSIBILITY_ENABLED, 1);
+//        //开启蓝牙辅助服务
+//        Intent(this@ConnectionActivity, BluetoothAccessibilityService::class.java).also {
+//            LogUtil.log("ConnectionActivity", "start BluetoothAccessibilityService")
+//            startService(it)
+//        }
+        initBugly()
+        initConfig()
+
+    }
+    private fun initConfig(){
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().forcedBattery)){
+            PreferenceUtils.getInstance().forcedBattery =
+                "20"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().minumumBattery)){
+            PreferenceUtils.getInstance().minumumBattery =
+                "35"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)){
+            PreferenceUtils.getInstance().mqttServerUri =
+                //"tcp://192.168.2.90:2883"
+                "tcp://broker.emqx.io"
+        }
+
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)){
+            PreferenceUtils.getInstance().mqttUserName =
+                "admin"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttPassword)){
+            PreferenceUtils.getInstance().mqttPassword =
+                "Admin123"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttSn)){
+            PreferenceUtils.getInstance().mqttSn =
+                "1"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().uploadUrl)){
+            PreferenceUtils.getInstance().uploadUrl =
+                "http://192.168.2.90:9090"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().bucketName)){
+            PreferenceUtils.getInstance().bucketName =
+                "media"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().objectKey)){
+            PreferenceUtils.getInstance().objectKey =
+                "1"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().accessKey)){
+            PreferenceUtils.getInstance().accessKey =
+                "aros"
+        }
+        if (TextUtils.isEmpty(PreferenceUtils.getInstance().secretKey)){
+            PreferenceUtils.getInstance().secretKey =
+                "Aros2023"
+        }
+        if (PreferenceUtils.getInstance().satelliteSystem!=2){
+            PreferenceUtils.getInstance().satelliteSystem =
+                1
+        }
+
+    }
+
+    private fun initBugly() {
+        //bugly
+        CrashReport.UserStrategy(this).apply {
+            appPackageName = packageName
+            isEnableANRCrashMonitor = true
+            isEnableCatchAnrTrace = true
+            setCrashHandleCallback(object : CrashReport.CrashHandleCallback() {
+                override fun onCrashHandleStart(
+                    crashType: Int, errorType: String,
+                    errorMessage: String, errorStack: String
+                ): Map<String, String> {
+                    return mapOf()
+                }
+
+                override fun onCrashHandleStart2GetExtraDatas(
+                    crashType: Int, errorType: String,
+                    errorMessage: String, errorStack: String
+                ): ByteArray {
+                    LogUtil.log("---crash----", "\n" + errorMessage + "\n" + errorStack)
+                    //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 {
+                        Thread.sleep((1000).toLong())
+                    } catch (e: InterruptedException) {
+                        e.printStackTrace()
+                    }
+                    restartApp()
+                    return "autoRestart".toByteArray(charset("UTF-8"))
+                }
+            })
+            CrashReport.setAllThreadStackEnable(ApronApp.context, true, true)
+//            CrashReport.initCrashReport(context, "5894201d87", true, this)
+            CrashReport.initCrashReport(ApronApp.context, "67f68269b0", true, this)
+        }
+    }
+
+    @SuppressLint("SetTextI18n")
+    private fun initMSDKInfoView() {
+        msdkInfoVm.msdkInfo.observe(this) {
+            connectionBinding.textViewVersion.text =
+                StringUtils.getResStr(R.string.sdk_version, it.SDKVersion + " " + it.buildVer)
+
+            connectionBinding.textViewProductName.text =
+                StringUtils.getResStr(R.string.product_name, it.productType.name)
+            connectionBinding.textViewPackageProductCategory.text =
+                StringUtils.getResStr(R.string.package_product_category, it.packageProductCategory)
+            connectionBinding.textViewIsDebug.text =
+                StringUtils.getResStr(R.string.is_sdk_debug, it.isDebug)
+        }
+        // 获取当前应用的 PackageManager 实例
+        val packageManager = packageManager
+        // 获取当前应用的 PackageInfo 对象
+        val packageInfo = packageManager.getPackageInfo(packageName, 0)
+        // 获取版本名
+        val versionName = packageInfo.versionName
+        connectionBinding.textViewAmsVersion?.text=versionName
+    }
+    private var checkTimes=0
+    private fun observeSDKManagerStatus() {
+        msdkManagerVM.lvRegisterState.observe(this) { resultPair ->
+            val statusText: String?
+            if (resultPair.first) {
+                statusText = StringUtils.getResStr(this, R.string.registered)
+                msdkInfoVm.initListener()
+//                connectionBinding.defaultLayoutButton.isEnabled = true
+//                enableShowCaseButton(
+//                    connectionBinding.defaultLayoutButton,
+//                    MainActivity::class.java
+//                )
+                if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)
+                    || TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)
+                    || TextUtils.isEmpty(PreferenceUtils.getInstance().mqttPassword)
+                    || TextUtils.isEmpty(PreferenceUtils.getInstance().mqttSn)
+                ) {
+                    ToastUtil.showToast("未配置MQTT参数")
+                    LogUtil.log(TAG, "未配置MQTT参数")
+                } else if(TextUtils.isEmpty(PreferenceUtils.getInstance().uploadUrl)||
+                    TextUtils.isEmpty(PreferenceUtils.getInstance().bucketName)||
+                    TextUtils.isEmpty(PreferenceUtils.getInstance().objectKey)||
+                    TextUtils.isEmpty(PreferenceUtils.getInstance().accessKey)||
+                    TextUtils.isEmpty(PreferenceUtils.getInstance().secretKey)){
+                    ToastUtil.showToast("minio参数配置有误")
+                    LogUtil.log(TAG, "minio参数配置有误")
+                }else if (PreferenceUtils.getInstance().haveRTK &&PreferenceUtils.getInstance().rtkType!=1&&PreferenceUtils.getInstance().rtkType!=2 ){
+                    LogUtil.log(TAG, "未配置RTK类型")
+                    ToastUtil.showToast("未配置RTK类型")
+                }else if (PreferenceUtils.getInstance().haveRTK &&PreferenceUtils.getInstance().rtkType==1&& (TextUtils.isEmpty(
+                        PreferenceUtils.getInstance().ntrip
+                    ) ||
+                            TextUtils.isEmpty(PreferenceUtils.getInstance().ntrAccount) ||
+                            TextUtils.isEmpty(PreferenceUtils.getInstance().ntrPassword) ||
+                            TextUtils.isEmpty(PreferenceUtils.getInstance().ntrMountPoint))
+                ) {
+                    LogUtil.log(TAG, "未配置网络RTK参数")
+                    ToastUtil.showToast("未配置网络RTK参数")
+                } else if (PreferenceUtils.getInstance().landType != 1 && PreferenceUtils.getInstance().landType != 2) {
+                    ToastUtil.showToast("未配置降落方式")
+                    LogUtil.log(TAG, "未配置降落方式")
+                } else if (PreferenceUtils.getInstance().landType == 1 && !PreferenceUtils.getInstance().haveRTK) {
+                    ToastUtil.showToast("RTK降落未配置网络RTK参数")
+                    LogUtil.log(TAG, "RTK降落未配置网络RTK参数")
+                } else if (PreferenceUtils.getInstance().customStreamType==2&&TextUtils.isEmpty(PreferenceUtils.getInstance().customStreamUrl)) {
+                    ToastUtil.showToast("未配置自定义推流地址")
+                    LogUtil.log(TAG, "未配置自定义推流地址")
+                }else if (PreferenceUtils.getInstance().customStreamType==1&&
+                    (TextUtils.isEmpty(PreferenceUtils.getInstance().rtspUserName)
+                            ||TextUtils.isEmpty(PreferenceUtils.getInstance().rtspPassWord)
+                            ||TextUtils.isEmpty(PreferenceUtils.getInstance().rtspPort))) {
+                    ToastUtil.showToast("未配置rtsp参数")
+                    LogUtil.log(TAG, "未配置rtsp参数")
+                }else if (PreferenceUtils.getInstance().cameraLocationType == 0){
+                    ToastUtil.showToast("未配置主相机位置")
+                    LogUtil.log(TAG, "未配置主相机位置")
+                }else if (TextUtils.isEmpty(PreferenceUtils.getInstance().minumumBattery)||
+                    TextUtils.isEmpty(PreferenceUtils.getInstance().forcedBattery)) {
+                    ToastUtil.showToast("未配置允许起飞或强制返航电量阈值")
+                    LogUtil.log(TAG, "未配置允许起飞或强制返航电量阈值")
+                }else if (TextUtils.isEmpty(PreferenceUtils.getInstance().alternatePointTimes) ) {
+                    ToastUtil.showToast("未设置最大允许复降次数")
+                    LogUtil.log(TAG, "未设置最大允许复降次数")
+                }
+                else {
+                    LogUtil.log(TAG, "已加载AMS配置文件")
+                    AMSConfig.getInstance().mqttServerUri =
+                        PreferenceUtils.getInstance().mqttServerUri
+                    AMSConfig.getInstance().userName = PreferenceUtils.getInstance().mqttUserName
+                    AMSConfig.getInstance().password = PreferenceUtils.getInstance().mqttPassword
+                    AMSConfig.getInstance().serialNumber = PreferenceUtils.getInstance().mqttSn
+                    AMSConfig.getInstance().alternateLandingTimes = PreferenceUtils.getInstance().alternatePointTimes
+
+                    AMSConfig.getInstance().mqttServer2MsdkTopic =
+                        "nest/${AMSConfig.getInstance().serialNumber}/uav_services"
+                    AMSConfig.getInstance().mqttMsdkReplyMessage2ServerTopic =
+                        "nest/${AMSConfig.getInstance().serialNumber}/uav_services_reply"
+                    AMSConfig.getInstance().mqttMsdkPushMessage2ServerTopic =
+                        "nest/${AMSConfig.getInstance().serialNumber}/uav_status_message"
+                    AMSConfig.getInstance().mqttMsdkPushEvent2ServerTopic =
+                        "nest/${AMSConfig.getInstance().serialNumber}/events"
+                    AMSConfig.getInstance().mqttPSDKPushEvent2ServerTopic =
+                        "nest/${AMSConfig.getInstance().serialNumber}/uav_payload_message"
+
+                    toMain()
+                }
+            } else {
+                LogUtil.log(TAG, "SDK Register Failure: ${resultPair.second}")
+                ToastUtil.showToast("Register Failure: ${resultPair.second}")
+                statusText = StringUtils.getResStr(this, R.string.unregistered)
+            }
+            connectionBinding.textViewRegistered.text =
+                StringUtils.getResStr(R.string.registration_status, statusText)
+        }
+        msdkManagerVM.lvProductConnectionState.observe(this) { isConnect ->
+
+        }
+
+        msdkManagerVM.lvProductChanges.observe(this) { productId ->
+            ToastUtil.showToast("Product: $productId Changed")
+
+        }
+
+        msdkManagerVM.lvInitProcess.observe(this) { processPair ->
+//            ToastUtil.showToast("Init Process event: ${processPair.first.name}")
+        }
+
+        msdkManagerVM.lvDBDownloadProgress.observe(this) { resultPair ->
+            ToastUtil.showToast("Database Download Progress current: ${resultPair.first}, total: ${resultPair.second}")
+        }
+    }
+
+
+    /**
+     * Checks if there is any missing permissions, and requests runtime permission if needed.
+     */
+    private fun checkAndRequestPermissions() {
+        AndPermission.with(this)
+            .runtime()
+            .permission(REQUIRED_PERMISSION_LIST)
+            .onGranted {
+                observeSDKManagerStatus()
+            }
+            .onDenied {
+                // Storage permission are not allowed.
+                ToastUtil.showToast("请给予app运行所需权限！！！")
+                finish()
+            }
+            .start()
+    }
+    private fun toMain(){
+//        val isFlightControllerConnect =
+//            KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
+        val cameraType = KeyManager.getInstance().getValue(
+            KeyTools.createKey(
+                CameraKey.KeyCameraType,
+                ComponentIndexType.PORT_1
+            )
+        )
+//        if (isFlightControllerConnect == null || !isFlightControllerConnect||cameraType==CameraType.NOT_SUPPORTED) {
+//            handler.postDelayed({
+//                toMain()
+//            }, 1000)
+//        } else {
+//            checkTimes++
+            LogUtil.log(TAG, "飞机是否连接$checkTimes${cameraType?.name}")
+            if (!MainActivity.isAppStarted) {
+                    startActivity(Intent(this, MainActivity::class.java))
+            }
+//        }
+    }
+
+    private fun <T> enableShowCaseButton(view: View, cl: Class<T>) {
+        view.isEnabled = true
+        view.setOnClickListener {
+            Intent(this, cl).also {
+                startActivity(it)
+            }
+        }
+    }
+
+    override fun onResume() {
+        super.onResume()
+        LogUtil.log(TAG,"进入首页连接")
+    }
+
+    override fun useEventBus(): Boolean {
+        return false
+    }
+}

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

@@ -0,0 +1,855 @@
+package com.aros.apron.activity
+import android.annotation.SuppressLint
+import android.graphics.Color
+import android.graphics.drawable.ColorDrawable
+import android.os.Build
+import android.os.Bundle
+import android.os.Handler
+import android.os.Looper
+import android.os.Message
+import android.text.TextUtils
+import android.view.View
+import android.view.Window
+import android.view.WindowManager
+import android.widget.Button
+import android.widget.TextView
+import androidx.annotation.RequiresApi
+import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.core.view.GravityCompat
+import androidx.drawerlayout.widget.DrawerLayout
+import com.aros.apron.BuildConfig
+import com.aros.apron.R
+import com.aros.apron.base.BaseActivity
+import com.aros.apron.callback.MqttCallBack
+import com.aros.apron.entity.MQMessage
+import com.aros.apron.entity.Movement
+import com.aros.apron.manager.AlternateLandingManager
+import com.aros.apron.manager.BatteryManager
+import com.aros.apron.manager.CameraManager
+import com.aros.apron.manager.FlightManager
+import com.aros.apron.manager.FlightManager.FLAG_DOWN_LAND
+import com.aros.apron.manager.FlightManager.FLAG_START_DETECT_ARUCO_ALTERNATE
+import com.aros.apron.manager.FlightManager.FLAG_START_DETECT_ARUCO_APRON
+import com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO
+import com.aros.apron.manager.GimbalManager
+import com.aros.apron.manager.LEDsSettingsManager
+import com.aros.apron.manager.MLTEManager
+import com.aros.apron.manager.MediaManager
+import com.aros.apron.manager.MegaphoneManager
+import com.aros.apron.manager.MissionManager
+import com.aros.apron.manager.NavigationSatelliteSystemManager
+import com.aros.apron.manager.OffSiteLandingManager
+import com.aros.apron.manager.PayloadWidgetManager
+import com.aros.apron.manager.PerceptionManager
+import com.aros.apron.manager.RTKManager
+import com.aros.apron.manager.RemoteManager
+import com.aros.apron.manager.StickManager
+import com.aros.apron.manager.StreamManager
+import com.aros.apron.manager.WayLineExecutingInterruptManager
+import com.aros.apron.tools.AlternateArucoDetect
+import com.aros.apron.tools.ApronArucoDetect
+import com.aros.apron.tools.DroneHelper
+import com.aros.apron.tools.LogUtil
+import com.aros.apron.tools.MqttManager
+import com.aros.apron.tools.PreferenceUtils
+import com.dji.wpmzsdk.manager.WPMZManager
+import com.google.gson.Gson
+import dji.sdk.keyvalue.key.CameraKey
+import dji.sdk.keyvalue.key.DJIKey
+import dji.sdk.keyvalue.key.FlightControllerKey
+import dji.sdk.keyvalue.key.KeyTools
+import dji.sdk.keyvalue.key.ProductKey
+import dji.sdk.keyvalue.value.common.CameraLensType
+import dji.sdk.keyvalue.value.common.ComponentIndexType
+import dji.sdk.keyvalue.value.common.EmptyMsg
+import dji.v5.common.callback.CommonCallbacks
+import dji.v5.common.error.IDJIError
+import dji.v5.common.utils.GeoidManager
+import dji.v5.manager.KeyManager
+import dji.v5.manager.datacenter.MediaDataCenter
+import dji.v5.manager.interfaces.ICameraStreamManager
+import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener
+import dji.v5.network.DJINetworkManager
+import dji.v5.network.IDJINetworkStatusListener
+import dji.v5.utils.common.JsonUtil
+import dji.v5.utils.common.LogPath
+import dji.v5.utils.common.LogUtils
+import dji.v5.ux.accessory.RTKStartServiceHelper.startRtkService
+import dji.v5.ux.cameracore.widget.autoexposurelock.AutoExposureLockWidget
+import dji.v5.ux.cameracore.widget.cameracontrols.CameraControlsWidget
+import dji.v5.ux.cameracore.widget.cameracontrols.lenscontrol.LensControlWidget
+import dji.v5.ux.cameracore.widget.focusexposureswitch.FocusExposureSwitchWidget
+import dji.v5.ux.cameracore.widget.focusmode.FocusModeWidget
+import dji.v5.ux.cameracore.widget.fpvinteraction.FPVInteractionWidget
+import dji.v5.ux.core.base.SchedulerProvider.io
+import dji.v5.ux.core.base.SchedulerProvider.ui
+import dji.v5.ux.core.communication.BroadcastValues
+import dji.v5.ux.core.communication.GlobalPreferenceKeys
+import dji.v5.ux.core.communication.ObservableInMemoryKeyedStore
+import dji.v5.ux.core.communication.UXKeys
+import dji.v5.ux.core.extension.hide
+import dji.v5.ux.core.extension.toggleVisibility
+import dji.v5.ux.core.panel.systemstatus.SystemStatusListPanelWidget
+import dji.v5.ux.core.panel.topbar.TopBarPanelWidget
+import dji.v5.ux.core.util.CameraUtil
+import dji.v5.ux.core.util.DataProcessor
+import dji.v5.ux.core.util.ViewUtil
+import dji.v5.ux.core.widget.fpv.FPVStreamSourceListener
+import dji.v5.ux.core.widget.fpv.FPVWidget
+import dji.v5.ux.core.widget.hsi.HorizontalSituationIndicatorWidget
+import dji.v5.ux.core.widget.hsi.PrimaryFlightDisplayWidget
+import dji.v5.ux.core.widget.setting.SettingWidget
+import dji.v5.ux.gimbal.GimbalFineTuneWidget
+import dji.v5.ux.training.simulatorcontrol.SimulatorControlWidget
+import dji.v5.ux.training.simulatorcontrol.SimulatorControlWidget.UIState.VisibilityUpdated
+import dji.v5.ux.visualcamera.CameraNDVIPanelWidget
+import dji.v5.ux.visualcamera.CameraVisiblePanelWidget
+import dji.v5.ux.visualcamera.zoom.FocalZoomWidget
+import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers
+import io.reactivex.rxjava3.disposables.CompositeDisposable
+import io.reactivex.rxjava3.functions.Consumer
+import org.eclipse.paho.client.mqttv3.MqttException
+import org.greenrobot.eventbus.Subscribe
+import org.greenrobot.eventbus.ThreadMode
+
+
+import org.opencv.objdetect.Dictionary
+import org.opencv.objdetect.Objdetect
+import java.util.concurrent.TimeUnit
+
+
+open class MainActivity : BaseActivity() {
+
+
+    companion object {
+        // 如果不需要改变 isAppStarted 的值，可以直接这样声明
+        var isAppStarted: Boolean = false
+        var streamReceive: Boolean = false
+
+    }
+
+    protected var primaryFpvWidget: FPVWidget? = null
+    protected var fpvInteractionWidget: FPVInteractionWidget? = null
+    protected var secondaryFPVWidget: FPVWidget? = null
+    protected var systemStatusListPanelWidget: SystemStatusListPanelWidget? = null
+    protected var simulatorControlWidget: SimulatorControlWidget? = null
+    protected var lensControlWidget: LensControlWidget? = null
+    protected var autoExposureLockWidget: AutoExposureLockWidget? = null
+    protected var focusModeWidget: FocusModeWidget? = null
+    protected var focusExposureSwitchWidget: FocusExposureSwitchWidget? = null
+    protected var cameraControlsWidget: CameraControlsWidget? = null
+    protected var horizontalSituationIndicatorWidget: HorizontalSituationIndicatorWidget? = null
+    protected var pfvFlightDisplayWidget: PrimaryFlightDisplayWidget? = null
+    protected var ndviCameraPanel: CameraNDVIPanelWidget? = null
+    protected var visualCameraPanel: CameraVisiblePanelWidget? = null
+    protected var focalZoomWidget: FocalZoomWidget? = null
+    protected var settingWidget: SettingWidget? = null
+    protected var topBarPanel: TopBarPanelWidget? = null
+    protected var fpvParentView: ConstraintLayout? = null
+    private var mDrawerLayout: DrawerLayout? = null
+    private var gimbalAdjustDone: TextView? = null
+    private var btn_test: Button? = null
+    private var btn_test1: Button? = null
+
+    private var gimbalFineTuneWidget: GimbalFineTuneWidget? = null
+    private var lastDevicePosition = ComponentIndexType.UNKNOWN
+    private var lastLensType = CameraLensType.UNKNOWN
+
+    private var compositeDisposable: CompositeDisposable? = null
+    private val cameraSourceProcessor = DataProcessor.create(
+        CameraSource(
+            ComponentIndexType.UNKNOWN,
+            CameraLensType.UNKNOWN
+        )
+    )
+    private val networkStatusListener =
+        IDJINetworkStatusListener { isNetworkAvailable: Boolean ->
+            if (isNetworkAvailable) {
+                LogUtils.d(TAG, "isNetworkAvailable=" + true)
+                startRtkService(false)
+            }
+        }
+
+    private val availableCameraUpdatedListener: AvailableCameraUpdatedListener =
+        object : AvailableCameraUpdatedListener {
+            override fun onAvailableCameraUpdated(availableCameraList: List<ComponentIndexType>) {
+                runOnUiThread { updateFPVWidgetSource(availableCameraList) }
+            }
+
+            override fun onCameraStreamEnableUpdate(cameraStreamEnableMap: Map<ComponentIndexType, Boolean>) {
+                //
+            }
+        }
+
+
+    private var cameraManager: ICameraStreamManager = MediaDataCenter.getInstance().cameraStreamManager
+
+    private var startArucoType = 0  //1执行机库二维码识别  2执行备降点二维码识别
+    private var dictionary: Dictionary? = null
+    private var mqMessage: MQMessage? = null
+
+    override fun useEventBus(): Boolean {
+        return true
+    }
+
+    override fun onResume() {
+        super.onResume()
+
+        dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_6X6_250)
+        compositeDisposable = CompositeDisposable()
+        compositeDisposable!!.add(
+            systemStatusListPanelWidget!!.closeButtonPressed()
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe { pressed: Boolean ->
+                    if (pressed) {
+                        systemStatusListPanelWidget!!.hide()
+                    }
+                })
+        compositeDisposable!!.add(
+            simulatorControlWidget!!.getUIStateUpdates()
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe { simulatorControlWidgetState: SimulatorControlWidget.UIState? ->
+                    if (simulatorControlWidgetState is VisibilityUpdated) {
+                        if ((simulatorControlWidgetState as VisibilityUpdated).isVisible) {
+                            hideOtherPanels(simulatorControlWidget!!)
+                        }
+                    }
+                })
+        compositeDisposable!!.add(
+            cameraSourceProcessor.toFlowable()
+                .observeOn(io())
+                .throttleLast(500, TimeUnit.MILLISECONDS)
+                .subscribeOn(io())
+                .subscribe(Consumer { result: CameraSource ->
+                    runOnUiThread { onCameraSourceUpdated(result.devicePosition, result.lensType) }
+                })
+        )
+        compositeDisposable!!.add(ObservableInMemoryKeyedStore.getInstance()
+            .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED))
+            .observeOn(ui())
+            .subscribe { broadcastValues: BroadcastValues? ->
+                isGimableAdjustClicked(
+                    broadcastValues!!
+                )
+            })
+        ViewUtil.setKeepScreen(this, true)
+    }
+
+    override fun onPause() {
+        if (compositeDisposable != null) {
+            compositeDisposable!!.dispose()
+            compositeDisposable = null
+        }
+        super.onPause()
+        ViewUtil.setKeepScreen(this, false)
+    }
+
+    //endregion
+    private  fun hideOtherPanels(widget: View?) {
+        val panels = arrayOf<View>(
+            simulatorControlWidget!!
+        )
+        for (panel in panels) {
+            if (widget !== panel) {
+                panel.visibility = View.GONE
+            }
+        }
+    }
+
+    private fun updateFPVWidgetSource(availableCameraList: List<ComponentIndexType>?) {
+        LogUtils.i(TAG, JsonUtil.toJson(availableCameraList))
+        if (availableCameraList == null) {
+            return
+        }
+        val cameraList = java.util.ArrayList(availableCameraList)
+
+        //没有数据
+        if (cameraList.isEmpty()) {
+            secondaryFPVWidget!!.visibility = View.GONE
+            return
+        }
+
+        //仅一路数据
+        if (cameraList.size == 1) {
+            primaryFpvWidget!!.updateVideoSource(availableCameraList[0])
+            secondaryFPVWidget!!.visibility = View.GONE
+            return
+        }
+
+        //大于两路数据
+        val primarySource = getSuitableSource(cameraList, ComponentIndexType.LEFT_OR_MAIN)
+        primaryFpvWidget!!.updateVideoSource(primarySource!!)
+        cameraList.remove(primarySource)
+
+        val secondarySource = getSuitableSource(cameraList, ComponentIndexType.FPV)
+        secondaryFPVWidget!!.updateVideoSource(secondarySource!!)
+
+        secondaryFPVWidget!!.visibility = View.VISIBLE
+
+
+    }
+
+    private fun getSuitableSource(
+        cameraList: List<ComponentIndexType>,
+        defaultSource: ComponentIndexType
+    ): ComponentIndexType? {
+        if (cameraList.contains(ComponentIndexType.LEFT_OR_MAIN)) {
+            return ComponentIndexType.LEFT_OR_MAIN
+        } else if (cameraList.contains(ComponentIndexType.RIGHT)) {
+            return ComponentIndexType.RIGHT
+        } else if (cameraList.contains(ComponentIndexType.UP)) {
+            return ComponentIndexType.UP
+        } else if (cameraList.contains(ComponentIndexType.PORT_1)) {
+            return ComponentIndexType.PORT_1
+        } else if (cameraList.contains(ComponentIndexType.PORT_2)) {
+            return ComponentIndexType.PORT_2
+        } else if (cameraList.contains(ComponentIndexType.PORT_3)) {
+            return ComponentIndexType.PORT_3
+        } else if (cameraList.contains(ComponentIndexType.PORT_4)) {
+            return ComponentIndexType.PORT_4
+        } else if (cameraList.contains(ComponentIndexType.VISION_ASSIST)) {
+            return ComponentIndexType.VISION_ASSIST
+        }
+        return defaultSource
+    }
+
+    private fun onCameraSourceUpdated(
+        devicePosition: ComponentIndexType,
+        lensType: CameraLensType
+    ) {
+        LogUtils.i(LogPath.SAMPLE, "onCameraSourceUpdated", devicePosition, lensType)
+        if (devicePosition == lastDevicePosition && lensType == lastLensType) {
+            return
+        }
+        lastDevicePosition = devicePosition
+        lastLensType = lensType
+        updateViewVisibility(devicePosition, lensType)
+        updateInteractionEnabled()
+        //如果无需使能或者显示的，也就没有必要切换了。
+        if (fpvInteractionWidget!!.isInteractionEnabled) {
+            fpvInteractionWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (lensControlWidget!!.visibility == View.VISIBLE) {
+            lensControlWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (ndviCameraPanel!!.visibility == View.VISIBLE) {
+            ndviCameraPanel!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (visualCameraPanel!!.visibility == View.VISIBLE) {
+            visualCameraPanel!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (autoExposureLockWidget!!.visibility == View.VISIBLE) {
+            autoExposureLockWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (focusModeWidget!!.visibility == View.VISIBLE) {
+            focusModeWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (focusExposureSwitchWidget!!.visibility == View.VISIBLE) {
+            focusExposureSwitchWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (cameraControlsWidget!!.visibility == View.VISIBLE) {
+            cameraControlsWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (focalZoomWidget!!.visibility == View.VISIBLE) {
+            focalZoomWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+        if (horizontalSituationIndicatorWidget!!.visibility == View.VISIBLE) {
+            horizontalSituationIndicatorWidget!!.updateCameraSource(devicePosition, lensType)
+        }
+    }
+
+    private  fun updateViewVisibility(
+        devicePosition: ComponentIndexType,
+        lensType: CameraLensType
+    ) {
+        //只在fpv下显示
+        pfvFlightDisplayWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.VISIBLE else View.INVISIBLE
+
+        //fpv下不显示
+        lensControlWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        ndviCameraPanel!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        visualCameraPanel!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        autoExposureLockWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        focusModeWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        focusExposureSwitchWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        cameraControlsWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        focalZoomWidget!!.visibility =
+            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
+        horizontalSituationIndicatorWidget!!.setSimpleModeEnable(
+            CameraUtil.isFPVTypeView(
+                devicePosition
+            )
+        )
+
+        //只在部分len下显示
+        ndviCameraPanel!!.visibility =
+            if (CameraUtil.isSupportForNDVI(lensType)) View.VISIBLE else View.INVISIBLE
+    }
+
+    /**
+     * Swap the video sources of the FPV and secondary FPV widgets.
+     */
+    private  fun swapVideoSource() {
+        val primarySource = primaryFpvWidget!!.widgetModel.getCameraIndex()
+        val secondarySource = secondaryFPVWidget!!.widgetModel.getCameraIndex()
+        //两个source都存在的情况下才进行切换
+        if (primarySource != ComponentIndexType.UNKNOWN && secondarySource != ComponentIndexType.UNKNOWN) {
+            primaryFpvWidget!!.updateVideoSource(secondarySource)
+            secondaryFPVWidget!!.updateVideoSource(primarySource)
+        }
+    }
+
+    private fun updateInteractionEnabled() {
+        fpvInteractionWidget!!.isInteractionEnabled = !CameraUtil.isFPVTypeView(
+            primaryFpvWidget!!.widgetModel.getCameraIndex()
+        )
+    }
+
+    private data class CameraSource(
+        val devicePosition: ComponentIndexType,
+        val lensType: CameraLensType
+    )
+    override fun onBackPressed() {
+        if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) {
+            mDrawerLayout!!.closeDrawers()
+        } else {
+            super.onBackPressed()
+        }
+    }
+
+    @RequiresApi(Build.VERSION_CODES.O)
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        requestWindowFeature(Window.FEATURE_NO_TITLE)
+//        window.addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON)
+        window.setFlags(
+            WindowManager.LayoutParams.FLAG_FULLSCREEN,
+            WindowManager.LayoutParams.FLAG_FULLSCREEN
+        )
+        setContentView(R.layout.activity_main)
+        isAppStarted = true
+
+
+//        mapWidget = findViewById<MapWidget>(R.id.widget_map)
+//        mapWidget?.initMapLibreMap(applicationContext, OnMapReadyListener { map: DJIMap ->
+//            val uiSetting = map.uiSettings
+//            uiSetting?.setZoomControlsEnabled(false)
+//        })
+//        mapWidget?.onCreate(savedInstanceState)
+        GeoidManager.getInstance().init(this)
+        WPMZManager.getInstance().init(this)
+        MqttManager.getInstance().needConnect()
+
+        initDJIManager()
+        initCameraManager()
+        initCameraStream()
+        initView()
+    }
+
+    private fun initView() {
+        fpvParentView = findViewById( R.id.fpv_holder)
+        mDrawerLayout = findViewById( R.id.root_view)
+        topBarPanel = findViewById( R.id.panel_top_bar)
+        settingWidget = topBarPanel?.settingWidget
+        primaryFpvWidget = findViewById( R.id.widget_primary_fpv)
+        fpvInteractionWidget = findViewById( R.id.widget_fpv_interaction)
+        secondaryFPVWidget = findViewById( R.id.widget_secondary_fpv)
+        systemStatusListPanelWidget = findViewById( R.id.widget_panel_system_status_list)
+        simulatorControlWidget = findViewById( R.id.widget_simulator_control)
+        lensControlWidget = findViewById<LensControlWidget>( R.id.widget_lens_control)
+        ndviCameraPanel = findViewById( R.id.panel_ndvi_camera)
+        visualCameraPanel = findViewById( R.id.panel_visual_camera)
+        autoExposureLockWidget = findViewById( R.id.widget_auto_exposure_lock)
+        focusModeWidget = findViewById( R.id.widget_focus_mode)
+        focusExposureSwitchWidget = findViewById( R.id.widget_focus_exposure_switch)
+        pfvFlightDisplayWidget = findViewById( R.id.widget_fpv_flight_display_widget)
+        focalZoomWidget = findViewById( R.id.widget_focal_zoom)
+        cameraControlsWidget = findViewById( R.id.widget_camera_controls)
+        horizontalSituationIndicatorWidget =
+            findViewById(R.id.widget_horizontal_situation_indicator)
+//        gimbalAdjustDone = findViewById<TextView>( R.id.fpv_gimbal_ok_btn)
+        gimbalFineTuneWidget = findViewById( R.id.setting_menu_gimbal_fine_tune)
+        btn_test = findViewById( R.id.btn_test)
+        btn_test1 = findViewById( R.id.btn_test1)
+        btn_test?.setOnClickListener {
+//            MissionManager.getInstance().test()
+            val message = MQMessage().apply {
+                megaphonePlayMode = 1
+                msg_type = 60110
+                megaphoneVolume=100
+                megaphoneWord="阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1"
+            }
+            MegaphoneManager.getInstance().startMegaphonePlay(message)
+
+
+        }
+        btn_test1?.setOnClickListener {
+//            FlightManager.getInstance().stopPropellerRotation(null)
+            MegaphoneManager.getInstance().stopPlay(null)
+
+        }
+
+        initClickListener()
+        MediaDataCenter.getInstance().cameraStreamManager.addAvailableCameraUpdatedListener(
+            availableCameraUpdatedListener
+        )
+        primaryFpvWidget?.setOnFPVStreamSourceListener(object : FPVStreamSourceListener {
+            override fun onStreamSourceUpdated(
+                devicePosition: ComponentIndexType,
+                lensType: CameraLensType
+            ) {
+                cameraSourceProcessor.onNext(
+                    CameraSource(devicePosition, lensType)
+                )
+            }
+        })
+
+        //小surfaceView放置在顶部，避免被大的遮挡
+        secondaryFPVWidget?.setSurfaceViewZOrderOnTop(true)
+        secondaryFPVWidget?.setSurfaceViewZOrderMediaOverlay(true)
+
+
+        window.setBackgroundDrawable(ColorDrawable(Color.BLACK))
+
+        //实现RTK监测网络，并自动重连机制
+        DJINetworkManager.getInstance().addNetworkStatusListener(networkStatusListener)
+
+    }
+
+    private  fun isGimableAdjustClicked(broadcastValues: BroadcastValues) {
+        if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) {
+            mDrawerLayout!!.closeDrawers()
+        }
+        horizontalSituationIndicatorWidget!!.visibility = View.GONE
+        if (gimbalFineTuneWidget != null) {
+            gimbalFineTuneWidget!!.visibility = View.VISIBLE
+        }
+    }
+
+    private  fun initClickListener() {
+        secondaryFPVWidget!!.setOnClickListener { v: View? -> swapVideoSource() }
+        if (settingWidget != null) {
+            settingWidget!!.setOnClickListener { v: View? -> toggleRightDrawer() }
+        }
+
+        // Setup top bar state callbacks
+        val systemStatusWidget = topBarPanel!!.systemStatusWidget
+        systemStatusWidget?.setOnClickListener { v: View? -> systemStatusListPanelWidget!!.toggleVisibility() }
+        val simulatorIndicatorWidget = topBarPanel!!.simulatorIndicatorWidget
+        simulatorIndicatorWidget?.setOnClickListener { v: View? -> simulatorControlWidget!!.toggleVisibility() }
+//        gimbalAdjustDone!!.setOnClickListener { view: View? ->
+//            horizontalSituationIndicatorWidget!!.visibility = View.VISIBLE
+//            if (gimbalFineTuneWidget != null) {
+//                gimbalFineTuneWidget!!.visibility = View.GONE
+//            }
+//        }
+    }
+
+    private  fun toggleRightDrawer() {
+        mDrawerLayout!!.openDrawer(GravityCompat.END)
+    }
+
+
+    override fun onDestroy() {
+        super.onDestroy()
+        isAppStarted = false
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient != null && MqttManager.getInstance().mqttAndroidClient.isConnected) {
+                MqttManager.getInstance().mqttAndroidClient.unregisterResources()
+                MqttManager.getInstance().mqttAndroidClient.disconnect() //断开连接
+            }
+        } catch (e: MqttException) {
+            e.printStackTrace()
+        }
+        MediaDataCenter.getInstance().cameraStreamManager.removeAvailableCameraUpdatedListener(
+            availableCameraUpdatedListener
+        )
+        DJINetworkManager.getInstance().removeNetworkStatusListener(networkStatusListener)
+    }
+
+
+    private val handler: Handler = Handler(Looper.getMainLooper())
+    private var initTimes=0
+    private fun initDJIManager() {
+        val isFlightControllerConnect =
+            KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
+        if (isFlightControllerConnect == null || !isFlightControllerConnect) {
+            handler.postDelayed({
+                initDJIManager()
+            }, 1000)
+        } else {
+            initTimes++
+            LogUtil.log(TAG, "初始化$initTimes")
+            RTKManager.getInstance().initRTKInfo()
+            StreamManager.getInstance().initStreamManager()
+            FlightManager.getInstance().initFlightInfo()
+            MissionManager.getInstance().initMissionManager()
+            BatteryManager.getInstance().initBatteryInfo()
+            MediaManager.getInstance().init()
+            LEDsSettingsManager.getInstance().initLEDsInfo()
+            AlternateLandingManager.getInstance().initAlterLandingInfo()
+            WayLineExecutingInterruptManager.getInstance().initWayLineExecutingInterruptInfo()
+            CameraManager.getInstance().initCameraInfo()
+            StickManager.getInstance().initStickInfo()
+            GimbalManager.getInstance().initGimbalInfo()
+            OffSiteLandingManager.getInstance().initOffSiteLandingInfo()
+            RemoteManager.getInstance().initRemoteInfo()
+            PayloadWidgetManager.getInstance().initPayloadInfo()
+            NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
+            NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
+            PerceptionManager.getInstance().init()
+
+            //ApronArucoDetect.getInstance().init()
+
+            if (PreferenceUtils.getInstance().lteEnable){
+                MLTEManager.getInstance().initLTEManager()
+                Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
+
+            }
+            //这里修改推流逻辑
+            if (PreferenceUtils.getInstance().customStreamType!=3) {
+                Handler().postDelayed(Runnable {
+                    if (PreferenceUtils.getInstance().customStreamType==1){
+                        StreamManager.getInstance()
+                            .startLiveWithRTSP()
+                    }else if (PreferenceUtils.getInstance().customStreamType==2){
+                        StreamManager.getInstance()
+                            .startLiveWithCustom()
+                    }else{
+                        LogUtil.log(TAG,"推流方式配置有误")
+                    }
+
+                }, 5000)
+            }else if(!TextUtils.isEmpty(PreferenceUtils.getInstance().customStreamUrl)){
+                Handler().postDelayed(Runnable {
+                    StreamManager.getInstance()
+                        .startLiveWithCustom()
+                }, 5000)
+            }
+            val productType =
+                KeyManager.getInstance().getValue(KeyTools.createKey(ProductKey.KeyProductType))
+            val cameraType = KeyManager.getInstance().getValue(
+                KeyTools.createKey(
+                    CameraKey.KeyCameraType,
+                    ComponentIndexType.PORT_1
+                )
+            )
+
+            if (cameraType != null && productType != null) {
+                LogUtil.log(TAG, "设备类型:" + productType.name + "相机类型:" + cameraType.name)
+            } else {
+                LogUtil.log(TAG, "设备类型:" + (productType?.name ?: "未知") + "相机类型:" + (cameraType?.name ?: "未知"))
+            }
+        }
+    }
+    private val cameraHandler: Handler = Handler(Looper.getMainLooper())
+    private var initCameraTimes=0
+    private fun initCameraManager() {
+        val isConnect = KeyManager.getInstance()
+            .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1))
+
+        if (isConnect == null || !isConnect) {
+            cameraHandler.postDelayed({
+                initDJIManager()
+            }, 1000)
+        } else {
+            initCameraTimes++
+            LogUtil.log(TAG, "初始化相机$initCameraTimes")
+
+            CameraManager.getInstance().initCameraInfo()
+        }
+    }
+
+//    var shouldExecute = true
+
+    @SuppressLint("SuspiciousIndentation")
+    private fun initCameraStream() {
+//        mainBinding?.svCameraStream?.holder?.addCallback(object : SurfaceHolder.Callback {
+//            override fun surfaceCreated(holder: SurfaceHolder) {}
+//            override fun surfaceChanged(
+//                holder: SurfaceHolder,
+//                format: Int,
+//                width: Int,
+//                height: Int
+//            ) {
+//                cameraManager.putCameraStreamSurface(
+//                    ComponentIndexType.PORT_1,
+//                    holder.surface,
+//                    width,
+//                    height,
+//                    ICameraStreamManager.ScaleType.FIX_XY
+//                )
+//            }
+//
+//            override fun surfaceDestroyed(holder: SurfaceHolder) {
+//                cameraManager.removeCameraStreamSurface(holder.surface)
+//            }
+//        })
+
+        cameraManager.addFrameListener(
+            ComponentIndexType.PORT_1,
+            ICameraStreamManager.FrameFormat.YUV420_888
+        ) { frameData, _, _, width, height, _ ->
+            Movement.getInstance().isVtx=true
+            //检测到图传
+            streamReceive=true
+//            if (shouldExecute) {
+
+            if (startArucoType == 1) {
+                ApronArucoDetect.getInstance()?.detectArucoTags(
+                    height,
+                    width,
+                    frameData,
+                    dictionary,
+                )
+            } else if (startArucoType == 2) {
+                AlternateArucoDetect.getInstance()?.detectArucoTags(
+                    height,
+                    width,
+                    frameData,
+                    dictionary,
+                )
+            }
+//            }
+//            shouldExecute = !shouldExecute
+        }
+    }
+
+
+
+    @Subscribe(threadMode = ThreadMode.MAIN)
+    fun onEvent(message: String?) {
+        when (message) {
+            FLAG_START_DETECT_ARUCO_APRON ->
+                KeyManager.getInstance().performAction<EmptyMsg>(
+                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
+                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
+                        override fun onSuccess(emptyMsg: EmptyMsg?) {
+                            LogUtil.log(TAG, "取消降落,识别机库二维码")
+                            Handler().postDelayed(Runnable {
+                                if (!ApronArucoDetect.getInstance().isTriggerSuccess) {
+                                    LogUtil.log(TAG, "图传异常:飞往备降点")
+                                    //测试图传丢失
+                                    AlternateLandingManager.getInstance().startTaskProcess(null)
+                                }
+                            }, 6000)
+                            if (startArucoType == 1) {
+                                return
+                            }
+                            startArucoType = 1
+                            ApronArucoDetect.getInstance().setDetectedBigMarkers()
+                            DroneHelper.getInstance().setGimbalPitchDegree()
+                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
+                            DroneHelper.getInstance().isVirtualStickEnable = false
+                            DroneHelper.getInstance().setVerticalModeToVelocity()
+                        }
+
+                        override fun onFailure(error: IDJIError) {
+                            if (startArucoType == 1) {
+                                return
+                            }
+                            startArucoType = 1
+                            LogUtil.log(TAG, "取消降落,识别机库二维码失败:" + Gson().toJson(error))
+                            ApronArucoDetect.getInstance().setDetectedBigMarkers()
+                            DroneHelper.getInstance().setGimbalPitchDegree()
+                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
+                            DroneHelper.getInstance().isVirtualStickEnable=false
+                            DroneHelper.getInstance().setVerticalModeToVelocity()
+                        }
+                    })
+
+            FLAG_START_DETECT_ARUCO_ALTERNATE ->
+                KeyManager.getInstance().performAction<EmptyMsg>(
+                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
+                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
+                        override fun onSuccess(emptyMsg: EmptyMsg?) {
+                            LogUtil.log(TAG, "取消降落,识别备降点二维码")
+                            Handler().postDelayed(Runnable {
+                                if (!AlternateArucoDetect.getInstance().isTriggerSuccess) {
+                                    LogUtil.log(TAG, "图传异常:备降点直接降落")
+                                    //测试图传丢失
+                                    FlightManager.getInstance().startAutoLanding(null)
+                                }
+                            }, 4000)
+                            if (startArucoType == 2) {
+                                return
+                            }
+                            startArucoType = 2
+                            DroneHelper.getInstance().setGimbalPitchDegree()
+                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
+                            DroneHelper.getInstance().isVirtualStickEnable = false
+                            DroneHelper.getInstance().setVerticalModeToVelocity()
+                        }
+
+                        override fun onFailure(error: IDJIError) {
+                            if (startArucoType == 2) {
+                                return
+                            }
+                            startArucoType = 2
+                            LogUtil.log(
+                                TAG,
+                                "取消降落,识别备降点二维码失败:" + Gson().toJson(error)
+                            )
+                            DroneHelper.getInstance().setGimbalPitchDegree()
+                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
+                            DroneHelper.getInstance().isVirtualStickEnable=false
+                            DroneHelper.getInstance().setVerticalModeToVelocity()
+                        }
+                    })
+
+            FLAG_DOWN_LAND ->
+                KeyManager.getInstance().performAction<EmptyMsg>(
+                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStartAutoLanding),
+                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
+                        override fun onSuccess(emptyMsg: EmptyMsg?) {
+                            startArucoType = 0
+                            LogUtil.log(TAG, "自动降落调用成功")
+                        }
+
+                        override fun onFailure(error: IDJIError) {
+                            LogUtil.log(TAG, "自动降落调用失败${error.description()}")
+                        }
+                    })
+
+            FLAG_STOP_ARUCO ->
+                startArucoType = 0
+
+            MqttCallBack.FLAG_RESET_CLEAN_MODE ->
+                setViewVisibilityWithCleanMode()
+        }
+    }
+
+
+
+
+    private fun setViewVisibilityWithCleanMode() {
+        if (PreferenceUtils.getInstance().isCleanMode) {
+            fpvInteractionWidget?.visibility = View.GONE
+            horizontalSituationIndicatorWidget?.visibility = View.GONE
+            gimbalFineTuneWidget?.visibility = View.GONE
+            ndviCameraPanel?.visibility = View.GONE
+            visualCameraPanel?.visibility = View.GONE
+            autoExposureLockWidget?.visibility = View.GONE
+            focusModeWidget?.visibility = View.GONE
+            focusExposureSwitchWidget?.visibility = View.GONE
+            cameraControlsWidget?.visibility = View.GONE
+            focalZoomWidget?.visibility = View.GONE
+//            returnHomeWidget?.visibility = View.GONE
+//            takeOffWidget?.visibility = View.GONE
+//            lensControlWidget?.visibility = View.GONE
+            simulatorControlWidget?.visibility = View.GONE
+            pfvFlightDisplayWidget?.visibility = View.GONE
+            systemStatusListPanelWidget?.visibility = View.GONE
+            topBarPanel?.visibility = View.GONE
+        }
+    }
+
+}

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

@@ -0,0 +1,101 @@
+package com.aros.apron.activity
+
+import android.os.Bundle
+import android.util.Log
+import com.aros.apron.base.BaseActivity
+import com.aros.apron.databinding.ActivityGalleryBinding
+import com.aros.apron.manager.MediaManager
+import com.aros.apron.tools.GalleryAdapter
+import com.aros.apron.tools.RecyclerViewHelper
+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.datacenter.MediaDataCenter
+import dji.v5.manager.datacenter.media.MediaFileListData
+import dji.v5.manager.datacenter.media.MediaFileListState
+import dji.v5.manager.datacenter.media.PullMediaFileListParam
+
+class MediaActivity : BaseActivity() {
+
+    private var adapter: GalleryAdapter? = null
+    private var mediaFileListData: MediaFileListData? = null
+    private lateinit var galleryBinding: ActivityGalleryBinding
+
+    override fun useEventBus(): Boolean {
+        return false
+    }
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        galleryBinding = ActivityGalleryBinding.inflate(layoutInflater)
+        setContentView(galleryBinding.root)
+        galleryBinding.btnDisable?.setOnClickListener {
+            MediaManager.getInstance().disablePlayback()
+        }
+        galleryBinding.btnEnable?.setOnClickListener {
+            MediaManager.getInstance().enablePlayback()
+        }
+        galleryBinding.btnRemoveAll?.setOnClickListener {
+            deleteMediaFiles()
+        }
+        galleryBinding.btnRefreshFileList?.setOnClickListener {
+            MediaDataCenter.getInstance().mediaManager.pullMediaFileListFromCamera(
+                PullMediaFileListParam.Builder().count(20).build(), object :
+                    CommonCallbacks.CompletionCallback {
+                    override fun onSuccess() {
+                        Log.e("MediaActivity", "fetch success")
+                    }
+
+                    override fun onFailure(error: IDJIError) {
+                        Log.e("MediaActivity", "fetch failed$error")
+                    }
+                })
+        }
+        adapter = GalleryAdapter()
+        RecyclerViewHelper.initRecyclerViewG(this, galleryBinding.rvPic, adapter, 2)
+//            addMediaFileStateListener()
+
+    }
+
+
+    private fun addMediaFileStateListener() {
+        val isConnect =
+            KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection))
+        if (isConnect != null && isConnect) {
+            val mediaManager = MediaDataCenter.getInstance().mediaManager
+            mediaManager.addMediaFileListStateListener { mediaFileListState ->
+                Log.e("MediaActivity", "状态" + mediaFileListState.name)
+                if (mediaFileListState == MediaFileListState.UP_TO_DATE) {
+                    mediaFileListData = mediaManager.mediaFileListData
+                    Log.e("MediaActivity", "媒体文件数量" + mediaManager.mediaFileListData.data.size)
+
+                    runOnUiThread {
+                        adapter?.setData(mediaFileListData)
+                    }
+                }
+            }
+        } else {
+            Log.e("MediaActivity", "设备未连接")
+        }
+    }
+
+    //删除
+    private fun deleteMediaFiles() {
+        val mediaManager = MediaDataCenter.getInstance().mediaManager
+        Log.e("MediaActivity", "清除文件数量" + mediaFileListData?.data?.size+"")
+        mediaManager.deleteMediaFiles(mediaFileListData?.data,
+            object : CommonCallbacks.CompletionCallback {
+                override fun onSuccess() {
+                    TODO("Not yet implemented")
+                    adapter?.setData(mediaFileListData)
+                }
+
+                override fun onFailure(p0: IDJIError) {
+                    Log.e("MediaActivity", "清除文件失败" + p0.description())
+                }
+            })
+
+    }
+}

app/src/main/java/com/aros/apron/api/BaseUrl.java

@@ -0,0 +1,10 @@
+package com.aros.apron.api;
+
+
+public class BaseUrl {
+
+
+    public static String ipAddress = "http://36.154.125.61:17071/manage/api/v1/";
+
+
+}

app/src/main/java/com/aros/apron/api/HttpLogger.java

@@ -0,0 +1,21 @@
+package com.aros.apron.api;
+
+import android.util.Log;
+
+import okhttp3.logging.HttpLoggingInterceptor;
+
+
+public class HttpLogger implements HttpLoggingInterceptor.Logger {
+
+    private String TAG;
+
+    public HttpLogger(String TAG) {
+        this.TAG = TAG;
+    }
+
+    @Override
+    public void log(String message) {
+        Log.d(TAG, message);
+    }
+
+}

app/src/main/java/com/aros/apron/api/HttpUtil.java

@@ -0,0 +1,33 @@
+package com.aros.apron.api;
+
+import java.util.concurrent.TimeUnit;
+
+import okhttp3.OkHttpClient;
+import retrofit2.Retrofit;
+import retrofit2.converter.gson.GsonConverterFactory;
+
+public class HttpUtil {
+    /**
+     * 初始化okhttpclient.
+     * @return okhttpClient
+     */
+    public OkHttpClient okhttpclient() {
+//        HttpLoggingInterceptor logInterceptor = new HttpLoggingInterceptor(new HttpLogger(getClass().getSimpleName()));
+//        logInterceptor.setLevel(HttpLoggingInterceptor.Level.BODY);
+        OkHttpClient mOkHttpClient = new OkHttpClient.Builder()
+                .connectTimeout(15, TimeUnit.SECONDS)
+                .addInterceptor(new LoggingInterceptor())
+                .build();
+        return mOkHttpClient;
+    }
+
+    public UavApi createRequest() {
+        Retrofit retrofit = new Retrofit.Builder()
+                .baseUrl(BaseUrl.ipAddress)
+                .client(okhttpclient())
+                .addConverterFactory(GsonConverterFactory.create())
+                .build();
+        UavApi vamApi = retrofit.create(UavApi.class);
+        return vamApi;
+    }
+}

app/src/main/java/com/aros/apron/api/LoggingInterceptor.java

@@ -0,0 +1,56 @@
+package com.aros.apron.api;
+
+import android.util.Log;
+
+import java.io.IOException;
+
+import okhttp3.FormBody;
+import okhttp3.Interceptor;
+import okhttp3.Request;
+import okhttp3.Response;
+import okhttp3.ResponseBody;
+
+/**
+ * @author Rain
+ * created:2019/3/29 11:46
+ * desc:类作用描述
+ */
+public class LoggingInterceptor implements Interceptor {
+    @Override
+    public Response intercept(Chain chain) throws IOException {
+        //这个chain里面包含了request和response，所以你要什么都可以从这里拿
+        Request request = chain.request();
+        long t1 = System.nanoTime();//请求发起的时间
+        String method = request.method();
+        if ("POST".equals(method)) {
+            StringBuilder sb = new StringBuilder();
+            if (request.body() instanceof FormBody) {
+                FormBody body = (FormBody) request.body();
+                for (int i = 0; i < body.size(); i++) {
+                    sb.append(body.encodedName(i) + "=" + body.encodedValue(i) + ",");
+                }
+                sb.delete(sb.length() - 1, sb.length());
+                Log.e("CSDN_LQR", String.format("发送请求 %s on %s %n%s %nRequestParams:{%s}",
+                        request.url(), chain.connection(), request.headers(), sb.toString()));
+            }
+        } else {
+            Log.e("CSDN_LQR", String.format("发送请求 %s on %s%n%s",
+                    request.url(), chain.connection(), request.headers()));
+        }
+        Response response = chain.proceed(request);
+        long t2 = System.nanoTime();//收到响应的时间
+        //这里不能直接使用response.body().string()的方式输出日志
+        //因为response.body().string()之后，response中的流会被关闭，程序会报错，我们需要创建出一
+        //个新的response给应用层处理
+        ResponseBody responseBody = response.peekBody(1024 * 1024);
+        Log.e("CSDN_LQR",
+                String.format("接收响应: [%s] %n返回json:【%s】 %.1fms %n%s",
+                        response.request().url(),
+                        responseBody.string(),
+                        (t2 - t1) / 1e6d,
+                        response.headers()
+                ));
+        return response;
+    }
+
+}

app/src/main/java/com/aros/apron/api/UavApi.java

@@ -0,0 +1,20 @@
+package com.aros.apron.api;
+
+
+
+/**
+ * Created by James on 2022/6/21.
+ */
+
+public interface UavApi {
+//    /**
+//     * 登录
+//     *
+//     * @return
+//     */
+//    @Headers("Content-Type:application/json")
+//    @POST("login")
+//    Call<LoginResult> userLogin(@Body LoginValues loginValues);
+
+
+}

app/src/main/java/com/aros/apron/app/ApronApp.kt

@@ -0,0 +1,78 @@
+package com.aros.apron.app
+
+import android.app.Application
+import android.content.Context
+import com.aros.apron.models.MSDKManagerVM
+import com.aros.apron.models.globalViewModels
+import com.aros.apron.tools.LogUtil
+import com.aros.apron.xclog.CrashHandler
+import com.aros.apron.xclog.XcFileLog
+import com.aros.apron.xclog.XcLogConfig
+import com.dji.wpmzsdk.manager.WPMZManager
+import com.orhanobut.logger.AndroidLogAdapter
+import com.orhanobut.logger.Logger
+import com.orhanobut.logger.PrettyFormatStrategy
+import dji.v5.common.utils.GeoidManager
+import dji.v5.utils.common.ContextUtil
+import org.opencv.android.OpenCVLoader
+
+
+open class ApronApp : Application() {
+
+
+    companion object {
+        fun getApplication(): Context? {
+            return context
+        }
+         var context: Context? = null
+    }
+
+    private val msdkManagerVM: MSDKManagerVM by globalViewModels()
+
+    override fun onCreate() {
+        super.onCreate()
+        context=this
+        initConfig()
+        msdkManagerVM.initMobileSDK(this)
+
+    }
+
+    override fun attachBaseContext(base: Context?) {
+        super.attachBaseContext(base)
+        com.cySdkyc.clx.Helper.install(this)
+
+    }
+
+
+    /**
+     * Logger 初始化配置
+     */
+    private fun initConfig() {
+        var formatStrategy = PrettyFormatStrategy.newBuilder()
+            .showThreadInfo(false) // 隐藏线程信息 默认：显示
+            .methodCount(0) // 决定打印多少行（每一行代表一个方法）默认：2
+            .methodOffset(7) // (Optional) Hides internal method calls up to offset. Default 5
+//            .tag("Aros") // (Optional) Global tag for every log. Default PRETTY_LOGGER
+            .build()
+        Logger.addLogAdapter(object : AndroidLogAdapter(formatStrategy) {
+            override fun isLoggable(priority: Int, tag: String): Boolean {
+//                return super.isLoggable(priority, tag);
+                return true
+            }
+        })
+        XcFileLog.init(XcLogConfig())
+        //打印崩溃日志
+        CrashHandler.getInstance().init()
+
+        // 初始化 OpenCV
+        if (OpenCVLoader.initLocal()) {
+            LogUtil.log("qwq","opencv" +
+                    "初始化完成")
+            return;
+        }else{
+            LogUtil.log("qwq","opencv" +
+                    "初始化失败")
+        }
+
+    }
+}

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

@@ -0,0 +1,49 @@
+package com.aros.apron.base;
+
+import android.os.Bundle;
+import androidx.appcompat.app.AppCompatActivity;
+import com.aros.apron.tools.AppManager;
+import org.greenrobot.eventbus.EventBus;
+
+
+public abstract class BaseActivity extends AppCompatActivity {
+    /**
+     * activity堆栈管理
+     */
+    protected AppManager appManager = AppManager.getAppManager();
+
+
+    protected String TAG;
+    protected boolean useEventBus = false;
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        loggerSimpleName();
+        if (useEventBus()) {
+            EventBus.getDefault().register(this);
+        }
+        appManager.addActivity(this);
+    }
+
+
+
+    public abstract boolean useEventBus();
+
+    public void loggerSimpleName() {
+        TAG = getClass().getSimpleName();
+//        Log.e("Aros","当前界面 ："+ TAG);
+    }
+
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+        // 从栈中移除activity
+        appManager.finishActivity(this);
+        if (useEventBus == true) {
+            EventBus.getDefault().unregister(this);
+        }
+
+    }
+
+}

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

@@ -0,0 +1,27 @@
+package com.aros.apron.base;
+
+import android.view.ViewGroup;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.RecyclerView;
+import androidx.viewbinding.ViewBinding;
+
+public abstract class BaseAdapter<T,V extends ViewBinding> extends RecyclerView.Adapter<BaseHolder> {
+
+    @NonNull
+    @Override
+    public BaseHolder<V> onCreateViewHolder(@NonNull ViewGroup viewGroup, int i) {
+        return new BaseHolder(onBindingView(viewGroup));
+    }
+ 
+    @Override
+    public void onBindViewHolder(@NonNull BaseHolder holder, int position) {
+//        onBindingData(holder,data.get(position),position);
+        onBindingData(holder,null,position);
+    }
+ 
+    protected abstract void onBindingData(BaseHolder<V> holder, T t, int position);
+    protected abstract V onBindingView(ViewGroup viewGroup);
+ 
+
+}

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

@@ -0,0 +1,25 @@
+package com.aros.apron.base;
+
+import com.aros.apron.tools.LogUtil;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+
+public class BaseCallback {
+    public void publish(MqttAndroidClient client, String topic, MqttMessage message) {
+
+        if (client.isConnected()) {
+            try {
+                client.publish(topic, message);
+            } catch (MqttException e) {
+                e.printStackTrace();
+                LogUtil.log(this.getClass().getSimpleName(), "推送失败:" + topic + e.toString());
+            }
+        } else {
+            LogUtil.log(this.getClass().getSimpleName(), "推送失败:mqtt 未连接");
+        }
+
+    }
+}

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

@@ -0,0 +1,17 @@
+package com.aros.apron.base;
+
+import androidx.recyclerview.widget.RecyclerView;
+import androidx.viewbinding.ViewBinding;
+
+public class BaseHolder<V extends ViewBinding> extends RecyclerView.ViewHolder {
+    private V viewBinding;
+ 
+    public BaseHolder(V viewBinding) {
+        super(viewBinding.getRoot());
+        this.viewBinding = viewBinding;
+    }
+ 
+    public V getViewBinding() {
+        return viewBinding;
+    }
+}

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

@@ -0,0 +1,266 @@
+package com.aros.apron.base;
+
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.FileUploadResult;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.entity.MessageReply;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+import com.google.gson.GsonBuilder;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.util.List;
+
+public abstract class BaseManager {
+    /**
+     * 发送多个 PSDK 负载信息
+     * @param psdkList 多个负载信息列表
+     */
+    public void sendMultiplePsdk2Server(List<?> psdkList){
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                Wrapper wrapper = new Wrapper(psdkList);
+                Gson gson = new GsonBuilder()
+                        .serializeNulls()
+                        .create();
+                String json = gson.toJson(wrapper);
+                MqttMessage mqttMessage = new MqttMessage(json.getBytes("UTF-8"));
+
+                mqttMessage.setQos(1);
+                MqttManager.getInstance().mqttAndroidClient.publish(
+                        AMSConfig.getInstance().getMqttPSDKPushEvent2ServerTopic(),
+                        mqttMessage
+                );
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "发送多个PSDK异常：" + e.toString());
+        }
+    }
+    public String TAG = getClass().getSimpleName();
+
+
+
+    class Wrapper {
+        private Object data;
+        public Wrapper(Object data) {
+            this.data = data;
+        }
+    }
+
+    public void sendMsg2Server( MQMessage entity, String msg) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MessageReply messageReply = new MessageReply();
+                messageReply.setMsg_type(entity.getMsg_type());
+                messageReply.setResult(-1);
+                messageReply.setMsg(msg);
+                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(messageReply).getBytes("UTF-8"));
+                mqttMessage.setQos(1);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
+            } else {
+                LogUtil.log(TAG, "回复失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+            LogUtil.log(TAG, "回复异常：" + e.toString());
+        }
+    }
+
+
+    public void sendMsg2Server(MQMessage entity) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected() && entity != null) {
+                MessageReply messageReply = new MessageReply();
+                messageReply.setMsg_type(entity.getMsg_type());
+                messageReply.setResult(1);
+                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(messageReply).getBytes("UTF-8"));
+                mqttMessage.setQos(1);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
+
+            } else {
+                LogUtil.log(TAG, "回复失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "回复异常：" + e.toString());
+            e.printStackTrace();
+        }
+    }
+
+
+//    public static long lastTime;
+//
+//    public boolean isFlyClickTime() {
+//        long time = System.currentTimeMillis();
+//        if (time - lastTime > 1000||time-lastTime<0) {
+//            lastTime = time;
+//            return true;
+//        }
+//        return false;
+//    }
+
+    public void publish(MqttAndroidClient client, String topic, MqttMessage message) {
+        try {
+            if (client.isConnected()) {
+                client.publish(topic, message);
+//                LogUtil.log(TAG, "推送消息==》"+message);
+            } else {
+                LogUtil.log(TAG, "推送飞机状态失败:mqtt未连接");
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+            LogUtil.log(TAG, "推送飞机状态失败异常:" + topic + e.toString());
+        }
+    }
+
+    //任务流程事件
+    public void sendMissionExecuteEvents(String event) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MqttMessage mqttMessage = null;
+                MessageReply message = new MessageReply();
+                message.setMsg_type(60113);
+                message.setResult(1);
+                message.setMsg(event);
+                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
+                mqttMessage.setQos(2);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
+            } else {
+                LogUtil.log(TAG, event+"-流程发送失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "流程发送异常："+e.toString());
+            e.printStackTrace();
+        }
+    }
+
+
+
+    //媒体文件上传结果上报
+    public void sendFileUploadCallback(int msgType, FileUploadResult result) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MqttMessage mqttMessage = null;
+                result.setMsg_type(msgType);
+                mqttMessage = new MqttMessage(new Gson().toJson(result).getBytes("UTF-8"));
+                mqttMessage.setQos(2);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
+                LogUtil.log(TAG, "文件上传发送成功："+new Gson().toJson(result));
+
+            } else {
+                LogUtil.log(TAG, "文件上传发送失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "文件上传发送异常：mqtt 未连接");
+            e.printStackTrace();
+        }
+    }
+
+
+    //推送航点动作组执行状态
+    public void sendMsgWaypointActionState2Server(String data,String index) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MqttMessage mqttMessage = null;
+                MessageReply message = new MessageReply();
+                message.setMsg_type(60133);
+                message.setResult(1);
+                message.setWaypointActionState(data);
+                message.setWaypointIndex(index);
+                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
+                mqttMessage.setQos(0);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance(). getMqttMsdkPushEvent2ServerTopic(), mqttMessage);
+
+            } else {
+                LogUtil.log(TAG, "推送航点动作组失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "推送航点动作组发送异常：mqtt 未连接");
+            e.printStackTrace();
+        }
+    }
+
+    //获取总飞行里程
+    public void sendAircraftTotalFlightDistance2Server( MQMessage mqMessage, double data) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MqttMessage mqttMessage = null;
+                MessageReply message = new MessageReply();
+                message.setMsg_type(60132);
+                message.setResult(1);
+                message.setFlag(mqMessage.getFlag());
+                message.setAircraftTotalFlightDistance(data+"");
+                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
+                mqttMessage.setQos(0);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
+            } else {
+                LogUtil.log(TAG, "总飞行里程发送失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "总飞行里程发送异常：mqtt 未连接");
+            e.printStackTrace();
+        }
+    }
+
+    //收到暂停航线命令后，发送经纬度给后端
+    public void sendLowBatteryRTHPosition2Server() {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MqttMessage mqttMessage = null;
+                MessageReply message = new MessageReply();
+                message.setMsg_type(60201);
+                message.setResult(1);
+                message.setLat(Movement.getInstance().getCurrentLatitude());
+                message.setLon(Movement.getInstance().getCurrentLongitude());
+                message.setTask_id(PreferenceUtils.getInstance().getTaskId());
+                message.setFlyingHeight(Movement.getInstance().getFlyingHeight()+"");
+                message.setWaypointIndex(Movement.getInstance().getCurrentWaypointIndex()+"");
+                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
+                mqttMessage.setQos(2);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
+                LogUtil.log(TAG,"低电量返航发送成功");
+            } else {
+                LogUtil.log(TAG, "触发低电量返航发送失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "触发低电量返航发送失败：mqtt 未连接");
+            e.printStackTrace();
+        }
+    }
+
+    //自定义到达/离开航点的事件
+    public void sendCustomReachOrLeave2Server(String data,String index) {
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                MqttMessage mqttMessage = null;
+                MessageReply message = new MessageReply();
+                message.setMsg_type(60203);
+                message.setResult(1);
+                message.setWaypointActionState(data);
+                message.setWaypointIndex(index);
+                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
+                mqttMessage.setQos(0);
+                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkPushEvent2ServerTopic(), mqttMessage);
+            } else {
+                LogUtil.log(TAG, "推送自定义到达/离开航点的事件失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "推送自定义到达/离开航点的事件异常：mqtt 未连接");
+            e.printStackTrace();
+        }
+    }
+
+
+    public boolean getGimbalAndCameraEnabled() {
+        if (!PreferenceUtils.getInstance().getNeedTriggerApronArucoLand() && !PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand()&& Movement.getInstance().getGoHomeState()!=1&&Movement.getInstance().getGoHomeState()!=2) {
+            return true;
+        } else {
+            LogUtil.log(TAG, "降落时不允许操作云台/相机/虚拟摇杆");
+            return false;
+        }
+    }
+}

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

@@ -0,0 +1,59 @@
+package com.aros.apron.callback;
+
+import  android.os.Handler;
+
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.ToastUtil;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.IMqttActionListener;
+import org.eclipse.paho.client.mqttv3.IMqttToken;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.eclipse.paho.client.mqttv3.MqttException;
+
+public class MqttActionCallBack implements IMqttActionListener {
+
+    private final String TAG = "MqttActionCallBack";
+    private MqttAndroidClient mqttAndroidClient;
+    private MqttConnectOptions options;
+
+    public MqttActionCallBack(MqttAndroidClient mqttAndroidClient, MqttConnectOptions options) {
+        this.mqttAndroidClient = mqttAndroidClient;
+        this.options = options;
+    }
+
+    @Override
+    public void onSuccess(IMqttToken asyncActionToken) {
+        ToastUtil.showToast("MQtt连接成功");
+        LogUtil.log(TAG, "MQtt连接成功：-------");
+        try {
+            mqttAndroidClient.subscribe(AMSConfig.getInstance().getMqttServer2MsdkTopic(), 1);//订阅主题:注册
+        } catch (MqttException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
+        LogUtil.log(TAG, "MQtt连接失败:" + exception.toString());
+        try {
+            if (!mqttAndroidClient.isConnected()){
+                new Handler().postDelayed(new Runnable() {
+                    @Override
+                    public void run() {
+                        try {
+                            mqttAndroidClient.connect(options, null, MqttActionCallBack.this); // 再次尝试连接
+                        } catch (MqttException e) {
+                            LogUtil.log(TAG,"mqtt重连异常:"+e.toString());
+                            e.printStackTrace();
+                        }
+
+                    }
+                },1500);
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+}

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

@@ -0,0 +1,635 @@
+package com.aros.apron.callback;
+
+
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.text.TextUtils;
+import android.util.Log;
+
+import androidx.annotation.NonNull;
+
+import com.aros.apron.app.ApronApp;
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.manager.AMSLogManager;
+import com.aros.apron.manager.AlternateLandingManager;
+import com.aros.apron.manager.CameraManager;
+import com.aros.apron.manager.FlightManager;
+import com.aros.apron.manager.GimbalManager;
+import com.aros.apron.manager.MediaManager;
+import com.aros.apron.manager.MegaphoneManager;
+import com.aros.apron.manager.MissionManager;
+import com.aros.apron.manager.OffSiteLandingManager;
+import com.aros.apron.manager.PayloadWidgetManager;
+import com.aros.apron.manager.PerceptionManager;
+import com.aros.apron.manager.ResetHomePointManager;
+import com.aros.apron.manager.StickManager;
+import com.aros.apron.manager.StreamManager;
+import com.aros.apron.manager.SystemManager;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.aros.apron.tools.PreferenceUtils;
+import com.aros.apron.tools.RestartAPPTool;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttCallbackExtended;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.greenrobot.eventbus.EventBus;
+
+import java.io.UnsupportedEncodingException;
+
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
+
+public class MqttCallBack  extends BaseManager implements MqttCallbackExtended {
+
+    private String TAG = "MqttCallBack";
+
+
+    @Override
+    public void connectionLost(Throwable cause) {
+        LogUtil.log(TAG, "MQtt connectionLost:" + cause.toString());
+
+    }
+
+    //断线重连
+    public void reConnect() throws Exception {
+        if (null != MqttManager.getInstance().mqttAndroidClient) {
+            LogUtil.log(TAG, "MQtt reConnect-----");
+        }
+    }
+
+
+    public static boolean isReceiverMission = false;
+    private boolean isReceiverMissionAgain = false;
+    private boolean isWaiting30Min = false;
+
+    @Override
+    public void messageArrived(String topic, MqttMessage mqttMessage) {
+
+        String jsonString = null;
+        try {
+            jsonString = new String(mqttMessage.getPayload(), "UTF-8");
+        } catch (UnsupportedEncodingException e) {
+            Log.e(TAG, "解析异常");
+            throw new RuntimeException(e);
+        }
+        MQMessage message = new Gson().fromJson(jsonString, MQMessage.class);
+        switch (message.getMsg_type()) {
+            //检测遥控器与开发板是否连接
+            case 60001:
+                LogUtil.log(TAG, "收到命令：遥控器是否连接" + jsonString);
+                SystemManager.getInstance().checkRemoteControlPowerStatus(message);
+                break;
+            //检测飞机是否开机
+            case 60002:
+                LogUtil.log(TAG, "收到命令：飞机是否开机" + jsonString);
+                SystemManager.getInstance().checkAircraftPowerStatus(message);
+                break;
+            //航线和推流地址指令，收到后立即回复1，自行处理航线和推流逻辑
+            case 60003:
+                if (Movement.getInstance().getIsVirtualStickEnable() == 1) {
+                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "收到航线时取消虚拟摇杆");
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "收到航线时取消虚拟摇杆失败:" + getIDJIErrorMsg(error));
+
+                        }
+                    });
+                }
+                //默认规定不在返航时才可以上传航线
+                //收到航线时将状态设置为不可关机状态
+                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(false);
+                Movement.getInstance().setTaskFail(false);
+                Movement.getInstance().setVirtualStickQuitMission(false);
+
+                if (Movement.getInstance().getGoHomeState() != 1 && Movement.getInstance().getGoHomeState() != 2) {
+                    PreferenceUtils.getInstance().setIsNewRoute(message.isNewRoute());
+                    PreferenceUtils.getInstance().setMissionType(message.getMissionType());
+                    if (!message.isNewRoute()) {
+                        LogUtil.log(TAG, "收到命令：航线" + jsonString);
+                        //如果是一键起飞航线，返回给前端就一直是一键起飞航线
+                        Movement.getInstance().setMissionType(message.getMissionType());
+                        // 0.起飞前检查图传
+                        checkVtxWithDelay(() -> {
+                            if (isReceiverMission == false) {
+                                isReceiverMission = true;
+                                // 1.收到60003直接回复
+                                StreamManager.getInstance().sendReply2Server(message);
+                                //2.检查航线参数
+                                if (!SystemManager.getInstance().checkMissionParameter(message)) {
+                                    return;
+                                }
+                                if (PreferenceUtils.getInstance().getCustomStreamType() == 3) {
+                                    // 3.开启推流
+                                    StreamManager.getInstance().startLive(message);
+                                }
+                                // 4.关闭避障
+                                PerceptionManager.getInstance().setPerceptionEnable(false);
+                                // 5.清空sd卡
+                                CameraManager.getInstance().formatStorage(null);
+
+                                MissionManager.getInstance().startTaskProcess(message);
+                                //可能遥控器上次流程结束未关机，就再次起飞
+                            } else {
+                                SystemManager.getInstance().replyAlreadyFlown(message);
+//                            if (isReceiverMissionAgain==false){
+//                                isReceiverMissionAgain=true;
+//                                new Handler().postDelayed(new Runnable() {
+//                                    @Override
+//                                    public void run() {
+//                                        //这里需要考虑taskFail和waitForShutDown等参数的重置
+//                                        isWaiting30Min=true;
+//                                    }
+//                                },30000);
+//                            }else{
+//                                //等待30秒，如果飞机
+//                                if (isWaiting30Min&&!Movement.getInstance().isPlaneWing()){
+//                                    RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
+//                                }else{
+//                                    LogUtil.log(TAG,"重复收到航线,正在确认飞机状态后飞行:"+"isWaiting30Min="+isWaiting30Min+"isPlaneWing="+Movement.getInstance().isPlaneWing());
+//                                }
+//                            }
+                            }
+
+                        });
+
+                    } else {
+                        LogUtil.log(TAG, "收到命令：指点飞行" + jsonString);
+                        // 1.收到60003直接回复
+                        StreamManager.getInstance().sendReply2Server(message);
+                        // 2.下载航线
+                        MissionManager.getInstance().startTaskProcess(message);
+                    }
+                } else {
+                    LogUtil.log(TAG, "返航中,无法上传航线");
+                }
+                break;
+            //航线暂停
+            case 60004:
+                LogUtil.log(TAG, "收到命令：航线暂停" + jsonString);
+                MissionManager.getInstance().pauseMission(message);
+                break;
+            //航线继续
+            case 60005:
+                LogUtil.log(TAG, "收到命令：航线继续" + jsonString);
+                MissionManager.getInstance().resumeMission(message);
+                break;
+            //返航
+            case 60006:
+                LogUtil.log(TAG, "收到命令：返航" + jsonString);
+                if(Movement.getInstance().isIsflyalter()==false){
+                    FlightManager.getInstance().startGoHome(message);
+                }else{
+                    sendMsg2Server( message, "飞备降禁止返航" );
+                }
+                break;
+            //获取控制权
+            case 60007:
+                LogUtil.log(TAG, "收到命令：获取控制权" + jsonString);
+                StickManager.getInstance().setVirtualStickModeEnabled(message);
+                break;
+            //虚拟摇杆数据
+            case 60008:
+                LogUtil.log(TAG, "收到命令：虚拟摇杆数据" + jsonString);
+                StickManager.getInstance().sendVirtualStickAdvancedParam(message);
+                break;
+            //云台角度控制
+            case 60009:
+                LogUtil.log(TAG, "收到命令：云台角度控制" + jsonString);
+                GimbalManager.getInstance().gimbalRotateByRelativeAngle(message);
+                break;
+            case 60024:
+                LogUtil.log(TAG, "收到命令：云台角度控制绝对角度" + jsonString);
+               // GimbalManager.getInstance().gimbalRotateByAbsoluteAngle(message);
+                break;
+
+            //收到此指令表示舱门已关闭，等待归中60012后可调用60011关机
+            case 60010:
+//                LogUtil.log(TAG, "收到命令：舱门已关闭" + jsonString);
+//                SystemManager.getInstance().droneShutdown(message);
+                break;
+            //收到60012表示已归中，立即回复60012，且上传相册后可以发送60011关闭飞机和遥控器
+            //收到60012表示服务端在确认飞机此时时候处于可关机的状态
+            case 60012:
+                LogUtil.log(TAG, "收到命令：飞机是否可关机" + jsonString);
+                SystemManager.getInstance().aircraftStoredReply(message);
+                break;
+            //收到60014表示Server已收到架次开始
+            case 60014:
+                LogUtil.log(TAG, "收到Server架次开始");
+                break;
+            //收到60015表示Server已收到架次结束
+            case 60015:
+                LogUtil.log(TAG, "收到Server架次结束");
+                break;
+            //取消控制权
+            case 60016:
+                LogUtil.log(TAG, "收到命令：取消控制权" + jsonString);
+                StickManager.getInstance().setVirtualStickModeDisable(message);
+                break;
+            //切换视频源 1广角 2变焦 3红外
+            case 60017:
+                LogUtil.log(TAG, "收到命令：切换视频源" + jsonString);
+                CameraManager.getInstance().setCameraVideoStreamSource(message);
+                break;
+            //设置相机模式 0拍照 1录像
+            case 60018:
+                LogUtil.log(TAG, "收到命令：设置相机模式" + jsonString);
+                CameraManager.getInstance().setCameraMode(message);
+                break;
+            //开始拍照
+            case 60019:
+                LogUtil.log(TAG, "收到命令：开始拍照" + jsonString);
+                CameraManager.getInstance().startShootPhoto(message);
+                break;
+            //开始录像
+            case 60020:
+                LogUtil.log(TAG, "收到命令：开始录像" + jsonString);
+                CameraManager.getInstance().startRecordVideo(message);
+                break;
+            //停止录像
+            case 60021:
+                LogUtil.log(TAG, "收到命令：停止录像" + jsonString);
+                CameraManager.getInstance().stopRecordVideo(message);
+                break;
+            //设置变焦倍率
+            case 60022:
+                //CameraManager.getInstance().setCameraZoomRatios(message);
+                LogUtil.log(TAG, "收到命令：设置变焦倍率" + jsonString);
+                new Handler(Looper.getMainLooper()).postDelayed(() ->
+                        CameraManager.getInstance().setCameraZoomRatios(message), 500);
+                break;
+            //设置红外变焦倍率
+            case 60023:
+                LogUtil.log(TAG, "收到命令：设置红外变焦倍率" + jsonString);
+                new Handler(Looper.getMainLooper()).postDelayed(() ->
+                        CameraManager.getInstance().setThermalZoomRatios(message), 500);
+               // CameraManager.getInstance().setThermalZoomRatios(message);
+                break;
+            //开始推流，可配置推流视角
+            case 60100:
+                LogUtil.log(TAG, "收到命令：开始推流" + jsonString);
+                StreamManager.getInstance().startLive(message);
+                break;
+            //设置推流分辨率
+            case 60101:
+                LogUtil.log(TAG, "收到命令：设置推流分辨率" + jsonString);
+                StreamManager.getInstance().setLiveStreamQuality(message);
+                break;
+            //设置限高
+            case 60102:
+                LogUtil.log(TAG, "收到命令：设置限高" + jsonString);
+                FlightManager.getInstance().setHeightLimit(message);
+                break;
+            //设置限远
+            case 60103:
+                LogUtil.log(TAG, "收到命令：设置限远" + jsonString);
+                FlightManager.getInstance().setDistanceLimit(message);
+                break;
+            //设置限远是否启用
+            case 60104:
+                LogUtil.log(TAG, "收到命令：设置限远是否启用" + jsonString);
+                FlightManager.getInstance().setDistanceLimitEnabled(message);
+                break;
+            //设置红外分屏
+            case 60105:
+                LogUtil.log(TAG, "收到命令：设置红外分屏" + jsonString);
+                CameraManager.getInstance().setThermalDisplayMode(message);
+                break;
+            //取消返航
+            case 60106:
+                LogUtil.log(TAG, "收到命令：取消返航" + jsonString);
+                FlightManager.getInstance().stopGoHome(message);
+                break;
+            //终止航线
+            case 60109:
+                LogUtil.log(TAG, "收到命令：终止航线" + jsonString);
+                MissionManager.getInstance().stopMission(message);
+                break;
+            //开始喊话
+            case 60110:
+                LogUtil.log(TAG, "收到命令：开始喊话" + jsonString);
+                MegaphoneManager.getInstance().startMegaphonePlay(message);
+                break;
+            //结束喊话
+            case 60111:
+                LogUtil.log(TAG, "收到命令：结束喊话" + jsonString);
+                MegaphoneManager.getInstance().stopPlay(message);
+                break;
+            //一键飞往紧急备降点
+            case 60112:
+                LogUtil.log(TAG, "收到命令：备降点降落" + jsonString);
+                AlternateLandingManager.getInstance().startTaskProcess(message);
+                break;
+            //降落
+            case 60113:
+                LogUtil.log(TAG, "收到命令：降落" + jsonString);
+                FlightManager.getInstance().startAutoLanding(message);
+                break;
+            //取消降落
+            case 60114:
+                LogUtil.log(TAG, "收到命令：取消降落" + jsonString);
+                FlightManager.getInstance().stopAutoLanding(message);
+                break;
+            //解锁抛投器
+            case 60115:
+                LogUtil.log(TAG, "收到命令：解锁" + jsonString);
+                //PayloadWidgetManager.getInstance().unlock(message);
+                break;
+            //锁定抛投器
+            case 60116:
+                LogUtil.log(TAG, "收到命令：锁定" + jsonString);
+               // PayloadWidgetManager.getInstance().lock(message);
+                break;
+            //抛投
+            case 60117:
+                LogUtil.log(TAG, "收到命令：抛投" + jsonString);
+                //PayloadWidgetManager.getInstance().throwOne(message);
+                break;
+            //一键全抛
+            case 60118:
+                LogUtil.log(TAG, "收到命令：一键全投" + jsonString);
+                //PayloadWidgetManager.getInstance().throwAll(message);
+                break;
+            //设置备降点
+//            case 60119:
+//                LogUtil.log(TAG, "收到命令：设置备降点" + jsonString);
+//                AlternateLandingManager.getInstance().setAlternatePoint(message);
+//                break;
+            //开始定时拍照
+            case 60120:
+                LogUtil.log(TAG, "收到命令：开始定时拍照" + jsonString);
+                CameraManager.getInstance().startTakePhotoWithInterval(message);
+                break;
+            //结束拍照
+            case 60121:
+                LogUtil.log(TAG, "收到命令：结束拍照" + jsonString);
+                CameraManager.getInstance().stopShootPhoto(message);
+                break;
+            //重置相机
+            case 60122:
+                LogUtil.log(TAG, "收到命令：重置相机设置" + jsonString);
+                CameraManager.getInstance().resetCameraSetting(message);
+                break;
+            //云台回中
+            case 60123:
+                LogUtil.log(TAG, "收到命令：云台回中" + jsonString);
+                GimbalManager.getInstance().gimbalResetWithPitchAndYaw(message);
+                break;
+            //设置对焦模式
+            case 60124:
+                LogUtil.log(TAG, "收到命令：设置对焦模式" + jsonString);
+                CameraManager.getInstance().setCameraFocusMode(message);
+                break;
+            //指点对焦
+            case 60125:
+                LogUtil.log(TAG, "收到命令：指点对焦" + jsonString);
+                CameraManager.getInstance().tapZoomAtTarget(message);
+                break;
+            //设置照片xmp写入
+            case 60126:
+                LogUtil.log(TAG, "收到命令：写入exif" + jsonString);
+                MediaManager.getInstance().setMediaFileXMPCustomInfo(message);
+                break;
+            //设置曝光模式
+            case 60127:
+                LogUtil.log(TAG, "收到命令：设置曝光模式" + jsonString);
+                CameraManager.getInstance().setExposureMode(message);
+                break;
+            //设置ev
+            case 60128:
+                LogUtil.log(TAG, "收到命令：设置曝光补偿" + jsonString);
+                CameraManager.getInstance().setExposureCompensation(message);
+                break;
+            //发送数据到psdk
+            case 60129:
+                LogUtil.log(TAG, "收到命令：发送数据到psdk" + jsonString);
+                //PayloadWidgetManager.getInstance().sendMsgToPayload(message);
+                break;
+            //停止推流
+            case 60130:
+                LogUtil.log(TAG, "收到命令：停止推流" + jsonString);
+                StreamManager.getInstance().stopLive(message);
+                break;
+            //设置对焦值
+            case 60131:
+                LogUtil.log(TAG, "收到命令：设置对焦值" + jsonString);
+                CameraManager.getInstance().setCameraFocusRingValue(message);
+                break;
+            //获取里程
+            case 60132:
+                LogUtil.log(TAG, "收到命令：获取里程" + jsonString);
+                FlightManager.getInstance().getAircraftTotalFlightDistance(message);
+                break;
+            //上传媒体文件
+            case 60134:
+//                LogUtil.log(TAG, "收到命令：获取里程" + jsonString);
+//                FlightManager.getInstance().getAircraftTotalFlightDistance(message);
+                break;
+            //异地降落
+            case 60135:
+                LogUtil.log(TAG, "收到命令：异地降落" + jsonString);
+                OffSiteLandingManager.getInstance().startTaskProcess(message);
+                break;
+            //刷新返航点
+            case 60136:
+                LogUtil.log(TAG, "收到命令：重置返航点" + jsonString);
+                ResetHomePointManager.getInstance().startTaskProcess(message);
+                break;
+            //设置纯净模式
+            case 60137:
+                LogUtil.log(TAG, "收到命令：设置纯净模式" + jsonString);
+                PreferenceUtils.getInstance().setIsCleanMode(message.getIsCleanMode() == 1 ? true : false);
+                EventBus.getDefault().post(FLAG_RESET_CLEAN_MODE);
+                break;
+            //设置测温模式
+            case 60138:
+                LogUtil.log(TAG, "收到命令：设置测温模式" + jsonString);
+                CameraManager.getInstance().setThermalTemperatureMeasureMode(message);
+                break;
+            //设置测温点
+            case 60139:
+                LogUtil.log(TAG, "收到命令：设置测温点" + jsonString);
+                CameraManager.getInstance().setThermalSpotMetersurePoint(message);
+                break;
+            //设置测温区域
+            case 60140:
+                LogUtil.log(TAG, "收到命令：设置测温区域" + jsonString);
+                CameraManager.getInstance().setThermalRegionMetersureArea(message);
+                break;
+            //切换直播视角
+            case 60141:
+                LogUtil.log(TAG, "收到命令：切换直播视角" + jsonString);
+                StreamManager.getInstance().switchCurrentView(message);
+                break;
+            //设置云台控制的最大速度
+            case 60142:
+                LogUtil.log(TAG, "收到命令：设置云台控制的最大速度" + jsonString);
+                GimbalManager.getInstance().setGimbalControlMaxSpeed(message);
+                break;
+            //紧急悬停
+            case 60143:
+                LogUtil.log(TAG, "收到命令：设置紧急悬停" + jsonString);
+                FlightManager.getInstance().emergencyHover(message);
+                break;
+            //设置失控动作
+            case 60144:
+                LogUtil.log(TAG, "收到命令：设置失控动作" + jsonString);
+                FlightManager.getInstance().setFailsafeAction(message);
+                break;
+            //设置返航高度
+            case 60145:
+                LogUtil.log(TAG, "收到命令：设置返航高度" + jsonString);
+                FlightManager.getInstance().setGoHomeHeight(message);
+                break;
+            //设置低电量报警阈值
+            case 60146:
+                LogUtil.log(TAG, "收到命令：设置低电量报警阈值" + jsonString);
+                FlightManager.getInstance().setLowBatteryWarningThreshold(message);
+                break;
+            //设置严重低电量报警阈值
+            case 60147:
+                LogUtil.log(TAG, "收到命令：设置严重低电量报警阈值" + jsonString);
+                FlightManager.getInstance().setSeriousLowBatteryWarningThreshold(message);
+                break;
+            //设置智能低电量返航
+            case 60148:
+                LogUtil.log(TAG, "收到命令：设置智能低电量返航" + jsonString);
+                FlightManager.getInstance().setLowBatteryRTHEnabled(message);
+                break;
+            //指点对焦
+            case 60149:
+                LogUtil.log(TAG, "收到命令：指点对焦" + jsonString);
+                break;
+            //云台偏航回中
+            case 60150:
+                LogUtil.log(TAG, "收到命令：云台偏航回中" + jsonString);
+                GimbalManager.getInstance().gimbalResetWithYaw(message);
+                break;
+            //云台偏航向下
+            case 60151:
+                LogUtil.log(TAG, "收到命令：云台偏航向下" + jsonString);
+                GimbalManager.getInstance().gimbalDownWithPitch(message);
+                break;
+            //云台向下
+            case 60152:
+                LogUtil.log(TAG, "收到命令：云台向下" + jsonString);
+                GimbalManager.getInstance().gimbalDownWithPitchAndYaw(message);
+                break;
+            //开启低速转浆
+            case 60153:
+                LogUtil.log(TAG, "收到命令：开启低速转浆" + jsonString);
+                FlightManager.getInstance().startPropellerRotation(message);
+                break;
+            //停止低速转浆
+            case 60154:
+                LogUtil.log(TAG, "收到命令：停止低速转浆" + jsonString);
+                FlightManager.getInstance().stopPropellerRotation(message);
+                break;
+            //msdk日志上传
+            case 60666:
+                LogUtil.log(TAG, "收到命令：日志上传" + jsonString);
+                AMSLogManager.getInstance().enableLogList(message);
+                break;
+            //设置PSDK控件值
+            case 60667:
+                LogUtil.log(TAG, "收到命令：设置psdk控件" + jsonString);
+                PayloadWidgetManager.getInstance().setWidget(message);
+                break;
+            //监听机库收到AMS命令后的回执
+            case 60999:
+                if (!TextUtils.isEmpty(message.getStatus())) {
+                    switch (message.getStatus()) {
+                        case "0":
+                            LogUtil.log(TAG, "收到命令：服务端响应关舱门" + jsonString);
+                            break;
+                        case "1":
+                            ApronExecutionStatus.getInstance().setServerReplyDockOpen(true);
+                            LogUtil.log(TAG, "收到命令：服务端响应开舱门" + jsonString);
+                            break;
+                        case "2":
+                            ApronExecutionStatus.getInstance().setServerReplyDockIn(true);
+                            LogUtil.log(TAG, "收到命令：服务端响应入库" + jsonString);
+                            break;
+                        case "3":
+                            ApronExecutionStatus.getInstance().setServerReplyDroneShut(true);
+                            LogUtil.log(TAG, "收到命令：服务端响应关机" + jsonString);
+                            break;
+                    }
+                } else {
+                    LogUtil.log(TAG, "收到命令：机库动作参数有误" + jsonString);
+                }
+                break;
+
+        }
+    }
+
+    public static final String FLAG_RESET_CLEAN_MODE = "FLAG_RESET_CLEAN_MODE";
+
+
+    @Override
+    public void deliveryComplete(IMqttDeliveryToken token) {
+
+    }
+
+    @Override
+    public void connectComplete(boolean reconnect, String serverURI) {
+        try {
+            if (reconnect) {//重新订阅
+                LogUtil.log(TAG, "MQtt ConnectComplete:" + serverURI);
+                MqttManager.getInstance().mqttAndroidClient.subscribe(AMSConfig.getInstance().getMqttServer2MsdkTopic(), 1);//订阅主题:注册
+                // publish(topic,"注册",0);
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "MQtt ConnectException:" + e.toString());
+        }
+    }
+
+    private Handler handler = new Handler(Looper.getMainLooper());
+    private Runnable checkVtxRunnable;
+
+    private void checkVtxWithDelay(Runnable onVtxReady) {
+
+        if (Movement.getInstance().isVtx()) {
+            // 图传正常，直接继续后面的流程
+            PreferenceUtils.getInstance().setRestartAMSTimes(0);
+            LogUtil.log(TAG, "图传正常，继续执行任务流程");
+            onVtxReady.run();
+            return;
+        }
+
+        LogUtil.log(TAG, "未检测到图传，5 秒后再次确认...");
+
+        handler.postDelayed(() -> {
+            if (!Movement.getInstance().isVtx()) {
+                // 图传仍未恢复 → 执行重启逻辑
+                int times = PreferenceUtils.getInstance().getRestartAMSTimes();
+                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());
+                }
+            } else {
+                // 图传恢复 → 执行后续逻辑
+                PreferenceUtils.getInstance().setRestartAMSTimes(0);
+                LogUtil.log(TAG, "图传在延迟期间恢复，继续执行任务流程");
+                onVtxReady.run();
+            }
+        }, 5000);
+    }
+
+}

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

@@ -0,0 +1,153 @@
+package com.aros.apron.constant;
+
+/**
+ * MQTT参数配置
+ */
+public class AMSConfig {
+
+    private AMSConfig() {
+    }
+
+    private static class MqttConfigHolder {
+        private static final AMSConfig INSTANCE = new AMSConfig();
+    }
+
+    public static AMSConfig getInstance() {
+        return AMSConfig.MqttConfigHolder.INSTANCE;
+    }
+
+
+    private String mqttServerUri;
+    private String userName;
+    private String password;
+    private String serialNumber;
+
+    private String mqttServer2MsdkTopic;
+    private String mqttMsdkReplyMessage2ServerTopic;
+    private String mqttMsdkPushMessage2ServerTopic;
+    private String mqttMsdkPushEvent2ServerTopic;
+
+    private String mqttPSDKPushEvent2ServerTopic;
+
+    private String alternateLandingTimes;
+
+    public String getMqttPSDKPushEvent2ServerTopic() {
+        return mqttPSDKPushEvent2ServerTopic;
+    }
+
+    public void setMqttPSDKPushEvent2ServerTopic(String mqttPSDKPushEvent2ServerTopic) {
+        this.mqttPSDKPushEvent2ServerTopic = mqttPSDKPushEvent2ServerTopic;
+    }
+
+    public String getAlternateLandingTimes() {
+        return alternateLandingTimes;
+    }
+
+    public void setAlternateLandingTimes(String alternateLandingTimes) {
+        this.alternateLandingTimes = alternateLandingTimes;
+    }
+
+
+    public String getMqttMsdkPushEvent2ServerTopic() {
+        return mqttMsdkPushEvent2ServerTopic;
+    }
+
+    public void setMqttMsdkPushEvent2ServerTopic(String mqttMsdkPushEvent2ServerTopic) {
+        this.mqttMsdkPushEvent2ServerTopic = mqttMsdkPushEvent2ServerTopic;
+    }
+
+    public String getMqttServer2MsdkTopic() {
+        return mqttServer2MsdkTopic;
+    }
+
+    public void setMqttServer2MsdkTopic(String mqttServer2MsdkTopic) {
+        this.mqttServer2MsdkTopic = mqttServer2MsdkTopic;
+    }
+
+    public String getMqttMsdkReplyMessage2ServerTopic() {
+        return mqttMsdkReplyMessage2ServerTopic;
+    }
+
+    public void setMqttMsdkReplyMessage2ServerTopic(String mqttMsdkReplyMessage2ServerTopic) {
+        this.mqttMsdkReplyMessage2ServerTopic = mqttMsdkReplyMessage2ServerTopic;
+    }
+
+    public String getMqttMsdkPushMessage2ServerTopic() {
+        return mqttMsdkPushMessage2ServerTopic;
+    }
+
+    public void setMqttMsdkPushMessage2ServerTopic(String mqttMsdkPushMessage2ServerTopic) {
+        this.mqttMsdkPushMessage2ServerTopic = mqttMsdkPushMessage2ServerTopic;
+    }
+
+    public String getMqttServerUri() {
+        return mqttServerUri;
+    }
+
+    public void setMqttServerUri(String mqttServerUri) {
+        this.mqttServerUri = mqttServerUri;
+    }
+
+    public String getUserName() {
+        return userName;
+    }
+
+    public void setUserName(String userName) {
+        this.userName = userName;
+    }
+
+    public String getPassword() {
+        return password;
+    }
+
+    public void setPassword(String password) {
+        this.password = password;
+    }
+
+    public String getSerialNumber() {
+        return serialNumber;
+    }
+
+    public void setSerialNumber(String serialNumber) {
+        this.serialNumber = serialNumber;
+    }
+
+    /**
+     * 服务器IP地址
+     */
+    //朋业测试
+//    public static String SOCKET_HOST = "tcp://212.64.64.69:1883";
+//    public static String USER_NAME = "admin";
+//    public static String USER_PASSWORD = "1qw23er45t";
+    //西安机库
+//    public static String SERIAL_NUMBER = "323RFDSVDTHBDFVSD";
+    //太仓单开门
+//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003W";
+    //太仓御三机库
+//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003Y";
+    //太仓御三机库2
+//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003A";
+    //太仓ARS350
+//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003980890809";
+
+    /**
+     * 接收指令
+     */
+//    public String MQTT_SERVER_2_MSDK_TOPIC = "nest/" + serialNumber + "/uav_services";
+
+    /**
+     * 回复结果
+     */
+//    public static String MQTT_MSDK_REPLY_MESSAGE_2_SERVER_TOPIC = "nest/" + SERIAL_NUMBER + "/uav_services_reply";
+
+    /**
+     * 推送飞行状态
+     */
+//    public static String MQTT_MSDK_PUSH_MESSAGE_2_SERVER_TOPIC = "nest/" + SERIAL_NUMBER + "/uav_status_message";
+
+    /**
+     * 推送gis飞行状态（GIS需要定频2S）
+     */
+//    public static String MQTT_MSDK_PUSH_GIS_MESSAGE_2_SERVER_TOPIC = "nest/" + SERIAL_NUMBER + "/uav_gis_message";
+
+}

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

@@ -0,0 +1,57 @@
+package com.aros.apron.entity;
+
+
+public class ApronExecutionStatus {
+
+    private static class ApronexecutionHolder {
+        private static final ApronExecutionStatus INSTANCE = new ApronExecutionStatus();
+    }
+
+    private ApronExecutionStatus() {
+    }
+
+    public static final ApronExecutionStatus getInstance() {
+        return ApronexecutionHolder.INSTANCE;
+    }
+
+    //服务端响应了机库入库指令
+    private boolean serverReplyDockIn;
+    //服务端响应了飞机关机指令
+    private boolean serverReplyDroneShut;
+    //服务端是否响应了开舱门指令
+    private boolean serverReplyDockOpen;
+    //用于确认飞机此时可以关机的状态(APC流程默认)
+    private boolean isAircraftWaitShutDown=true;
+
+    public boolean isAircraftWaitShutDown() {
+        return isAircraftWaitShutDown;
+    }
+
+    public void setAircraftWaitShutDown(boolean aircraftWaitShutDown) {
+        isAircraftWaitShutDown = aircraftWaitShutDown;
+    }
+
+    public boolean isServerReplyDockOpen() {
+        return serverReplyDockOpen;
+    }
+
+    public void setServerReplyDockOpen(boolean serverReplyDockOpen) {
+        this.serverReplyDockOpen = serverReplyDockOpen;
+    }
+
+    public boolean isServerReplyDockIn() {
+        return serverReplyDockIn;
+    }
+
+    public void setServerReplyDockIn(boolean serverReplyDockIn) {
+        this.serverReplyDockIn = serverReplyDockIn;
+    }
+
+    public boolean isServerReplyDroneShut() {
+        return serverReplyDroneShut;
+    }
+
+    public void setServerReplyDroneShut(boolean serverReplyDroneShut) {
+        this.serverReplyDroneShut = serverReplyDroneShut;
+    }
+}

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

@@ -0,0 +1,55 @@
+package com.aros.apron.entity;
+
+import org.opencv.core.Mat;
+
+import java.util.Objects;
+
+public class ArucoMarker {
+    private int id;
+    private Mat conner;
+    private float size;//二维码实际尺寸
+
+
+    public ArucoMarker(int id, Mat conner, float size) {
+        this.id = id;
+        this.conner = conner;
+        this.size = size;
+    }
+
+    public float getSize() {
+        return size;
+    }
+
+    public void setSize(float size) {
+        this.size = size;
+    }
+
+    public int getId() {
+        return id;
+    }
+
+    public void setId(int id) {
+        this.id = id;
+    }
+
+    public Mat getConner() {
+        return conner;
+    }
+
+    public void setConner(Mat conner) {
+        this.conner = conner;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (!(o instanceof ArucoMarker)) return false;
+        ArucoMarker that = (ArucoMarker) o;
+        return getId() == that.getId() && getConner().equals(that.getConner());
+    }
+
+    @Override
+    public int hashCode() {
+        return Objects.hash(getId(), getConner());
+    }
+}

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

@@ -0,0 +1,45 @@
+package com.aros.apron.entity;
+
+public enum ArucoMarkerDimensions {
+    ID_1(1, 0.18f),
+    ID_2(2, 0.18f),
+    ID_3(3, 0.18f),
+    ID_4(4, 0.18f),
+    ID_5(5, 0.15f),
+    ID_6(6, 0.24f),
+
+    ID_11(11, 0.03f),
+    ID_12(12, 0.03f),
+    ID_13(13, 0.03f),
+    ID_14(14, 0.03f),
+    ID_15(15, 0.03f),
+    ID_16(16, 0.03f),
+    ID_17(17, 0.03f),
+    ID_18(18, 0.03f),
+    ID_19(19, 0.03f);
+
+    private final int id;
+    private final float size;
+
+    ArucoMarkerDimensions(int id, float size) {
+        this.id = id;
+        this.size = size;
+    }
+
+    public int getId() {
+        return id;
+    }
+
+    public float getSize() {
+        return size;
+    }
+
+    public static float getSizeById(int id) {
+        for (ArucoMarkerDimensions dimension : ArucoMarkerDimensions.values()) {
+            if (dimension.getId() == id) {
+                return dimension.getSize();
+            }
+        }
+        throw new IllegalArgumentException("No dimension found for ID: " + id);
+    }
+}

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

@@ -0,0 +1,44 @@
+package com.aros.apron.entity;
+
+
+import java.util.ArrayList;
+import java.util.List;
+
+import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
+import dji.sdk.wpmz.value.mission.WaylineWaypoint;
+
+public class CurrentWayline {
+
+    private static class CurrentWaylineHolder {
+        private static final CurrentWayline INSTANCE = new CurrentWayline();
+    }
+
+    private CurrentWayline() {
+    }
+
+    public static final CurrentWayline getInstance() {
+        return CurrentWaylineHolder.INSTANCE;
+    }
+
+    private List<WaylineExecuteWaypoint> waypoints=new ArrayList<>();
+
+
+    public List<WaylineExecuteWaypoint> getWaypoints() {
+        return waypoints;
+    }
+
+    public void setWaypoints(List<WaylineExecuteWaypoint> waypoints) {
+        this.waypoints = waypoints;
+    }
+
+    private List<WaylineExecuteWaypoint> routeWaypoints=new ArrayList<>();
+
+
+    public List<WaylineExecuteWaypoint> getRouteWaypoints() {
+        return routeWaypoints;
+    }
+
+    public void setRouteWaypoints(List<WaylineExecuteWaypoint> waypoints) {
+        this.routeWaypoints = waypoints;
+    }
+}

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

@@ -0,0 +1,113 @@
+package com.aros.apron.entity;
+
+public class FileUploadResult {
+    private int msg_type;
+    private int result;
+    private String url;
+    private String buckName;
+    private String objectKey;
+    private String task_id;
+    private String fileName;
+    private int offIndex;
+    private int fileNum;
+    private Long fileSize;
+    private String progress;
+    private String msg;
+
+    public String getProgress() {
+        return progress;
+    }
+
+    public void setProgress(String progress) {
+        this.progress = progress;
+    }
+
+    public String getMsg() {
+        return msg;
+    }
+
+    public void setMsg(String msg) {
+        this.msg = msg;
+    }
+
+    public int getResult() {
+        return result;
+    }
+
+    public void setResult(int result) {
+        this.result = result;
+    }
+
+    public String getTask_id() {
+        return task_id;
+    }
+
+    public void setTask_id(String task_id) {
+        this.task_id = task_id;
+    }
+
+    public Long getFileSize() {
+        return fileSize;
+    }
+
+    public void setFileSize(Long fileSize) {
+        this.fileSize = fileSize;
+    }
+
+    public String getUrl() {
+        return url;
+    }
+
+    public void setUrl(String url) {
+        this.url = url;
+    }
+
+    public int getMsg_type() {
+        return msg_type;
+    }
+
+    public void setMsg_type(int msg_type) {
+        this.msg_type = msg_type;
+    }
+
+    public String getFileName() {
+        return fileName;
+    }
+
+    public void setFileName(String fileName) {
+        this.fileName = fileName;
+    }
+
+    public String getObjectKey() {
+        return objectKey;
+    }
+
+    public void setObjectKey(String objectKey) {
+        this.objectKey = objectKey;
+    }
+
+    public String getBuckName() {
+        return buckName;
+    }
+
+    public void setBuckName(String buckName) {
+        this.buckName = buckName;
+    }
+
+    public int getOffIndex() {
+        return offIndex;
+    }
+
+    public void setOffIndex(int offIndex) {
+        this.offIndex = offIndex;
+    }
+
+    public int getFileNum() {
+        return fileNum;
+    }
+
+    public void setFileNum(int fileNum) {
+        this.fileNum = fileNum;
+    }
+
+}

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

@@ -0,0 +1,102 @@
+package com.aros.apron.entity;
+
+import java.util.List;
+
+public class FlightMission {
+    private String id;
+
+    private Integer templateId;
+    private Integer waylineId;
+    private Integer missionId;
+
+    public Integer getMissionId() {
+        return missionId;
+    }
+
+    public void setMissionId(Integer missionId) {
+        this.missionId = missionId;
+    }
+
+    public Integer getTemplateId() {
+        return templateId;
+    }
+
+    public void setTemplateId(Integer templateId) {
+        this.templateId = templateId;
+    }
+
+    private Double speed=5.0;
+
+
+    /**
+     * 安全起飞高度[1.5, 1500] （高度模式：相对起飞点高度）
+     * * 注：飞行器起飞后，先爬升至该高度，再根据“飞向首航点模式”的设置飞至首航点。该元素仅在飞行器未起飞时生效。
+     */
+    private Float takeOffSecurityHeight;
+
+    //航线结束动作
+    private String finishAction;
+
+
+    public String getFinishAction() {
+        return finishAction;
+    }
+
+    public void setFinishAction(String finishAction) {
+        this.finishAction = finishAction;
+    }
+
+
+
+    /**
+     * 航点信息
+     * @return
+     */
+    private List<MissionPoint> points;
+
+    public List<MissionPoint> getPoints() {
+        return points;
+    }
+
+    public void setPoints(List<MissionPoint> points) {
+        this.points = points;
+    }
+
+    public String getId() {
+        return id;
+    }
+
+    public void setId(String id) {
+        this.id = id;
+    }
+
+
+    public Integer getWaylineId() {
+        return waylineId;
+    }
+
+    public void setWaylineId(Integer waylineId) {
+        this.waylineId = waylineId;
+    }
+
+
+    public Double getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(Double speed) {
+        this.speed = speed;
+    }
+
+
+
+
+
+    public Float getTakeOffSecurityHeight() {
+        return takeOffSecurityHeight;
+    }
+
+    public void setTakeOffSecurityHeight(Float takeOffSecurityHeight) {
+        this.takeOffSecurityHeight = takeOffSecurityHeight;
+    }
+}

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

@@ -0,0 +1,699 @@
+package com.aros.apron.entity;
+
+public class MQMessage {
+
+    private int result;
+    private String kmz_url;
+    private String rtmp_push_url;
+    private String upload_url;
+    private String access_key;
+    private String secret_key;
+    private String bucketName;
+    private String objectKey;
+    //最低起飞电量
+    String min_takeoff_electricity;
+    //强制返航电量
+    String force_return_electricity;
+    private String region;
+    private String flight_name;
+    private int streamIndex=0;//0 云台视角 1FPV
+    private int liveStreamQuality;//设置推流分辨率 1标清 2高清 3超清
+    private int cameraVideoStreamSource;//相机视频流 1广角 2变焦 3红外
+    private int cameraMode;//设置相机拍照录像模式 0拍照  1录像
+    private int cameraZoomRatios;//设置变焦镜头倍率 (isContinuousH20T为true,关键倍率[2,5,10,20,40,80,160,200])
+    private int thermalZoomRatios;//设置红外镜头倍率 (1x 2x 4x 8x)
+    private int heightLimit;//限高
+    private int heightLimitEnabled;//限高是否启用 1启用 0不启用
+    private int distanceLimitEnabled;//限远是否启用 1启用 0不启用
+    private int distanceLimit;//限远
+    private String flightId;//航线id
+    private String task_id;//任务ID(开始推流、起飞、降落都推送一次)
+    private double zoom;//指点变焦
+    private boolean newRoute;//是否是空中下发航线
+    private int missionType;//任务类型 一键起飞航线，定频推送只会推送3
+
+    private int x=0;//前后
+    private int y=0;//左右
+    private int z=0;//上下
+    private int r=0;//自旋
+    private int megaphoneVolume;//喊话器音量
+    private int megaphonePlayMode;//喊话器播放模式
+    private String megaphoneWord;//喊话器文字内容
+    private int cameraExposureMode;//曝光模式
+    private int cameraExposureCompensation;//曝光补偿数值
+    private int AELockEnabled;//曝光锁定
+    private double shootInterval;//拍照间隔时间
+    private int shootCount;//拍照的张数
+    private int msg_type;
+    private String alternate_lat;//设置备降点经纬度
+    private String alternate_lng;
+    private String offSitePointLat;//设置异地降落经纬度
+    private String offSitePointLon;
+    private String safe_land_height; //备降点安全起飞高度
+    private double zoomTargetX; //坐标x,范围0-1
+    private double zoomTargetY; //坐标y,范围0-1
+    private int cameraFocusMode; //对焦模式
+    private String xmpInfo;//写入exif信息
+    private String payloadData;//发送数据给psdk
+    private int cameraFocusRingValue;//设置相机对焦值
+    private String status;//收到机库状态的回执消息
+    private String flag;//后端用来区别里程(用作AI)
+    private int isCleanMode;//是否清洁模式
+    private int thermalTemperatureMeasureMode;//红外测温模式
+    private String metersurePointX;//点测温位置
+    private String metersurePointY;
+    private String metersureAreaX;//区域测温矩形左上角起始位置
+    private String metersureAreaY;
+    private String metersureAreaWidth;//测温矩形长度
+    private String metersureAreaHeight;//测温矩形宽度
+    private int currentView;//直播视频源
+    private int gimbalControlSpeed;//云台控制速度
+    private int failsafeAction;//设置飞行器的失控行为类型 0悬停  1降落 2返航
+    private int goHomeHeight;//设置飞行器的返航高度
+    private int lowBatteryWarningThreshold;//设置电池低电量警告的阈值。该数值为百分比，范围：[15,50]。当电池电量低于该阀值时，飞行器将进行低电量报警
+    private int seriousLowBatteryWarningThreshold;//电池严重低电量警告的阈值。该值默认为10%，Matrice 30 Series不可设置。当电池电量低于该阀值时，飞行器将进行返航操作。
+    private int lowBatteryRTHEnabled;//智能低电量返航功能。
+    private int widgetValue;//设置负载控件值
+    private int widgetType;//设置负载控件类型
+    private int widgetIndex;//设置负载控件索引
+
+    private int index;//设置负载控件索引（与widgetIndex相同，用于兼容不同的JSON格式）
+    private int psdk_index;//PSDK负载索引
+    private int value;
+
+    public int getValue() {
+        return value;
+    }
+
+    public void setValue(int value) {
+        this.value = value;
+    }
+
+    private String PsdkText;
+
+
+    public String getPsdkText() {
+        return PsdkText;
+    }
+
+    public void setPsdkText(String psdkText) {
+        PsdkText = psdkText;
+    }
+
+    //默认让他等于0
+    private int gimindex=0;//云台索引 0/1
+
+    public int getGimindex() {
+        return gimindex;
+    }
+
+    public void setGimindex(int gimindex) {
+        this.gimindex = gimindex;
+    }
+
+    public int getWidgetValue() {
+        return widgetValue;
+    }
+
+    public void setWidgetValue(int widgetValue) {
+        this.widgetValue = widgetValue;
+    }
+
+    public int getWidgetType() {
+        return widgetType;
+    }
+
+    public void setWidgetType(int widgetType) {
+        this.widgetType = widgetType;
+    }
+
+    public int getWidgetIndex() {
+        return widgetIndex;
+    }
+
+    public void setWidgetIndex(int widgetIndex) {
+        this.widgetIndex = widgetIndex;
+    }
+
+    public int getPsdk_index() {
+        return psdk_index;
+    }
+
+    public void setPsdk_index(int psdk_index) {
+        this.psdk_index = psdk_index;
+    }
+
+    public int getIndex() {
+        return index;
+    }
+
+    public void setIndex(int index) {
+        this.index = index;
+    }
+
+    public int getMissionType() {
+        return missionType;
+    }
+
+    public void setMissionType(int missionType) {
+        this.missionType = missionType;
+    }
+
+    public String getMin_takeoff_electricity() {
+        return min_takeoff_electricity;
+    }
+
+    public void setMin_takeoff_electricity(String min_takeoff_electricity) {
+        this.min_takeoff_electricity = min_takeoff_electricity;
+    }
+
+    public String getForce_return_electricity() {
+        return force_return_electricity;
+    }
+
+    public void setForce_return_electricity(String force_return_electricity) {
+        this.force_return_electricity = force_return_electricity;
+    }
+
+    public String getAlternate_lat() {
+        return alternate_lat;
+    }
+
+    public void setAlternate_lat(String alternate_lat) {
+        this.alternate_lat = alternate_lat;
+    }
+
+    public String getAlternate_lng() {
+        return alternate_lng;
+    }
+
+    public void setAlternate_lng(String alternate_lng) {
+        this.alternate_lng = alternate_lng;
+    }
+
+    public String getSafe_land_height() {
+        return safe_land_height;
+    }
+
+    public void setSafe_land_height(String safe_land_height) {
+        this.safe_land_height = safe_land_height;
+    }
+
+    public String getBucketName() {
+        return bucketName;
+    }
+
+    public void setBucketName(String bucketName) {
+        this.bucketName = bucketName;
+    }
+
+    public String getObjectKey() {
+        return objectKey;
+    }
+
+    public void setObjectKey(String objectKey) {
+        this.objectKey = objectKey;
+    }
+
+    public boolean isNewRoute() {
+        return newRoute;
+    }
+
+    public void setNewRoute(boolean newRoute) {
+        this.newRoute = newRoute;
+    }
+
+    public double getZoom() {
+        return zoom;
+    }
+
+    public void setZoom(double zoom) {
+        this.zoom = zoom;
+    }
+
+    public String getTask_id() {
+        return task_id;
+    }
+
+    public void setTask_id(String task_id) {
+        this.task_id = task_id;
+    }
+
+    public int getHeightLimitEnabled() {
+        return heightLimitEnabled;
+    }
+
+    public void setHeightLimitEnabled(int heightLimitEnabled) {
+        this.heightLimitEnabled = heightLimitEnabled;
+    }
+
+    public int getFailsafeAction() {
+        return failsafeAction;
+    }
+
+    public void setFailsafeAction(int failsafeAction) {
+        this.failsafeAction = failsafeAction;
+    }
+
+    public int getGoHomeHeight() {
+        return goHomeHeight;
+    }
+
+    public void setGoHomeHeight(int goHomeHeight) {
+        this.goHomeHeight = goHomeHeight;
+    }
+
+    public int getLowBatteryWarningThreshold() {
+        return lowBatteryWarningThreshold;
+    }
+
+    public void setLowBatteryWarningThreshold(int lowBatteryWarningThreshold) {
+        this.lowBatteryWarningThreshold = lowBatteryWarningThreshold;
+    }
+
+    public int getSeriousLowBatteryWarningThreshold() {
+        return seriousLowBatteryWarningThreshold;
+    }
+
+    public void setSeriousLowBatteryWarningThreshold(int seriousLowBatteryWarningThreshold) {
+        this.seriousLowBatteryWarningThreshold = seriousLowBatteryWarningThreshold;
+    }
+
+    public int getLowBatteryRTHEnabled() {
+        return lowBatteryRTHEnabled;
+    }
+
+    public void setLowBatteryRTHEnabled(int lowBatteryRTHEnabled) {
+        this.lowBatteryRTHEnabled = lowBatteryRTHEnabled;
+    }
+
+    public int getCurrentView() {
+        return currentView;
+    }
+
+    public void setCurrentView(int currentView) {
+        this.currentView = currentView;
+    }
+
+    public String getMetersurePointX() {
+        return metersurePointX;
+    }
+
+    public void setMetersurePointX(String metersurePointX) {
+        this.metersurePointX = metersurePointX;
+    }
+
+    public String getMetersurePointY() {
+        return metersurePointY;
+    }
+
+    public void setMetersurePointY(String metersurePointY) {
+        this.metersurePointY = metersurePointY;
+    }
+
+    public String getMetersureAreaX() {
+        return metersureAreaX;
+    }
+
+    public void setMetersureAreaX(String metersureAreaX) {
+        this.metersureAreaX = metersureAreaX;
+    }
+
+    public String getMetersureAreaY() {
+        return metersureAreaY;
+    }
+
+    public void setMetersureAreaY(String metersureAreaY) {
+        this.metersureAreaY = metersureAreaY;
+    }
+
+    public String getMetersureAreaWidth() {
+        return metersureAreaWidth;
+    }
+
+    public void setMetersureAreaWidth(String metersureAreaWidth) {
+        this.metersureAreaWidth = metersureAreaWidth;
+    }
+
+    public String getMetersureAreaHeight() {
+        return metersureAreaHeight;
+    }
+
+    public void setMetersureAreaHeight(String metersureAreaHeight) {
+        this.metersureAreaHeight = metersureAreaHeight;
+    }
+
+    public int getThermalTemperatureMeasureMode() {
+        return thermalTemperatureMeasureMode;
+    }
+
+    public void setThermalTemperatureMeasureMode(int thermalTemperatureMeasureMode) {
+        this.thermalTemperatureMeasureMode = thermalTemperatureMeasureMode;
+    }
+
+    public int getIsCleanMode() {
+        return isCleanMode;
+    }
+
+    public void setIsCleanMode(int isCleanMode) {
+        this.isCleanMode = isCleanMode;
+    }
+
+    public String getOffSitePointLat() {
+        return offSitePointLat;
+    }
+
+    public void setOffSitePointLat(String offSitePointLat) {
+        this.offSitePointLat = offSitePointLat;
+    }
+
+    public String getOffSitePointLon() {
+        return offSitePointLon;
+    }
+
+    public void setOffSitePointLon(String offSitePointLon) {
+        this.offSitePointLon = offSitePointLon;
+    }
+
+    public String getFlag() {
+        return flag;
+    }
+
+    public void setFlag(String flag) {
+        this.flag = flag;
+    }
+
+    public String getStatus() {
+        return status;
+    }
+
+    public void setStatus(String status) {
+        this.status = status;
+    }
+
+    public String getXmpInfo() {
+        return xmpInfo;
+    }
+
+    public void setXmpInfo(String xmpInfo) {
+        this.xmpInfo = xmpInfo;
+    }
+
+    public String getPayloadData() {
+        return payloadData;
+    }
+
+    public void setPayloadData(String payloadData) {
+        this.payloadData = payloadData;
+    }
+
+    public int getCameraFocusRingValue() {
+        return cameraFocusRingValue;
+    }
+
+    public void setCameraFocusRingValue(int cameraFocusRingValue) {
+        this.cameraFocusRingValue = cameraFocusRingValue;
+    }
+
+    public int getCameraFocusMode() {
+        return cameraFocusMode;
+    }
+
+    public void setCameraFocusMode(int cameraFocusMode) {
+        this.cameraFocusMode = cameraFocusMode;
+    }
+
+    public double getZoomTargetX() {
+        return zoomTargetX;
+    }
+
+    public void setZoomTargetX(double zoomTargetX) {
+        this.zoomTargetX = zoomTargetX;
+    }
+
+    public double getZoomTargetY() {
+        return zoomTargetY;
+    }
+
+    public void setZoomTargetY(double zoomTargetY) {
+        this.zoomTargetY = zoomTargetY;
+    }
+
+    public double getShootInterval() {
+        return shootInterval;
+    }
+
+    public void setShootInterval(double shootInterval) {
+        this.shootInterval = shootInterval;
+    }
+
+    public int getShootCount() {
+        return shootCount;
+    }
+
+    public void setShootCount(int shootCount) {
+        this.shootCount = shootCount;
+    }
+
+
+    public int getAELockEnabled() {
+        return AELockEnabled;
+    }
+
+    public void setAELockEnabled(int AELockEnabled) {
+        this.AELockEnabled = AELockEnabled;
+    }
+
+    public int getCameraExposureMode() {
+        return cameraExposureMode;
+    }
+
+    public void setCameraExposureMode(int cameraExposureMode) {
+        this.cameraExposureMode = cameraExposureMode;
+    }
+
+    public int getCameraExposureCompensation() {
+        return cameraExposureCompensation;
+    }
+
+    public void setCameraExposureCompensation(int cameraExposureCompensation) {
+        this.cameraExposureCompensation = cameraExposureCompensation;
+    }
+
+    public String getMegaphoneWord() {
+        return megaphoneWord;
+    }
+
+    public void setMegaphoneWord(String megaphoneWord) {
+        this.megaphoneWord = megaphoneWord;
+    }
+
+    public int getMegaphoneVolume() {
+        return megaphoneVolume;
+    }
+
+    public void setMegaphoneVolume(int megaphoneVolume) {
+        this.megaphoneVolume = megaphoneVolume;
+    }
+
+    public int getMegaphonePlayMode() {
+        return megaphonePlayMode;
+    }
+
+    public void setMegaphonePlayMode(int megaphonePlayMode) {
+        this.megaphonePlayMode = megaphonePlayMode;
+    }
+
+    public String getFlightId() {
+        return flightId;
+    }
+
+    public void setFlightId(String flightId) {
+        this.flightId = flightId;
+    }
+
+    public int getHeightLimit() {
+        return heightLimit;
+    }
+
+    public void setHeightLimit(int heightLimit) {
+        this.heightLimit = heightLimit;
+    }
+
+    public int getDistanceLimitEnabled() {
+        return distanceLimitEnabled;
+    }
+
+    public void setDistanceLimitEnabled(int distanceLimitEnabled) {
+        this.distanceLimitEnabled = distanceLimitEnabled;
+    }
+
+    public int getDistanceLimit() {
+        return distanceLimit;
+    }
+
+    public void setDistanceLimit(int distanceLimit) {
+        this.distanceLimit = distanceLimit;
+    }
+
+    public int getCameraVideoStreamSource() {
+        return cameraVideoStreamSource;
+    }
+
+    public void setCameraVideoStreamSource(int cameraVideoStreamSource) {
+        this.cameraVideoStreamSource = cameraVideoStreamSource;
+    }
+
+    public int getThermalZoomRatios() {
+        return thermalZoomRatios;
+    }
+
+    public void setThermalZoomRatios(int thermalZoomRatios) {
+        this.thermalZoomRatios = thermalZoomRatios;
+    }
+
+    public int getCameraZoomRatios() {
+        return cameraZoomRatios;
+    }
+
+    public void setCameraZoomRatios(int cameraZoomRatios) {
+        this.cameraZoomRatios = cameraZoomRatios;
+    }
+
+    public int getCameraMode() {
+        return cameraMode;
+    }
+
+    public void setCameraMode(int cameraMode) {
+        this.cameraMode = cameraMode;
+    }
+
+
+    public int getLiveStreamQuality() {
+        return liveStreamQuality;
+    }
+
+    public void setLiveStreamQuality(int liveStreamQuality) {
+        this.liveStreamQuality = liveStreamQuality;
+    }
+
+    public int getStreamIndex() {
+        return streamIndex;
+    }
+
+    public void setStreamIndex(int streamIndex) {
+        this.streamIndex = streamIndex;
+    }
+
+    public String getFlight_name() {
+        return flight_name;
+    }
+
+    public void setFlight_name(String flight_name) {
+        this.flight_name = flight_name;
+    }
+
+    public String getRegion() {
+        return region;
+    }
+
+    public void setRegion(String region) {
+        this.region = region;
+    }
+
+    public String getUpload_url() {
+        return upload_url;
+    }
+
+    public void setUpload_url(String upload_url) {
+        this.upload_url = upload_url;
+    }
+
+    public String getAccess_key() {
+        return access_key;
+    }
+
+    public void setAccess_key(String access_key) {
+        this.access_key = access_key;
+    }
+
+    public String getSecret_key() {
+        return secret_key;
+    }
+
+    public void setSecret_key(String secret_key) {
+        this.secret_key = secret_key;
+    }
+
+    public int getX() {
+        return x;
+    }
+
+    public void setX(int x) {
+        this.x = x;
+    }
+
+    public int getY() {
+        return y;
+    }
+
+    public void setY(int y) {
+        this.y = y;
+    }
+
+    public int getZ() {
+        return z;
+    }
+
+    public void setZ(int z) {
+        this.z = z;
+    }
+
+    public int getR() {
+        return r;
+    }
+
+    public void setR(int r) {
+        this.r = r;
+    }
+
+    public int getResult() {
+        return result;
+    }
+
+    public void setResult(int result) {
+        this.result = result;
+    }
+
+    public int getMsg_type() {
+        return msg_type;
+    }
+
+    public void setMsg_type(int msg_type) {
+        this.msg_type = msg_type;
+    }
+
+    public String getKmz_url() {
+        return kmz_url;
+    }
+
+    public void setKmz_url(String kmz_url) {
+        this.kmz_url = kmz_url;
+    }
+
+    public String getRtmp_push_url() {
+        return rtmp_push_url;
+    }
+
+    public void setRtmp_push_url(String rtmp_push_url) {
+        this.rtmp_push_url = rtmp_push_url;
+    }
+
+    public int getGimbalControlSpeed() {
+        return gimbalControlSpeed;
+    }
+
+    public void setGimbalControlSpeed(int gimbalControlSpeed) {
+        this.gimbalControlSpeed = gimbalControlSpeed;
+    }
+}

app/src/main/java/com/aros/apron/entity/MSDKInfo.kt

@@ -0,0 +1,19 @@
+package com.aros.apron.entity
+
+import com.aros.apron.models.DEFAULT_STR
+import dji.sdk.keyvalue.value.product.ProductType
+import dji.v5.common.register.PackageProductCategory
+import dji.v5.utils.inner.SDKConfig
+
+data class MSDKInfo(val SDKVersion: String = DEFAULT_STR) {
+    var buildVer: String = DEFAULT_STR
+    var isDebug: Boolean = false
+    var packageProductCategory: PackageProductCategory? = null
+    var productType: ProductType = ProductType.UNKNOWN
+    var networkInfo: String = DEFAULT_STR
+    var countryCode: String = DEFAULT_STR
+    var firmwareVer: String = DEFAULT_STR
+    var isLDMLicenseLoaded: String = DEFAULT_STR
+    var isLDMEnabled: String = DEFAULT_STR
+    var coreInfo: SDKConfig.CoreInfo? = null
+}

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

@@ -0,0 +1,24 @@
+package com.aros.apron.entity;
+
+public class MessageApron {
+
+
+    private int msg_type;
+    private boolean open;
+
+    public int getMsg_type() {
+        return msg_type;
+    }
+
+    public void setMsg_type(int msg_type) {
+        this.msg_type = msg_type;
+    }
+
+    public boolean isOpen() {
+        return open;
+    }
+
+    public void setOpen(boolean open) {
+        this.open = open;
+    }
+}

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

@@ -0,0 +1,114 @@
+package com.aros.apron.entity;
+
+public class MessageReply {
+
+    private int msg_type;
+    private int result;
+    private String msg;
+    private byte[] payloadData;//接收psdk数据
+    private String waypointActionState;//推送航点动作状态
+    private String waypointIndex;//推送航点index
+    private String aircraftTotalFlightDistance;//总体飞行距离，单位：米。飞行器断电后不会清零。
+    private String flag;
+    private String task_id;
+    private String lat;
+    private String lon;
+    private String flyingHeight;//飞行高度
+
+    public String getFlyingHeight() {
+        return flyingHeight;
+    }
+
+    public void setFlyingHeight(String flyingHeight) {
+        this.flyingHeight = flyingHeight;
+    }
+
+    public String getLat() {
+        return lat;
+    }
+
+    public void setLat(String lat) {
+        this.lat = lat;
+    }
+
+    public String getLon() {
+        return lon;
+    }
+
+    public void setLon(String lon) {
+        this.lon = lon;
+    }
+
+    public String getTask_id() {
+        return task_id;
+    }
+
+    public void setTask_id(String task_id) {
+        this.task_id = task_id;
+    }
+
+    public String getFlag() {
+        return flag;
+    }
+
+    public void setFlag(String flag) {
+        this.flag = flag;
+    }
+
+    public String getWaypointIndex() {
+        return waypointIndex;
+    }
+
+    public void setWaypointIndex(String waypointIndex) {
+        this.waypointIndex = waypointIndex;
+    }
+
+    public String getWaypointActionState() {
+        return waypointActionState;
+    }
+
+    public void setWaypointActionState(String waypointActionState) {
+        this.waypointActionState = waypointActionState;
+    }
+
+    public String getAircraftTotalFlightDistance() {
+        return aircraftTotalFlightDistance;
+    }
+
+    public void setAircraftTotalFlightDistance(String aircraftTotalFlightDistance) {
+        this.aircraftTotalFlightDistance = aircraftTotalFlightDistance;
+    }
+
+    public byte[] getPayloadData() {
+        return payloadData;
+    }
+
+    public void setPayloadData(byte[] payloadData) {
+        this.payloadData = payloadData;
+    }
+
+    public String getMsg() {
+        return msg;
+    }
+
+    public void setMsg(String msg) {
+        this.msg = msg;
+    }
+
+    public int getResult() {
+        return result;
+    }
+
+    public void setResult(int result) {
+        this.result = result;
+    }
+
+    public int getMsg_type() {
+        return msg_type;
+    }
+
+    public void setMsg_type(int msg_type) {
+        this.msg_type = msg_type;
+    }
+
+}

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

@@ -0,0 +1,129 @@
+package com.aros.apron.entity;
+
+import java.util.Date;
+import java.util.List;
+
+public class MissionPoint {
+    private String lng;
+    private String lat;
+    private double waypointSpeed;
+    //航点执行高度
+    private double executeHeight;
+
+    // 录像：0,
+    // 拍照：1,
+    // 悬停：2
+    // 停止录像：3
+    private List<Action> actions;
+
+    //执行时间
+    private Date executeTime;
+
+    public double getExecuteHeight() {
+        return executeHeight;
+    }
+
+    public void setExecuteHeight(double executeHeight) {
+        this.executeHeight = executeHeight;
+    }
+
+
+    public String getLng() {
+        return lng;
+    }
+
+    public void setLng(String lng) {
+        this.lng = lng;
+    }
+
+    public String getLat() {
+        return lat;
+    }
+
+    public void setLat(String lat) {
+        this.lat = lat;
+    }
+
+    public double getSpeed() {
+        return waypointSpeed;
+    }
+
+    public void setSpeed(double speed) {
+        this.waypointSpeed = speed;
+    }
+
+
+    public Date getExecuteTime() {
+        return executeTime;
+    }
+
+    public void setExecuteTime(Date executeTime) {
+        this.executeTime = executeTime;
+    }
+
+    public List<Action> getActions() {
+        return actions;
+    }
+
+    public void setActions(List<Action> actions) {
+        this.actions = actions;
+    }
+
+    public static class Action{
+        //1 变焦 2拍照 3开始录像 4结束录像 5云台偏航角 6云台俯仰角 7飞行器偏航角 8悬停
+        private int type;
+        private int zoom;
+        private int gimbalYawAngle;
+        private int gimbalPitchAngle;
+        private int aircraftHeading;
+        private int hoverTime;
+
+        public int getType() {
+            return type;
+        }
+
+        public void setType(int type) {
+            this.type = type;
+        }
+
+        public int getZoom() {
+            return zoom;
+        }
+
+        public void setZoom(int zoom) {
+            this.zoom = zoom;
+        }
+
+        public int getGimbalYawAngle() {
+            return gimbalYawAngle;
+        }
+
+        public void setGimbalYawAngle(int gimbalYawAngle) {
+            this.gimbalYawAngle = gimbalYawAngle;
+        }
+
+        public int getGimbalPitchAngle() {
+            return gimbalPitchAngle;
+        }
+
+        public void setGimbalPitchAngle(int gimbalPitchAngle) {
+            this.gimbalPitchAngle = gimbalPitchAngle;
+        }
+
+        public int getAircraftHeading() {
+            return aircraftHeading;
+        }
+
+        public void setAircraftHeading(int aircraftHeading) {
+            this.aircraftHeading = aircraftHeading;
+        }
+
+        public int getHoverTime() {
+            return hoverTime;
+        }
+
+        public void setHoverTime(int hoverTime) {
+            this.hoverTime = hoverTime;
+        }
+    }
+}

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

@@ -0,0 +1,66 @@
+package com.aros.apron.entity;
+
+public class PayloadInfo {
+    /**
+     * 当前负载索引类型
+     * LEFT_OR_MAIN	负载挂载在飞行器的左弦（主）位置。
+     * RIGHT	负载挂载在飞行器的右弦位置。
+     * UP	负载挂载在飞行器的上方位置。
+     * EXTERNAL	负载挂载在飞行器的扩展位置。在M300 RTK上，该位置为OSDK口。在M350 RTK上，该位置为E-PORT口。
+     * PORT_1	负载挂载在飞行器的Port1位置
+     * PORT_2	负载挂载在飞行器的Port2位置
+     * PORT_3	负载挂载在飞行器的Port3位置
+     * PORT_4	负载挂载在飞行器的Port4位置
+     * PORT_5	负载挂载在飞行器的Port5位置
+     * PORT_6	负载挂载在飞行器的Port6位置
+     * PORT_7	负载挂载在飞行器的Port7位置
+     */
+    private String payloadIndexType;
+
+    /**
+     * 负载产品名称
+     */
+    private String productName;
+
+    /**
+     * 负载序列号
+     */
+    private String serialNumber;
+
+    /**
+     * 负载固件版本
+     */
+    private String firmwareVersion;
+
+    public String getPayloadIndexType() {
+        return payloadIndexType;
+    }
+
+    public void setPayloadIndexType(String payloadIndexType) {
+        this.payloadIndexType = payloadIndexType;
+    }
+
+    public String getProductName() {
+        return productName;
+    }
+
+    public void setProductName(String productName) {
+        this.productName = productName;
+    }
+
+    public String getSerialNumber() {
+        return serialNumber;
+    }
+
+    public void setSerialNumber(String serialNumber) {
+        this.serialNumber = serialNumber;
+    }
+
+    public String getFirmwareVersion() {
+        return firmwareVersion;
+    }
+
+    public void setFirmwareVersion(String firmwareVersion) {
+        this.firmwareVersion = firmwareVersion;
+    }
+}

app/src/main/java/com/aros/apron/fly/AlternatePoint.java

@@ -0,0 +1,34 @@
+package com.aros.apron.fly;
+
+/**
+ * 备降点
+ */
+public class AlternatePoint {
+    private float altitude;
+    private double longitude;
+    private double latitude;
+
+    public float getAltitude() {
+        return altitude;
+    }
+
+    public void setAltitude(float altitude) {
+        this.altitude = altitude;
+    }
+
+    public double getLongitude() {
+        return longitude;
+    }
+
+    public void setLongitude(double longitude) {
+        this.longitude = longitude;
+    }
+
+    public double getLatitude() {
+        return latitude;
+    }
+
+    public void setLatitude(double latitude) {
+        this.latitude = latitude;
+    }
+}

app/src/main/java/com/aros/apron/fly/FlyToAlternatePointManager.java

@@ -0,0 +1,306 @@
+//package com.aros.apron.fly;
+//
+//import androidx.annotation.NonNull;
+//
+//import com.aros.apron.entity.Movement;
+//import com.aros.apron.tools.LogUtil;
+//import com.google.gson.Gson;
+//
+//import java.util.Timer;
+//import java.util.TimerTask;
+//
+//import dji.sdk.keyvalue.key.FlightControllerKey;
+//import dji.sdk.keyvalue.key.KeyTools;
+//import dji.sdk.keyvalue.value.common.EmptyMsg;
+//import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
+//import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
+//import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
+//import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
+//import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
+//import dji.v5.common.callback.CommonCallbacks;
+//import dji.v5.common.error.IDJIError;
+//import dji.v5.manager.KeyManager;
+//import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
+//
+//
+//public class FlyToAlternatePointManager {
+//    private String TAG = "FlyToAlternatePointManager";
+//
+//    private AlternatePoint mWaypoint = new AlternatePoint();
+//    private float mSpeed = 3.0f;
+//    private double aircraftLng, aircraftLat, aircraftAlt, aircraftPich, aircraftRoll, aircraftYaw;
+//    //判定是否到点的误差
+//    private double delta = 1;
+//    private double heightDelta = 5;
+//    //任务是否开始执行
+//    private boolean isRunning = false;
+//    //航点任务是否开始执行，到达第一个点后才开始
+//    private boolean isMissionRunning = false;
+//    private int currentIndex = 0;
+//    private Timer mSendVirtualStickDataTimer;
+//    private SendVirtualStickDataTask mSendVirtualStickDataTask;
+//    private float mPitch;
+//    private float mRoll;
+//    private float mYaw;
+//    private float mThrottle;
+//    VirtualStickFlightControlParam param;
+//
+//    private FlyToAlternatePointManager() {
+//    }
+//
+//    private static class FlyToAlternatePointHolder {
+//        private static final FlyToAlternatePointManager INSTANCE = new FlyToAlternatePointManager();
+//    }
+//
+//    public static FlyToAlternatePointManager getInstance() {
+//        return FlyToAlternatePointManager.FlyToAlternatePointHolder.INSTANCE;
+//    }
+//
+//    public void setAlternateCinfig(AlternatePoint waypoint, float speed) {
+//        mWaypoint = waypoint;
+//        mSpeed = speed;
+//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+//        if (isConnect != null && isConnect) {
+//            if (param == null) {
+//                param = new VirtualStickFlightControlParam();
+//                param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
+//                param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
+//                param.setVerticalControlMode(VerticalControlMode.POSITION);
+//                param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
+//            }
+//            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
+//        }
+//    }
+//
+//    /**
+//     * 这里开始任务
+//     */
+//    public void start() {
+//        currentIndex = 0;
+//        isRunning = true;
+//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+//        if (isConnect != null && isConnect) {
+//            VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
+//                @Override
+//                public void onSuccess() {
+//                    VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
+//                    flyToPoint(mWaypoint);
+//                }
+//
+//                @Override
+//                public void onFailure(@NonNull IDJIError error) {
+//                    LogUtil.log(TAG, "备降点控制权获取失败:" + error.description());
+//                }
+//            });
+//        } else {
+//            LogUtil.log(TAG, "备降点控制权获取失败:飞控未连接");
+//        }
+//    }
+//
+//    /**
+//     * 飞到指定点
+//     * @param point
+//     */
+//    private void flyToPoint(AlternatePoint point) {
+//        //还没启动就不管
+//        if (!isRunning) {
+//            return;
+//        }
+//        //这两个固定，全程使用前进，全程保持高度
+//        mPitch = 0;
+//        mThrottle = point.getAltitude();
+//        //还没获取到飞机当前状态时不管
+//        if (Double.isNaN(aircraftLng) || Double.isNaN((aircraftLat))) {
+//            return;
+//        }
+//        //先飞到指定高度再继续，比较安全
+//        if (Math.abs(aircraftAlt - point.getAltitude()) > heightDelta) {
+//            executeVirtualStickDataTask();
+//            return;
+//        }
+//        double[] targetXY = GaussKruegerConverter.LngLat2XY(point.getLongitude(), point.getLatitude());
+//        double[] nowXY = GaussKruegerConverter.LngLat2XY(aircraftLng, aircraftLat);
+//        double dx = targetXY[0] - nowXY[0];
+//        double dy = targetXY[1] - nowXY[1];
+//        double d = Math.sqrt(dx * dx + dy * dy);
+//        //到点
+//        if (d < delta) {
+//            //这里可以判断是否飞到备降点上方
+//            LogUtil.log(TAG, "到达备降点上方");
+//            return;
+//        }
+//        //没到点继续飞
+//        mYaw = (float) calcDeg(nowXY, targetXY);
+//        mRoll = (float) calcSpeed(nowXY, targetXY);
+//        executeVirtualStickDataTask();
+//    }
+//
+//    /***
+//     * 结束任务
+//     */
+//    public void stop() {
+//        isMissionRunning = false;
+//        isRunning = false;
+//        land();
+//        disableVirtualStickMode();
+//    }
+//
+//    /**
+//     * 禁止虚拟摇杆
+//     */
+//    private void disableVirtualStickMode() {
+//        if (mSendVirtualStickDataTimer != null) {
+//            mSendVirtualStickDataTimer.cancel();
+//        }
+//        VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
+//        VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
+//            @Override
+//            public void onSuccess() {
+//                LogUtil.log(TAG, "备降点取消控制权成功");
+//            }
+//
+//            @Override
+//            public void onFailure(@NonNull IDJIError error) {
+//                LogUtil.log(TAG, "备降点取消控制权失败:" + new Gson().toJson(error));
+//            }
+//        });
+//    }
+//
+//    /**
+//     * 降落
+//     */
+//    private void land() {
+//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+//        if (isConnect != null && isConnect) {
+//            KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+//                @Override
+//                public void onSuccess(EmptyMsg emptyMsg) {
+//                    LogUtil.log(TAG, "备降点降落调用成功");
+//                }
+//
+//                @Override
+//                public void onFailure(@NonNull IDJIError error) {
+//                    LogUtil.log(TAG, "备降点降落调用失败:" + new Gson().toJson(error));
+//                }
+//            });
+//        } else {
+//            LogUtil.log(TAG, "备降点降落调用失败:飞控未连接");
+//        }
+//    }
+//
+//
+//    /**
+//     * 飞行到下一个点
+//     * 如果
+//     */
+////    public void goNextPoint() {
+////        //任务执行时，或者起飞到第一个点时
+////        if (isMissionRunning || currentIndex == 0) {
+////            //如果是第一个点，就任务开始
+////            if (currentIndex == 0) {
+////                isMissionRunning = true;
+////            }
+////            //如果是正在执行任务并且最后一个点，就任务结束，进入停止流程
+////            if (isMissionRunning && currentIndex == mWaypointList.size() - 1) {
+////                isMissionRunning = false;
+////                currentIndex = -1;
+////                stop();
+////            }
+////        }
+////    }
+//
+//    /**
+//     * 计算飞行速度
+//     *
+//     * @param nowXY
+//     * @param targetXY
+//     * @return
+//     */
+//    private double calcSpeed(double[] nowXY, double[] targetXY) {
+//        double speed = mSpeed;
+//        double dx = targetXY[0] - nowXY[0];
+//        double dy = targetXY[1] - nowXY[1];
+//        double d = Math.sqrt(dx * dx + dy * dy);
+//
+//        //根据距离目标的位置计算速度，快到点了速度降下来
+//        if (d < mSpeed * 2) {
+//            speed = (float) d / 2;
+//        }
+//        return speed;
+//    }
+//
+//    /**
+//     * 计算飞行角度
+//     *
+//     * @param nowXY    当前飞机的位置
+//     * @param targetXY 目标位置
+//     * @return
+//     */
+//    private double calcDeg(double[] nowXY, double[] targetXY) {
+//        double deg = 0;
+//        double dx = targetXY[0] - nowXY[0];
+//        double dy = targetXY[1] - nowXY[1];
+//        //根据目标位置和飞机位置计算角度
+//        if (dy > 0) {
+//            deg = Math.toDegrees(Math.atan(dx / dy));
+//        } else if (dy == 0) {
+//            if (dx > 0) {
+//                deg = 90;
+//            } else if (dx == 0) {
+//                deg = 0;
+//            } else {
+//                deg = -90;
+//            }
+//        } else {
+//            if (dx > 0) {
+//                deg = 180 + Math.toDegrees(Math.atan((targetXY[0] - nowXY[0]) / (targetXY[1] - nowXY[1])));
+//            } else if (dx == 0) {
+//                deg = -180;
+//            } else {
+//                deg = Math.toDegrees(Math.atan((targetXY[0] - nowXY[0]) / (targetXY[1] - nowXY[1]))) - 180;
+//            }
+//        }
+//        return deg;
+//    }
+//
+//
+//    /**
+//     * 执行虚拟摇杆发送任务
+//     */
+//    private void executeVirtualStickDataTask() {
+//        if (null == mSendVirtualStickDataTimer) {
+//            mSendVirtualStickDataTask = new SendVirtualStickDataTask();
+//            mSendVirtualStickDataTimer = new Timer();
+//            mSendVirtualStickDataTimer.schedule(mSendVirtualStickDataTask, 100, 200);
+//        }
+//    }
+//
+//    /**
+//     * 更新无人机状态
+//     */
+//    public void updateAircraftSate() {
+//        aircraftLng = Double.parseDouble(Movement.getInstance().getCurrentLongitude());
+//        aircraftLat = Double.parseDouble(Movement.getInstance().getCurrentLatitude());
+//        aircraftAlt = Movement.getInstance().getFlyingHeight();
+//        aircraftPich = Double.parseDouble(Movement.getInstance().getPitch());
+//        aircraftRoll = Double.parseDouble(Movement.getInstance().getRoll());
+//        aircraftYaw = Double.parseDouble(Movement.getInstance().getYaw());
+//        if (isRunning) {
+//            //在任务中就飞任务点
+//            if (isMissionRunning || currentIndex == 0) {
+//                flyToPoint(mWaypoint);
+//            }
+//        }
+//    }
+//
+//    class SendVirtualStickDataTask extends TimerTask {
+//        @Override
+//        public void run() {
+//            param.setPitch((double) mPitch);//左右
+//            param.setRoll((double) mRoll);//前后
+//            param.setYaw((double) mYaw);//旋转
+//            param.setVerticalThrottle((double) mThrottle);//上下
+//            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
+//        }
+//    }
+//}

app/src/main/java/com/aros/apron/fly/GaussKruegerConverter.java

@@ -0,0 +1,69 @@
+package com.aros.apron.fly;
+
+public class GaussKruegerConverter {
+    static double a = 6378137;
+    static double b = 6356752.3142;
+    static double k0  = 1.0;
+
+    static double f = (a - b) / a;//扁率
+    static double e = Math.sqrt(2*f - Math.pow(f ,2));//第一偏心率
+    static double e1 = e / Math.sqrt(1 - Math.pow(e , 2));//'第二偏心率
+
+    /**
+     * 经纬度转平面直角坐标系
+     * @param lng
+     * @param lat
+     * @return
+     */
+    public static double []  LngLat2XY(double lng,double lat)
+    {
+        int centerLongitude = (int)Math.round(lng/3.0) * 3;
+        double BR = lat * Math.PI / 180;//纬度弧长
+        double lo = (lng - centerLongitude)*Math.PI/180; //经差弧度
+        double N = a / Math.sqrt(1 - Math.pow((e * Math.sin(BR)) , 2)); //卯酉圈曲率半径
+
+        //求解参数s
+        double C = Math.pow(a , 2)/ b;
+        double B0 = 1 - 3 * Math.pow(e1 , 2) / 4 + 45 *Math.pow( e1 ,4) / 64 - 175 * Math.pow(e1 , 6) / 256 + 11025 * Math.pow(e1 , 8 )/ 16384;
+        double B2 = B0 - 1;
+        double B4 = 15 / 32 * Math.pow(e1 , 4) - 175 / 384 * Math.pow(e1 , 6 )+ 3675 / 8192 *Math.pow( e1 , 8);
+        double B6 = 0 - 35 / 96 *Math.pow( e1 , 6) + 735 / 2048 * Math.pow(e1 , 8);
+        double B8 = 315 / 1024 * Math.pow(e1 , 8);
+        double s = C * (B0 * BR + Math.sin(BR) * (B2 * Math.cos(BR) + B4 * Math.pow((Math.cos(BR)) , 3) + B6 * Math.pow((Math.cos(BR)) , 5 )+ B8 * Math.pow((Math.cos(BR)) , 7)));
+
+        double t = Math.tan(BR);
+        double g = e1 * Math.cos(BR);
+
+        double XR= s + Math.pow(lo , 2) / 2 * N * Math.sin(BR) * Math.cos(BR) + Math.pow(lo , 4 )* N * Math.sin(BR) * Math.pow((Math.cos(BR)) , 3) / 24 * (5 -Math.pow( t , 2 )+ 9 * Math.pow(g , 2) + 4 *Math.pow( g , 4)) + Math.pow(lo , 6) * N * Math.sin(BR) * Math.pow((Math.cos(BR)) , 5) * (61 - 58 *Math.pow( t , 2) + Math.pow(t , 4)) / 720;
+        double YR= lo * N * Math.cos(BR) + Math.pow(lo , 3 )* N / 6 *Math.pow( (Math.cos(BR)) , 3) * (1 - Math.pow(t , 2) + Math.pow(g , 2)) + Math.pow(lo , 5) * N / 120 * Math.pow((Math.cos(BR)) , 5) * (5 - 18 * Math.pow(t , 2) + Math.pow(t , 4) + 14 * Math.pow(g , 2) - 58 * Math.pow(g , 2) * Math.pow(t , 2));
+        double x=YR;
+        double y=XR;
+        return new double[]{x,y};
+    }
+
+    public static double[] XY2LngLat(double x,double y,int centerLongitude)
+    {
+        double El1 = (1 - Math.sqrt(1 - Math.pow(e , 2))) / (1 + Math.sqrt(1 -Math.pow( e , 2)));
+
+        double Mf = y/ k0 ;//真实坐标值
+
+        double Q = Mf / (a * (1 - Math.pow(e , 2) / 4 - 3 * Math.pow(e , 4) / 64 - 5 *Math.pow( e , 6) / 256));//角度
+
+        double Bf = Q + (3 * El1 / 2 - 27 *Math.pow( El1 , 3) / 32) * Math.sin(2 * Q) + (21 *Math.pow( El1 , 2) / 16 - 55 *Math.pow( El1 , 4 )/ 32) * Math.sin(4 * Q) + (151 *Math.pow( El1 , 3 )/ 96) * Math.sin(6 * Q) + 1097 / 512 * Math.pow(El1 , 4) * Math.sin(8 * Q);
+        double Rf = a * (1 -Math.pow( e , 2)) / Math.sqrt(Math.pow((1 - Math.pow((e * Math.sin(Bf)) ,2)) , 3));
+        double Nf = a / Math.sqrt(1 - Math.pow((e * Math.sin(Bf)) , 2));//卯酉圈曲率半径
+        double Tf = Math.pow((Math.tan(Bf)) , 2);
+        double D =x/ (k0 * Nf);
+
+        double Cf =Math.pow( e1 , 2) * Math.pow((Math.cos(Bf)) , 2);
+
+        double B = Bf - Nf * Math.tan(Bf) / Rf * (Math.pow(D , 2) / 2 - (5 + 3 * Tf + 10 * Cf - 9 * Tf * Cf - 4 *Math.pow( Cf , 2) - 9 * Math.pow(e1 , 2)) *Math.pow( D , 4) / 24 + (61 + 90 * Tf + 45 * Math.pow(Tf , 2) - 256 * Math.pow(e1 , 2) - 3 * Math.pow(Cf , 2)) *Math.pow( D , 6) / 720);
+        double L = centerLongitude*Math.PI/180 + 1 / Math.cos(Bf) * (D - (1 + 2 * Tf + Cf) *Math.pow( D , 3) / 6 + (5 - 2 * Cf + 28 * Tf - 3 *Math.pow( Cf , 2) + 8 * Math.pow(e1 , 2) + 24 * Math.pow(Tf , 2)) * Math.pow(D , 5 )/ 120);
+
+        double Bangle = B * 180 / Math.PI;
+        double Langle = L * 180 / Math.PI;
+
+        return new double[]{Langle,Bangle};
+    }
+
+}

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

@@ -0,0 +1,268 @@
+package com.aros.apron.manager;
+
+import android.os.Build;
+import android.os.Environment;
+import android.os.Handler;
+import android.os.Looper;
+import android.text.TextUtils;
+import android.util.Log;
+
+import androidx.annotation.RequiresApi;
+
+import com.amazonaws.auth.AWSCredentials;
+import com.amazonaws.services.s3.AmazonS3;
+import com.amazonaws.services.s3.AmazonS3Client;
+import com.amazonaws.services.s3.model.GeneratePresignedUrlRequest;
+import com.amazonaws.services.s3.model.ProgressEvent;
+import com.amazonaws.services.s3.model.ProgressListener;
+import com.amazonaws.services.s3.model.PutObjectRequest;
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.FileUploadResult;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.tools.LogUtil;
+
+import java.io.File;
+
+import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers;
+import io.reactivex.rxjava3.core.Observable;
+import io.reactivex.rxjava3.core.ObservableEmitter;
+import io.reactivex.rxjava3.core.ObservableOnSubscribe;
+import io.reactivex.rxjava3.core.Observer;
+import io.reactivex.rxjava3.disposables.Disposable;
+import io.reactivex.rxjava3.schedulers.Schedulers;
+
+public class AMSLogManager extends BaseManager {
+
+    private static final String TAG = "AMSLogManager";
+
+    private AMSLogManager() {
+    }
+
+    private static class MediaManagerHolder {
+        private static final AMSLogManager INSTANCE = new AMSLogManager();
+    }
+
+    public static AMSLogManager getInstance() {
+        return MediaManagerHolder.INSTANCE;
+    }
+
+    private int downLoadMediaFileIndex = 0;
+    private boolean isUploadingAMSLog;
+    private File[] files = new File[]{};
+    private int uploadFailTime = 0;
+
+    public boolean isUploadingAMSLog() {
+        return isUploadingAMSLog;
+    }
+
+    public void setUploadingAMSLog(boolean uploadingAMSLog) {
+        isUploadingAMSLog = uploadingAMSLog;
+    }
+
+    /**
+     * 【修改】添加 3 秒延迟执行
+     */
+    public void enableLogList(MQMessage message) {
+        new Handler(Looper.getMainLooper()).postDelayed(() -> {
+            doEnableLogList(message);
+        }, 3000);
+    }
+
+    /**
+     * 【新增】实际执行逻辑
+     */
+    private void doEnableLogList(MQMessage message) {
+        downLoadMediaFileIndex = 0;
+        setUploadingAMSLog(true);
+
+        File logDir = new File(getLogDir());
+        LogUtil.log(TAG, "日志目录: " + logDir.getAbsolutePath());
+
+        if (logDir != null) {
+            files = logDir.listFiles();
+            LogUtil.log(TAG, "扫描到文件数: " + (files != null ? files.length : 0));
+
+            if (files == null || files.length == 0) {
+                sendMsg2Server(message, "日志文件夹暂无日志文件");
+                setUploadingAMSLog(false);
+            } else {
+                if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+                    pullOriginalFile(message);
+                }
+            }
+            sendMsg2Server(message);
+        } else {
+            sendMsg2Server(message, "日志文件夹为空");
+            setUploadingAMSLog(false);
+        }
+    }
+
+    @RequiresApi(Build.VERSION_CODES.O)
+    public void pullOriginalFile(MQMessage message) {
+        if (files == null || downLoadMediaFileIndex >= files.length) {
+            LogUtil.log(TAG, "文件索引越界");
+            setUploadingAMSLog(false);
+            return;
+        }
+
+        LogUtil.log(TAG, "File size: " + files.length + ", 当前索引: " + downLoadMediaFileIndex);
+        File logFile = new File(getSDCardPath() + "/DJIDemo/cache/log/" + files[downLoadMediaFileIndex].getName());
+
+        if (!logFile.exists() || !logFile.canRead()) {
+            LogUtil.log(TAG, "文件不存在或不可读: " + logFile.getName());
+            skipToNext(message);
+            return;
+        }
+
+        minIOUpLoadAMSLog(message, logFile);
+    }
+
+    @RequiresApi(Build.VERSION_CODES.O)
+    private void skipToNext(MQMessage message) {
+        downLoadMediaFileIndex++;
+        if (downLoadMediaFileIndex >= files.length) {
+            downLoadMediaFileIndex = 0;
+            setUploadingAMSLog(false);
+        } else {
+            new Handler(Looper.getMainLooper()).postDelayed(() -> pullOriginalFile(message), 500);
+        }
+    }
+
+    @RequiresApi(Build.VERSION_CODES.O)
+    public void minIOUpLoadAMSLog(MQMessage message, File file) {
+        try {
+            LogUtil.log(TAG, "开始上传: " + file.getName() + " 到 " + message.getUpload_url());
+
+            AmazonS3 s3 = new AmazonS3Client(new AWSCredentials() {
+                @Override
+                public String getAWSAccessKeyId() {
+                    return message.getAccess_key();
+                }
+
+                @Override
+                public String getAWSSecretKey() {
+                    return message.getSecret_key();
+                }
+            });
+
+            Observable.create(new ObservableOnSubscribe<String>() {
+                        @Override
+                        public void subscribe(ObservableEmitter<String> emitter) throws Exception {
+                            // 【修改】trim 去掉 URL 末尾空格
+                            s3.setEndpoint(message.getUpload_url().trim());
+
+                            boolean bucketExists = s3.doesBucketExist(message.getBucketName());
+                            if (!bucketExists) {
+                                s3.createBucket(message.getBucketName());
+                            }
+
+                            // 【修改】去掉开头的 /，避免路径问题
+                            String objectKey = message.getObjectKey() + "/" + file.getName();
+
+                            s3.putObject(
+                                    new PutObjectRequest(
+                                            message.getBucketName(),
+                                            objectKey,
+                                            file
+                                    )
+                            );
+
+                            GeneratePresignedUrlRequest urlRequest = new GeneratePresignedUrlRequest(
+                                    message.getBucketName(),
+                                    objectKey
+                            );
+                            String url = s3.generatePresignedUrl(urlRequest).toString();
+
+                            emitter.onNext(url);
+                            emitter.onComplete();
+                        }
+                    })
+                    .subscribeOn(Schedulers.io())
+                    .observeOn(AndroidSchedulers.mainThread())
+                    .subscribe(new Observer<String>() {
+                        @Override
+                        public void onSubscribe(Disposable d) {}
+
+                        @Override
+                        public void onNext(String url) {
+                            FileUploadResult fileUploadResult = new FileUploadResult();
+                            fileUploadResult.setFileName(file.getName());
+                            fileUploadResult.setResult(1);
+                            fileUploadResult.setFileNum(files.length);
+                            fileUploadResult.setBuckName(message.getBucketName());
+                            fileUploadResult.setObjectKey(message.getObjectKey());
+                            fileUploadResult.setUrl(url);
+                            fileUploadResult.setOffIndex(downLoadMediaFileIndex);
+
+                            if (files.length == (downLoadMediaFileIndex + 1)) {
+                                fileUploadResult.setMsg("所有日志已上传完毕");
+                            } else {
+                                fileUploadResult.setMsg("文件:" + file.getName() + "已上传");
+                            }
+                            fileUploadResult.setProgress(String.valueOf(calculatePercentage(downLoadMediaFileIndex + 1, files.length)));
+                            sendFileUploadCallback(60202, fileUploadResult);
+                        }
+
+                        @RequiresApi(Build.VERSION_CODES.O)
+                        @Override
+                        public void onError(Throwable e) {
+                            LogUtil.log(TAG, "Error uploading file " + downLoadMediaFileIndex + file.getName() + ": " + e.getMessage());
+                            e.printStackTrace();
+
+                            downLoadMediaFileIndex++;
+                            if (downLoadMediaFileIndex >= files.length) {
+                                downLoadMediaFileIndex = 0;
+                                setUploadingAMSLog(false);
+                            } else {
+                                new Handler(Looper.getMainLooper()).postDelayed(() -> pullOriginalFile(message), 1000);
+                            }
+                        }
+
+                        @RequiresApi(Build.VERSION_CODES.O)
+                        @Override
+                        public void onComplete() {
+                            LogUtil.log(TAG, "File " + downLoadMediaFileIndex + file.getName() + " uploaded successfully.");
+                            sendMissionExecuteEvents("第" + downLoadMediaFileIndex + "个AMS日志已上传");
+
+                            downLoadMediaFileIndex++;
+                            if (downLoadMediaFileIndex >= files.length) {
+                                sendMissionExecuteEvents("所有AMS日志已上传完毕");
+                                downLoadMediaFileIndex = 0;
+                                setUploadingAMSLog(false);
+                            } else {
+                                new Handler(Looper.getMainLooper()).postDelayed(() -> pullOriginalFile(message), 500);
+                            }
+                        }
+                    });
+        } catch (Exception e) {
+            LogUtil.log(TAG, "Exception: " + e.getMessage());
+            e.printStackTrace();
+            skipToNext(message);
+        }
+    }
+
+    public String getLogDir() {
+        return getSDCardPath() + "/DJIDemo/cache/log";
+    }
+
+    private String getSDCardPath() {
+        String sdCardPathString = "";
+        if (checkSDCard()) {
+            sdCardPathString = Environment.getExternalStorageDirectory().getPath();
+        } else {
+            sdCardPathString = Environment.getExternalStorageDirectory().getParentFile().getPath();
+        }
+        return sdCardPathString;
+    }
+
+    private boolean checkSDCard() {
+        return TextUtils.equals(Environment.MEDIA_MOUNTED, Environment.getExternalStorageState());
+    }
+
+    public int calculatePercentage(int a, int b) {
+        if (b == 0) {
+            return 0;
+        }
+        return (a * 100) / b;
+    }
+}

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

@@ -0,0 +1,430 @@
+package com.aros.apron.manager;
+
+import static android.os.Environment.getExternalStoragePublicDirectory;
+import static com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO;
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+
+import android.os.Environment;
+import android.os.Handler;
+import android.os.Looper;
+import android.text.TextUtils;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.FlightMission;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.entity.MissionPoint;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.DomParserKML;
+import com.aros.apron.tools.DomParserWPML;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.aros.apron.tools.PreferenceUtils;
+import com.aros.apron.tools.ZipUtil;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.greenrobot.eventbus.EventBus;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.common.EmptyMsg;
+import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
+import dji.sdk.keyvalue.value.flightcontroller.FlightMode;
+import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
+import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
+import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
+import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
+import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
+import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
+import dji.v5.manager.interfaces.IWaypointMissionManager;
+
+/**
+ * 备降点
+ */
+public class AlternateLandingManager extends BaseManager {
+
+    Handler handler = new Handler(Looper.getMainLooper());
+    VirtualStickFlightControlParam param;
+    private boolean isRemoteControllerFlightModeChange;
+
+    private AlternateLandingManager() {
+    }
+
+    public static AlternateLandingManager getInstance() {
+        return AlternateLandingHolder.INSTANCE;
+    }
+
+    public void initAlterLandingInfo() {
+        KeyManager.getInstance().listen(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode), this, new CommonCallbacks.KeyListener<RemoteControllerFlightMode>() {
+            @Override
+            public void onValueChange(@Nullable RemoteControllerFlightMode remoteControllerFlightMode, @Nullable RemoteControllerFlightMode t1) {
+                if (t1 != null) {
+                    LogUtil.log(TAG, "监听到挡位切换:" + t1.name());
+                    if (t1 != RemoteControllerFlightMode.P && t1 != RemoteControllerFlightMode.F) {
+                        isRemoteControllerFlightModeChange = true;
+                        PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
+                        PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
+                        PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
+                    }
+                }
+            }
+        });
+    }
+
+    public void startTaskProcess(MQMessage message) {
+        //飞往备降点,关闭视觉识别
+        EventBus.getDefault().post(FLAG_STOP_ARUCO);
+        if (isRemoteControllerFlightModeChange) {
+            LogUtil.log(TAG, "挡位切换过:不触发去备降点");
+            return;
+        }
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                KeyConnection));
+        if (isConnect != null && isConnect) {
+            Boolean areMotorOn = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyAreMotorsOn));
+            Boolean isFlying = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyIsFlying));
+            if ((areMotorOn != null && areMotorOn) && (isFlying != null && isFlying)) {
+                RemoteControllerFlightMode remoteControllerFlightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
+                if (remoteControllerFlightMode != null && remoteControllerFlightMode == RemoteControllerFlightMode.P) {
+                    checkDroneState(message);
+                } else {
+                    if (message != null) {
+                        sendMsg2Server(message, "挡位不正确,不触发去备降点");
+                    }
+                    sendMissionExecuteEvents( "挡位不正确,不触发去备降点");
+                    LogUtil.log(TAG, "检测到挡位不正确,不触发去备降点");
+                }
+            } else {
+                if (message != null) {
+                    sendMsg2Server( message, "飞机未起飞,不触发去备降点");
+                }
+                sendMissionExecuteEvents( "飞机未起飞,不触发去备降点");
+            }
+        }
+    }
+
+    private void checkDroneState(MQMessage message) {
+        FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode));
+        if (flightMode != null) {
+            switch (flightMode) {
+                case GO_HOME:
+                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            LogUtil.log(TAG, "取消返航成功");
+                            toAlternatePoint(message);
+                            sendMissionExecuteEvents( "取消返航:去备降点");
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "取消返航失败:" + new Gson().toJson(error));
+                            toAlternatePoint(message);
+                            sendMissionExecuteEvents( "取消返航失败:去备降点");
+
+                        }
+                    });
+                    break;
+                case WAYPOINT:
+                    IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
+                    missionManager.stopMission(TextUtils.isEmpty(Movement.getInstance().getMissionName())
+                            ? "aros" : Movement.getInstance().getMissionName(), new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "终止任务成功");
+                            sendMissionExecuteEvents( "终止任务成功:去备降点");
+                            toAlternatePoint(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "终止任务失败:" + new Gson().toJson(error));
+                            sendMissionExecuteEvents( "终止任务失败:去备降点");
+                            toAlternatePoint(message);
+                        }
+                    });
+                    break;
+                case AUTO_LANDING:
+                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopAutoLanding), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            LogUtil.log(TAG, "取消降落成功");
+                            sendMissionExecuteEvents( "取消降落成功:去备降点");
+                            toAlternatePoint(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "取消降落失败:" + new Gson().toJson(error));
+                            sendMissionExecuteEvents( "取消降落失败:去备降点");
+                            toAlternatePoint(message);
+                        }
+                    });
+                    break;
+                case VIRTUAL_STICK:
+//                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
+//                        @Override
+//                        public void onSuccess() {
+//                            LogUtil.log(TAG, "控制权取消成功");
+                    toAlternatePoint(message);
+//                        }
+//                        @Override
+//                        public void onFailure(@NonNull IDJIError error) {
+//                            LogUtil.log(TAG, "控制权取消失败:" + new Gson().toJson(error));
+//                            toAlternatePoint();
+//                        }
+//                    });
+                    break;
+                default:
+                    toAlternatePoint(message);
+                    break;
+            }
+        }
+    }
+
+    public void toAlternatePoint(MQMessage message) {
+        if (Movement.getInstance().getFlyingHeight() < 10) {
+            LogUtil.log(TAG, "toAlternatePoint:" + "高度低于10米,拉高");
+            sendMissionExecuteEvents( "正在拉高去备降点");
+            raisesDrone(message);
+        } else {
+            sendMissionExecuteEvents( "开始创建备降任务");
+            LogUtil.log(TAG, "toAlternatePoint:" + "高度高于10米,创建备降任务");
+            creatMissionAndUpload(message);
+        }
+    }
+
+    public void raisesDrone(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            Boolean isVirtualStickControlModeEnabled = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyVirtualStickControlModeEnabled));
+            if (isVirtualStickControlModeEnabled != null && isVirtualStickControlModeEnabled) {
+                pullUp(message);
+            } else {
+                VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
+                    @Override
+                    public void onSuccess() {
+                        LogUtil.log(TAG, "备降拉高,控制权获取成功");
+                        VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
+                        pullUp(message);
+                    }
+
+                    @Override
+                    public void onFailure(@NonNull IDJIError error) {
+                        LogUtil.log(TAG, "备降拉高,控制权获取失败,直接上传备降航线:" + error.description());
+                        creatMissionAndUpload(message);
+                    }
+                });
+            }
+        } else {
+            LogUtil.log(TAG, "备降拉高,飞控未连接");
+        }
+    }
+
+    public void pullUp(MQMessage message) {
+        Runnable runnable = new Runnable() {
+            @Override
+            public void run() {
+                if (Movement.getInstance().getFlyingHeight() < 10) {
+                    sendVirtualStickAdvancedParam();
+                    handler.postDelayed(this, 200);
+                } else {
+                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "到达10米,开始上传备降点航线");
+                            creatMissionAndUpload(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError idjiError) {
+                            LogUtil.log(TAG, "到达10米,取消虚拟摇杆控制失败:" + new Gson().toJson(idjiError));
+                            creatMissionAndUpload(message);
+                        }
+                    });
+                    handler.removeCallbacks(this);
+                }
+            }
+        };
+        // 开始循环
+        handler.post(runnable);
+
+    }
+
+    //飞行器虚拟摇杆
+    public void sendVirtualStickAdvancedParam() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            if (param == null) {
+                param = new VirtualStickFlightControlParam();
+                param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
+                param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
+                param.setVerticalControlMode(VerticalControlMode.VELOCITY);
+                param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
+            }
+            param.setPitch(0.0);//左右
+            param.setRoll(0.0);//前后
+            param.setYaw(0.0);//旋转
+            param.setVerticalThrottle(4.0);//上下
+            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
+        }
+    }
+
+    public void creatMissionAndUpload(MQMessage message) {
+        // 创建第一个 MissionPoint 对象
+        MissionPoint missionPoint = new MissionPoint();
+        missionPoint.setLat(Movement.getInstance().getCurrentLatitude());
+        missionPoint.setLng(Movement.getInstance().getCurrentLongitude());
+        missionPoint.setSpeed(8.0);
+        missionPoint.setExecuteHeight(Movement.getInstance().getFlyingHeight()
+                > Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())
+                ? Movement.getInstance().getFlyingHeight() :
+                Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+
+        // 创建第二个 MissionPoint 对象
+        MissionPoint missionPoint1 = new MissionPoint();
+        missionPoint1.setLat(PreferenceUtils.getInstance().getAlternatePointLat());
+        missionPoint1.setLng(PreferenceUtils.getInstance().getAlternatePointLon());
+        LogUtil.log(TAG, "备降点经纬度:" + PreferenceUtils.getInstance().getAlternatePointLat() + "/" + PreferenceUtils.getInstance().getAlternatePointLon());
+        missionPoint1.setSpeed(7.0);
+        missionPoint1.setExecuteHeight(Movement.getInstance().getFlyingHeight()
+                > Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())
+                ? Movement.getInstance().getFlyingHeight() - 1 :
+                Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+
+        // 创建一个 MissionPoint 列表
+        List<MissionPoint> missionPoints = new ArrayList<>();
+        missionPoints.add(missionPoint);
+        missionPoints.add(missionPoint1);
+
+        // 创建 FlightMission 对象并设置其属性
+        FlightMission flightMission = new FlightMission();
+        flightMission.setPoints(missionPoints);
+        flightMission.setMissionId(2);
+        flightMission.setTakeOffSecurityHeight(Float.parseFloat(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+        flightMission.setSpeed(15.0);
+
+        LogUtil.log(TAG, "当前高度:" + Movement.getInstance().getFlyingHeight()
+                + "---飞往备降点高度:" + Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())
+                + "---航线安全起飞高度:" + Float.parseFloat(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+
+        sendMissionExecuteEvents( "开始生成备降点航线");
+
+        // 生成xml文件
+        File file1 = new File(
+                getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz");
+        if (!file1.exists()) {
+            if (file1.mkdirs()) {
+                LogUtil.log(TAG, "生成备降航线成功");
+                sendMissionExecuteEvents( "生成备降路线文件成功");
+
+            } else {
+                LogUtil.log(TAG, "生成备降航线失败");
+                sendMissionExecuteEvents( "生成备降航线失败");
+                if (message != null) {
+                    sendMsg2Server( message, "生成备降航线失败");
+                }
+            }
+        }
+        DomParserKML domParserKML = new DomParserKML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
+                "/template.kml");
+        domParserKML.createKml(flightMission);
+
+        DomParserWPML domParserWPML = new DomParserWPML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
+                "/waylines.wpml");
+        domParserWPML.createWpml(flightMission);
+
+        File kmzFile = new File(getExternalStoragePublicDirectory(Environment.DIRECTORY_DOCUMENTS) + File.separator + "alternate.kmz");
+        kmzFile.getParentFile().mkdirs();
+
+        try {
+            ZipUtil.zip(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + "/wpmz", getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "alternate.kmz");
+        } catch (IOException e) {
+            LogUtil.log(TAG, "备降航线压缩异常：" + e.toString());
+            sendMissionExecuteEvents( "备降任务生成异常");
+            if (message != null) {
+                sendMsg2Server( message, "备降任务生成异常");
+            }
+            throw new RuntimeException(e);
+        }
+
+        IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
+        missionManager.pushKMZFileToAircraft(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "alternate.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
+            @Override
+            public void onProgressUpdate(Double aDouble) {
+                LogUtil.log(TAG, "备降点航线上传进度:" + aDouble + "%");
+                sendMissionExecuteEvents( "备降任务上传中:" + aDouble + "%");
+
+            }
+
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "备降点航线上传成功");
+                sendMissionExecuteEvents( "备降点航线上传成功");
+                if (PreferenceUtils.getInstance().getHaveRTK() && !Movement.getInstance().isRtkSign()) {
+                    RTKManager.getInstance().enableRtk(false);
+                }
+
+                new Handler().postDelayed(new Runnable() {
+                    @Override
+                    public void run() {
+                        missionManager.startMission("alternate", new CommonCallbacks.CompletionCallback() {
+                            @Override
+                            public void onSuccess() {
+                                PreferenceUtils.getInstance().setTriggerToAlternatePoint(true);
+                                PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
+                                PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
+
+                                LogUtil.log(TAG, "开始飞往备降点");
+                                sendMissionExecuteEvents( "开始飞往备降点");
+                                //设置为未开始识别二维码状态
+                                FlightManager.getInstance().setSendDetect(false);
+                                EventBus.getDefault().post(FLAG_STOP_ARUCO);
+
+                                if (message != null) {
+                                    sendMsg2Server( message);
+                                }
+                            }
+
+                            @Override
+                            public void onFailure(@NonNull IDJIError idjiError) {
+                                PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
+                                LogUtil.log(TAG, "飞往备降点失败:" + new Gson().toJson(idjiError));
+                                sendMissionExecuteEvents( "飞往备降点失败");
+                                if (message != null) {
+                                    sendMsg2Server( message, "飞往备降点失败");
+                                }
+                            }
+                        });
+                    }
+                }, 1000);
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError error) {
+                LogUtil.log(TAG, "备降航线上传失败:" + new Gson().toJson(error));
+                PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
+                sendMissionExecuteEvents( "备降航线上传失败");
+                if (message != null) {
+                    sendMsg2Server( message, "备降航线上传失败:"  + getIDJIErrorMsg(error));
+                }
+            }
+        });
+    }
+
+    private static class AlternateLandingHolder {
+        private static final AlternateLandingManager INSTANCE = new AlternateLandingManager();
+    }
+}

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

@@ -0,0 +1,162 @@
+package com.aros.apron.manager;
+
+
+import androidx.annotation.Nullable;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.MessageReply;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import dji.sdk.keyvalue.key.BatteryKey;
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.flightcontroller.LowBatteryRTHInfo;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.manager.KeyManager;
+
+/**
+ * 电池
+ */
+public class BatteryManager extends BaseManager {
+
+    private BatteryManager() {
+    }
+
+    private static class BatteryManagerHolder {
+        private static final BatteryManager INSTANCE = new BatteryManager();
+    }
+
+    public static BatteryManager getInstance() {
+        return BatteryManagerHolder.INSTANCE;
+    }
+
+    private boolean sendLowBatteryRTHPosition2Server;
+
+    public void initBatteryInfo() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(BatteryKey.KeyConnection, 0));
+        if (isConnect != null && isConnect) {
+
+            LowBatteryRTHInfo lowBatteryRTHInfo = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                    KeyLowBatteryRTHInfo));
+            if (lowBatteryRTHInfo != null) {
+                Movement.getInstance().setRemainFlightTime(lowBatteryRTHInfo.getRemainingFlightTime());
+                Movement.getInstance().setReturnHomePower(lowBatteryRTHInfo.getBatteryPercentNeededToGoHome());
+                Movement.getInstance().setLandingPower(lowBatteryRTHInfo.getBatteryPercentNeededToLand());
+                if (lowBatteryRTHInfo != null) {
+                    Movement.getInstance().setLowBatteryRTHState(lowBatteryRTHInfo.getLowBatteryRTHStatus().value());
+                }
+            }
+
+            KeyManager.getInstance().listen(KeyTools.createKey(FlightControllerKey.
+                    KeyLowBatteryRTHInfo), this, new CommonCallbacks.KeyListener<LowBatteryRTHInfo>() {
+                @Override
+                public void onValueChange(@Nullable LowBatteryRTHInfo lowBatteryRTHInfo, @Nullable LowBatteryRTHInfo t1) {
+                    if (t1 != null) {
+                        Movement.getInstance().setRemainFlightTime(t1.getRemainingFlightTime());
+                        Movement.getInstance().setReturnHomePower(t1.getBatteryPercentNeededToGoHome());
+                        Movement.getInstance().setLandingPower(t1.getBatteryPercentNeededToLand());
+                        if (t1.getLowBatteryRTHStatus() != null) {
+                            Movement.getInstance().setLowBatteryRTHState(t1.getLowBatteryRTHStatus().value());
+                            if (t1.getLowBatteryRTHStatus().value()==1&&!sendLowBatteryRTHPosition2Server){
+                                sendLowBatteryRTHPosition2Server = true;
+                                sendLowBatteryRTHPosition2Server();
+                            }
+                        }
+                    }
+                }
+            });
+/**************************************************************************************************************/
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyChargeRemainingInPercent, 0), this, new CommonCallbacks.KeyListener<Integer>() {
+                @Override
+                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+                    if (newValue != null) {
+                        Movement.getInstance().setElectricityInfoA(newValue);
+                    }
+                }
+            });
+
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyChargeRemainingInPercent, 0), this, new CommonCallbacks.KeyListener<Integer>() {
+                @Override
+                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+                    if (newValue != null) {
+                        Movement.getInstance().setElectricityInfoA(newValue);
+                    }
+                }
+            });
+
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyVoltage, 0), this, new CommonCallbacks.KeyListener<Integer>() {
+                @Override
+                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+                    if (newValue != null) {
+                        Movement.getInstance().setVoltageInfoA(newValue);
+                    }
+                }
+            });
+
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyBatteryTemperature, 0), this, new CommonCallbacks.KeyListener<Double>() {
+                @Override
+                public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
+                    if (t1 != null) {
+                        Movement.getInstance().setBatteryTemperatureA(t1);
+                    }
+                }
+            });
+
+        }
+
+        /********************************************************************************************************************/
+
+        Boolean isConnectBatteryB = KeyManager.getInstance().getValue(KeyTools.createKey(BatteryKey.KeyConnection, 1));
+        if (isConnectBatteryB != null && isConnectBatteryB) {
+
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyChargeRemainingInPercent, 1), this, new CommonCallbacks.KeyListener<Integer>() {
+                @Override
+                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+                    if (newValue != null) {
+                        Movement.getInstance().setElectricityInfoB(newValue);
+                    }
+                }
+            });
+
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyVoltage, 1), this, new CommonCallbacks.KeyListener<Integer>() {
+                @Override
+                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
+                    if (newValue != null) {
+                        Movement.getInstance().setVoltageInfoB(newValue);
+                    }
+                }
+            });
+
+            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
+                    KeyBatteryTemperature, 1), this, new CommonCallbacks.KeyListener<Double>() {
+                @Override
+                public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
+                    if (t1 != null) {
+                        Movement.getInstance().setBatteryTemperatureB(t1);
+                    }
+                }
+            });
+
+        }
+    }
+
+
+
+    public void releaseBatteryKey() {
+        KeyManager.getInstance().cancelListen(this);
+    }
+}

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

@@ -0,0 +1,104 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+import android.os.Looper;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.MessageReply;
+import com.aros.apron.tools.LogUtil;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.IMqttActionListener;
+import org.eclipse.paho.client.mqttv3.IMqttToken;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.nio.charset.StandardCharsets;
+
+public class DockCloseManager extends BaseManager {
+
+    private final int maxRetries = 2;
+    private int sendDockCloseSuccessTimes;
+    private boolean isSendDockCloseSuccess;
+
+    private DockCloseManager() {
+    }
+
+    private static class DockCloseHolder {
+        private static final DockCloseManager INSTANCE = new DockCloseManager();
+    }
+
+    public static DockCloseManager getInstance() {
+        return DockCloseHolder.INSTANCE;
+    }
+
+
+    public void sendDockCloseMsg2Server(MqttAndroidClient client) {
+//        if (isSendDockCloseSuccess||sendDockCloseSuccessTimes >= maxRetries) {
+        if (sendDockCloseSuccessTimes >= maxRetries) {
+            LogUtil.log(TAG, "达到最大重试次数或已发送关舱"+isSendDockCloseSuccess+sendDockCloseSuccessTimes);
+            return;
+        }
+        try {
+            if (client.isConnected()) {
+                sendDockCloseMessage(client);
+            } else {
+                handleNotConnected(client);
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "关舱异常：" + e.toString());
+            e.printStackTrace();
+        }
+    }
+
+    private void sendDockCloseMessage(MqttAndroidClient client){
+        MessageReply message = new MessageReply();
+        message.setMsg_type(60107);
+        message.setResult(1);
+
+        MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes(StandardCharsets.UTF_8));
+        mqttMessage.setQos(0);
+        try {
+            client.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
+                @Override
+                public void onSuccess(IMqttToken asyncActionToken) {
+                    LogUtil.log(TAG, "关舱发送成功：60107---"+sendDockCloseSuccessTimes+"clientId:"+client.getClientId());
+                    sendMissionExecuteEvents("AMS通知机库关舱");
+                    isSendDockCloseSuccess = true;
+                }
+                @Override
+                public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
+                    LogUtil.log(TAG, "关舱发送回调失败：" + exception.toString());
+                    retrySend(client);
+                }
+            });
+        } catch (Exception e) {
+            LogUtil.log(TAG, "关舱发送异常：" + e.toString());
+            e.printStackTrace();
+        }
+
+
+    }
+    final Handler mainHandler = new Handler(Looper.getMainLooper());
+
+    private void retrySend(MqttAndroidClient client) {
+        sendDockCloseSuccessTimes++;
+        if (sendDockCloseSuccessTimes < maxRetries) {
+            mainHandler.postDelayed(() -> sendDockCloseMsg2Server(client), 2000);
+        } else {
+            LogUtil.log(TAG, "达到最大重试次数，关舱发送失败：" + sendDockCloseSuccessTimes);
+        }
+    }
+
+    private void handleNotConnected(MqttAndroidClient client) {
+        if (!isSendDockCloseSuccess && sendDockCloseSuccessTimes < maxRetries) {
+            sendDockCloseSuccessTimes++;
+            mainHandler.postDelayed(() -> sendDockCloseMsg2Server(client), 2000);
+            LogUtil.log(TAG, "关舱发送失败：mqtt未连接" + "--" + sendDockCloseSuccessTimes);
+        } else {
+            LogUtil.log(TAG, "关舱发送失败：" + sendDockCloseSuccessTimes);
+        }
+    }
+
+}

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

@@ -0,0 +1,129 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+import android.os.Looper;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.MessageReply;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.LogUtil;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.IMqttActionListener;
+import org.eclipse.paho.client.mqttv3.IMqttToken;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.nio.charset.StandardCharsets;
+
+public class DockOpenManager extends BaseManager {
+
+    private final int maxRetries = 20;
+    private int sendDockOpenSuccessTimes;
+    private boolean isSendDockOpenSuccess;
+    private DockOpenManager() {
+    }
+
+    private static class DockOpenHolder {
+        private static final DockOpenManager INSTANCE = new DockOpenManager();
+    }
+
+    public static DockOpenManager getInstance() {
+        return DockOpenHolder.INSTANCE;
+    }
+
+
+    public void sendDockOpenMsg2Server(MqttAndroidClient client) {
+//        if (isSendDockOpenSuccess||sendDockOpenSuccessTimes >= maxRetries) {
+        if (sendDockOpenSuccessTimes >= maxRetries) {
+            LogUtil.log(TAG, "达到最大重试次数或已发送开舱"+isSendDockOpenSuccess+sendDockOpenSuccessTimes);
+            return;
+        }
+        try {
+            if (client.isConnected()) {
+                sendDockOpenMessage(client);
+            } else {
+                handleNotConnected(client);
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "开舱发送异常：" + e.toString());
+            e.printStackTrace();
+        }
+    }
+
+    private void sendDockOpenMessage(MqttAndroidClient client){
+
+        try {
+            if (client.isConnected()) {
+
+                MessageReply message = new MessageReply();
+                message.setMsg_type(60108);
+                message.setResult(1);
+                message.setMsg("开门");
+
+                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes(StandardCharsets.UTF_8));
+                mqttMessage.setQos(0);
+                client.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
+                    @Override
+                    public void onSuccess(IMqttToken asyncActionToken) {
+                        LogUtil.log(TAG, "开舱发送成功：60108---" + sendDockOpenSuccessTimes + "clientId:" + client.getClientId());
+                        sendMissionExecuteEvents("AMS通知机库开舱");
+                        mainHandler.postDelayed(new Runnable() {
+                            @Override
+                            public void run() {
+                                if (ApronExecutionStatus.getInstance().isServerReplyDockOpen()) {
+                                    isSendDockOpenSuccess = true;
+                                    LogUtil.log(TAG, "已经收到服务端响应开门");
+                                } else {
+                                    if (Movement.getInstance().isPlaneWing()&&Movement.getInstance().getFlyingHeight()>40){
+                                        LogUtil.log(TAG, "未收到收到服务端响应开门,重新发送");
+                                        retrySend(client);
+                                    }else{
+                                        LogUtil.log(TAG,"飞机状态不满足开舱门条件:"+Movement.getInstance().isPlaneWing()+"--"+Movement.getInstance().getFlyingHeight());
+                                    }
+                                }
+                            }
+                        }, 2000);
+                    }
+
+                    @Override
+                    public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
+                        LogUtil.log(TAG, "开舱发送回调失败：" + exception.toString());
+                        retrySend(client);
+                    }
+                });
+            } else {
+                LogUtil.log(TAG, "开舱发送回调失败：mqtt 未连接");
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+            LogUtil.log(TAG, "开舱发送异常：" + e.toString());
+
+        }
+
+
+    }
+    final Handler mainHandler = new Handler(Looper.getMainLooper());
+
+    private void retrySend(MqttAndroidClient client) {
+        sendDockOpenSuccessTimes++;
+        if (sendDockOpenSuccessTimes < maxRetries) {
+            mainHandler.postDelayed(() -> sendDockOpenMsg2Server(client), 2000);
+        } else {
+            LogUtil.log(TAG, "达到最大重试次数，开舱发送失败：" + sendDockOpenSuccessTimes);
+        }
+    }
+
+    private void handleNotConnected(MqttAndroidClient client) {
+        if (!isSendDockOpenSuccess && sendDockOpenSuccessTimes < maxRetries) {
+            sendDockOpenSuccessTimes++;
+            mainHandler.postDelayed(() -> sendDockOpenMsg2Server(client), 2000);
+            LogUtil.log(TAG, "开舱发送失败：mqtt未连接" + "--" + sendDockOpenSuccessTimes);
+        } else {
+            LogUtil.log(TAG, "开舱发送失败：" + sendDockOpenSuccessTimes);
+        }
+    }
+
+}

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

@@ -0,0 +1,122 @@
+//package com.aros.apron.manager;
+//
+//import android.os.Handler;
+//import android.os.Looper;
+//
+//import com.aros.apron.base.BaseManager;
+//import com.aros.apron.constant.AMSConfig;
+//import com.aros.apron.entity.ApronExecutionStatus;
+//import com.aros.apron.entity.MessageReply;
+//import com.aros.apron.tools.LogUtil;
+//import com.google.gson.Gson;
+//import org.eclipse.paho.android.service.MqttAndroidClient;
+//import org.eclipse.paho.client.mqttv3.IMqttActionListener;
+//import org.eclipse.paho.client.mqttv3.IMqttToken;
+//import org.eclipse.paho.client.mqttv3.MqttMessage;
+//import java.nio.charset.StandardCharsets;
+//
+//public class DroneShutdownManager extends BaseManager {
+//
+//    private final int maxRetries = 20;
+//    private int sendDroneShutDownSuccessTimes;
+//    private boolean isSendDroneShutDownSuccess;
+//
+//    private DroneShutdownManager() {
+//    }
+//
+//    private static class DroneShutHolder {
+//        private static final DroneShutdownManager INSTANCE = new DroneShutdownManager();
+//    }
+//
+//    public static DroneShutdownManager getInstance() {
+//        return DroneShutHolder.INSTANCE;
+//    }
+//
+//
+//    public void sendDroneShutDownMsg2Server(MqttAndroidClient client) {
+////        if (isSendDroneShutDownSuccess||sendDroneShutDownSuccessTimes >= maxRetries) {
+//        if (sendDroneShutDownSuccessTimes >= maxRetries) {
+//            LogUtil.log(TAG, "达到最大重试次数或已发送关机"+isSendDroneShutDownSuccess+sendDroneShutDownSuccessTimes);
+//            return;
+//        }
+//        try {
+//            if (client.isConnected()) {
+//                sendShutDownMessage(client);
+//            } else {
+//                handleNotConnected(client);
+//            }
+//        } catch (Exception e) {
+//            LogUtil.log(TAG, "关机发送异常：" + e.toString());
+//            e.printStackTrace();
+//        }
+//    }
+//
+//    private void sendShutDownMessage(MqttAndroidClient client) {
+//
+//
+//        try {
+//            if (client.isConnected()){
+//                MessageReply message = new MessageReply();
+//                message.setMsg_type(60011);
+//                message.setResult(1);
+//                message.setMsg("关机");
+//                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
+//                mqttMessage.setQos(0);
+//                client.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
+//                    @Override
+//                    public void onSuccess(IMqttToken asyncActionToken) {
+//                        LogUtil.log(TAG, "关机发送成功：60011---"+sendDroneShutDownSuccessTimes+"clientId:"+client.getClientId());
+//                        sendMissionExecuteEvents( "AMS通知机库执行无人机关机");
+//                        mainHandler.postDelayed(new Runnable() {
+//                            @Override
+//                            public void run() {
+//                                if (ApronExecutionStatus.getInstance().isServerReplyDroneShut()) {
+//                                    isSendDroneShutDownSuccess = true;
+//                                    LogUtil.log(TAG, "已收到服务端响应飞机关机");
+//                                } else {
+//                                    LogUtil.log(TAG, "未收到服务端响应飞机关机,重新发送");
+//                                    retrySend(client);
+//                                }
+//                            }
+//                        }, 2000);
+//                    }
+//
+//                    @Override
+//                    public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
+//                        LogUtil.log(TAG, "关机发送回调失败：" + exception.toString());
+//                        retrySend(client);
+//                    }
+//                });
+//            } else {
+//                LogUtil.log(TAG, "关机发送失败：mqtt 未连接");
+//            }
+//
+//        } catch (Exception e) {
+//            LogUtil.log(TAG, "关机发送异常：" + e.toString());
+//            e.printStackTrace();
+//        }
+//
+//
+//    }
+//    final Handler mainHandler = new Handler(Looper.getMainLooper());
+//
+//    private void retrySend(MqttAndroidClient client) {
+//        sendDroneShutDownSuccessTimes++;
+//        if (sendDroneShutDownSuccessTimes < maxRetries) {
+//            mainHandler.postDelayed(() -> sendDroneShutDownMsg2Server(client), 2000);
+//        } else {
+//            LogUtil.log(TAG, "达到最大重试次数，关机发送失败：" + sendDroneShutDownSuccessTimes);
+//        }
+//    }
+//
+//    private void handleNotConnected(MqttAndroidClient client) {
+//        if (!isSendDroneShutDownSuccess && sendDroneShutDownSuccessTimes < maxRetries) {
+//            sendDroneShutDownSuccessTimes++;
+//            mainHandler.postDelayed(() -> sendDroneShutDownMsg2Server(client), 2000);
+//            LogUtil.log(TAG, "关机发送失败：mqtt未连接" + "--" + sendDroneShutDownSuccessTimes);
+//        } else {
+//            LogUtil.log(TAG, "关机发送失败：" + sendDroneShutDownSuccessTimes);
+//        }
+//    }
+//
+//}

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

@@ -0,0 +1,117 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+import android.os.Looper;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.constant.AMSConfig;
+import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.MessageReply;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.eclipse.paho.client.mqttv3.IMqttActionListener;
+import org.eclipse.paho.client.mqttv3.IMqttToken;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+import java.nio.charset.StandardCharsets;
+
+public class DroneStorageManager extends BaseManager {
+
+    private final int maxRetries = 20;
+    private int sendDroneStorageSuccessTimes;
+    private boolean isSendDroneStorageSuccess;
+
+    private DroneStorageManager() {
+    }
+
+    private static class DroneStorageHolder {
+        private static final DroneStorageManager INSTANCE = new DroneStorageManager();
+    }
+
+    public static DroneStorageManager getInstance() {
+        return DroneStorageHolder.INSTANCE;
+    }
+
+    public void sendDroneStorageMsg2Server(int result) {
+//        if (isSendDroneStorageSuccess||sendDroneStorageSuccessTimes >= maxRetries) {
+        if (sendDroneStorageSuccessTimes >= maxRetries) {
+            LogUtil.log(TAG, "达到最大重试次数或已发送入库"+isSendDroneStorageSuccess+sendDroneStorageSuccessTimes);
+            return;
+        }
+        try {
+            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
+                sendDroneStorageMessage(result);
+            } else {
+                handleNotConnected(MqttManager.getInstance().mqttAndroidClient,result);
+            }
+        } catch (Exception e) {
+            LogUtil.log(TAG, "入库发送异常：" + e.toString());
+            e.printStackTrace();
+        }
+    }
+
+    private void sendDroneStorageMessage(int result){
+        MessageReply message = new MessageReply();
+        message.setMsg_type(60010);
+        message.setResult(result);
+
+        MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes(StandardCharsets.UTF_8));
+        mqttMessage.setQos(0);
+
+        try {
+            MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
+                @Override
+                public void onSuccess(IMqttToken asyncActionToken) {
+                    LogUtil.log(TAG, "入库已发送：60010---" + sendDroneStorageSuccessTimes + "clientId:" + MqttManager.getInstance().mqttAndroidClient.getClientId());
+                    sendMissionExecuteEvents( "AMS通知机库入库");
+
+                    mainHandler.postDelayed(new Runnable() {
+                        @Override
+                        public void run() {
+                            if (ApronExecutionStatus.getInstance().isServerReplyDockIn()) {
+                                isSendDroneStorageSuccess = true;
+                                LogUtil.log(TAG, "已经收到服务端响应入库");
+                            } else {
+                                LogUtil.log(TAG, "未收到服务端响应入库,重新发送");
+                                retrySend(result);
+                            }
+                        }
+                    }, 2000);
+                }
+
+                @Override
+                public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
+                    LogUtil.log(TAG, "入库发送回调失败：" + exception.toString());
+                    retrySend(result);
+                }
+            });
+        } catch (Exception e) {
+            LogUtil.log(TAG, "入库发送异常：" + e.toString());
+            e.printStackTrace();
+        }
+    }
+    final Handler mainHandler = new Handler(Looper.getMainLooper());
+
+    private void retrySend(int result) {
+        sendDroneStorageSuccessTimes++;
+        if (sendDroneStorageSuccessTimes < maxRetries) {
+            mainHandler.postDelayed(() -> DroneStorageManager.getInstance().sendDroneStorageMsg2Server(result), 2000);
+        } else {
+            LogUtil.log(TAG, "达到最大重试次数，入库发送失败：" + sendDroneStorageSuccessTimes);
+        }
+    }
+
+    private void handleNotConnected(MqttAndroidClient client,int result) {
+        if (!isSendDroneStorageSuccess && sendDroneStorageSuccessTimes < maxRetries) {
+            sendDroneStorageSuccessTimes++;
+            mainHandler.postDelayed(() -> DroneStorageManager.getInstance().sendDroneStorageMsg2Server(result), 2000);
+            LogUtil.log(TAG, "入库发送失败：mqtt未连接" + "--" + sendDroneStorageSuccessTimes);
+        } else {
+            LogUtil.log(TAG, "入库发送失败：" + sendDroneStorageSuccessTimes);
+        }
+    }
+
+}

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

@@ -0,0 +1,453 @@
+package com.aros.apron.manager;
+
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+
+import android.text.TextUtils;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.ApronArucoDetect;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+
+import dji.sdk.keyvalue.key.CameraKey;
+import dji.sdk.keyvalue.key.DJIKey;
+import dji.sdk.keyvalue.key.DJIKeyInfo;
+import dji.sdk.keyvalue.key.GimbalKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.camera.CameraType;
+import dji.sdk.keyvalue.value.common.ComponentIndexType;
+import dji.sdk.keyvalue.value.common.EmptyMsg;
+import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotation;
+import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotationMode;
+import dji.sdk.keyvalue.value.gimbal.GimbalMode;
+import dji.sdk.keyvalue.value.gimbal.GimbalResetType;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+
+public class GimbalManager extends BaseManager {
+
+
+    private GimbalManager() {
+    }
+
+    private static class GimbalHolder {
+        private static final GimbalManager INSTANCE = new GimbalManager();
+    }
+
+    public static GimbalManager getInstance() {
+        return GimbalHolder.INSTANCE;
+    }
+
+    public void initGimbalInfo() {
+        ApronArucoDetect.getInstance().setDoublePayload(PreferenceUtils.getInstance().getCameraLocationType() == 2);
+    }
+
+
+    //用相对角度模式旋转云台
+    public void gimbalRotateByRelativeAngle(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
+            if (message.getX() == 0 && message.getY() == 0) {
+                gimbalReset();
+            } else {
+                int yaw = message.getX();
+                int pitch = message.getY();
+                GimbalAngleRotation rotation = new GimbalAngleRotation();
+                rotation.setMode(GimbalAngleRotationMode.RELATIVE_ANGLE);
+                rotation.setYaw(Double.valueOf(yaw));
+                rotation.setPitch(Double.valueOf(pitch));
+                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                            @Override
+                            public void onSuccess(EmptyMsg emptyMsg) {
+                                sendMsg2Server( message);
+                            }
+
+                            @Override
+                            public void onFailure(@NonNull IDJIError error) {
+                                LogUtil.log(TAG,"云台控制失败:"+new Gson().toJson(error));
+                                sendMsg2Server( message, "云台控制失败:" + getIDJIErrorMsg(error));
+                            }
+                        }
+                );
+            }
+        } else {
+            sendMsg2Server( message, "云台未连接");
+        }
+
+
+    }
+
+//    //用绝对角度模式旋转云台
+//    public void gimbalRotateByAbsoluteAngle(MQMessage message) {
+//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+//                KeyConnection, ComponentIndexType.PORT_1));
+//        if (isConnect != null && isConnect) {
+//            if (message.getX() == 0 && message.getY() == 0) {
+//                gimbalReset();
+//            } else {
+//                int yaw = message.getX();
+//                int pitch = message.getY();
+//                GimbalAngleRotation rotation = new GimbalAngleRotation();
+//                rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+//                rotation.setYaw(Double.valueOf(yaw * 10));
+//                rotation.setPitch(Double.valueOf(pitch * 10));
+//                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+//                            @Override
+//                            public void onSuccess(EmptyMsg emptyMsg) {
+//                                LogUtil.log(TAG, "云台控制成功:" + yaw + "---" + pitch);
+//                            }
+//
+//                            @Override
+//                            public void onFailure(@NonNull IDJIError error) {
+//                                LogUtil.log(TAG, "云台控制失败:" + error.description());
+//                            }
+//                        }
+//                );
+//            }
+//        } else {
+//            sendMsg2Server( message, "云台未连接");
+//        }
+//    }
+
+    //云台重置
+    public void gimbalReset() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect) {
+            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            LogUtil.log(TAG, "云台复位");
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "云台复位失败:" + error.description());
+
+                        }
+                    }
+            );
+        } else {
+            LogUtil.log(TAG, "云台未连接");
+        }
+    }
+
+    //云台回中
+    public void gimbalResetWithPitchAndYaw(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
+            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1),
+                    GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            sendMsg2Server(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG,"云台重置失败:"+new Gson().toJson(error));
+                            sendMsg2Server(message, "云台控制失败:" + getIDJIErrorMsg(error));
+                        }
+                    }
+            );
+        } else {
+            sendMsg2Server(message, "云台重置失败:设备未连接");
+        }
+    }
+
+    //云台偏航回中
+    public void gimbalResetWithYaw(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
+            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1),
+                    GimbalResetType.ONLY_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            sendMsg2Server(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG,"云台偏航回中失败:"+new Gson().toJson(error));
+                            sendMsg2Server(message, "云台偏航回中失败:" + getIDJIErrorMsg(error));
+                        }
+                    }
+            );
+        } else {
+            sendMsg2Server(message, "云台偏航回中失败:设备未连接");
+        }
+    }
+
+    //偏航向下
+    public void gimbalDownWithPitch(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
+            GimbalAngleRotation rotation = new GimbalAngleRotation();
+            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+            if (!TextUtils.isEmpty(Movement.getInstance().getGimbalYaw())){
+                rotation.setYaw(Double.parseDouble(Movement.getInstance().getGimbalYaw()));
+            }
+            rotation.setPitch(-90.0);
+            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            sendMsg2Server(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            sendMsg2Server(message,"偏航向下失败:"+getIDJIErrorMsg(error));
+                        }
+                    }
+            );
+
+        } else {
+            sendMsg2Server(message, "云台偏航回中失败:设备未连接");
+        }
+    }
+
+    //云台朝下
+    public void gimbalDownWithPitchAndYaw(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
+            GimbalAngleRotation rotation = new GimbalAngleRotation();
+            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+            rotation.setYaw(0.0);
+            rotation.setRoll(0.0);
+            rotation.setPitch(-90.0);
+            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            sendMsg2Server(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            sendMsg2Server(message,"云台向下失败:"+getIDJIErrorMsg(error));
+                        }
+                    }
+            );
+
+        } else {
+            sendMsg2Server(message, "云台偏航回中失败:设备未连接");
+        }
+    }
+
+    //设置云台控制的最大速度[1,100]
+    public void setGimbalControlMaxSpeed(MQMessage
+                                                 message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect!=null&&isConnect) {
+            DJIKey<Integer> pitchKey = KeyTools.createKey(GimbalKey.KeyPitchControlMaxSpeed, ComponentIndexType.PORT_1);
+            DJIKey<Integer> yawKey = KeyTools.createKey(GimbalKey.KeyYawControlMaxSpeed, ComponentIndexType.PORT_1);
+            if (pitchKey != null) {
+                setGimbalControlSpeed(message, pitchKey, "云台俯仰控制速度设置失败:");
+            } else {
+                LogUtil.log(TAG, "云台俯仰控制速度设置失败:pitchKey is null!");
+            }
+            if (yawKey != null) {
+                setGimbalControlSpeed( message, yawKey, "云台偏航控制速度设置失败:");
+            } else {
+                LogUtil.log(TAG, "云台偏航控制速度设置失败:yawKey is null!");
+            }
+        } else {
+            sendMsg2Server( message, "云台未连接");
+        }
+    }
+
+
+    private void setGimbalControlSpeed(MQMessage
+                                               message, DJIKey<Integer> key, String errorMessage) {
+        int value = message.getGimbalControlSpeed();
+        KeyManager.getInstance().setValue(key, value, new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                sendMsg2Server( message);
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError error) {
+                LogUtil.log(TAG,errorMessage+new Gson().toJson(error));
+                sendMsg2Server( message, errorMessage + getIDJIErrorMsg(error));
+            }
+        });
+    }
+
+    //
+//    //恢复出厂设置
+//    public void setRestoreFactorySettings(MqttAndroidClient mqttAndroidClient, MQMessage
+//            message) {
+//        MQMessage.Data data = message.getData();
+//        if (data != null) {
+//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
+//            if (isConnect) {
+//                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRestoreFactorySettings, Integer.parseInt(data.getComponentIndex())), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+//                    @Override
+//                    public void onSuccess(EmptyMsg emptyMsg) {
+//                        sendMsg2Server( message);
+//                    }
+//
+//                    @Override
+//                    public void onFailure(@NonNull IDJIError error) {
+//                        sendMsg2Server( message, "恢复出厂设置失败：" + error.description());
+//                    }
+//                });
+//            } else {
+//                sendMsg2Server( message, "云台未连接");
+//            }
+//        }
+//
+//    }
+//
+//    //启动自动校准
+//    public void startGimbalCalibrate(MqttAndroidClient mqttAndroidClient, MQMessage
+//            message) {
+//        MQMessage.Data data = message.getData();
+//        if (data != null) {
+//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
+//            if (isConnect) {
+//                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalCalibrate, Integer.parseInt(data.getComponentIndex())), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+//                    @Override
+//                    public void onSuccess(EmptyMsg emptyMsg) {
+//                        sendMsg2Server( message);
+//                    }
+//
+//                    @Override
+//                    public void onFailure(@NonNull IDJIError error) {
+//                        sendMsg2Server( message, "启动校准失败：" + error.description());
+//                    }
+//                });
+//            } else {
+//                sendMsg2Server( message, "云台未连接");
+//            }
+//        }
+//
+//    }
+//
+//    //设置云台缓启/停，范围：[0,30]，数值越大，控制云台俯仰轴启动/停止转动的缓冲距离越长。
+//    public void setSmoothingFactor(MQMessage message) {
+//        MQMessage.Data data = message.getData();
+//        if (data != null) {
+//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
+//            if (isConnect) {
+//                String value = data.getGimbalSmoothingFactor();
+//                String type = data.getGimbalSmoothingFactorType();
+//                KeyManager.getInstance().setValue(KeyTools.createKey(type.equals("0") ? GimbalKey.KeyPitchSmoothingFactor : GimbalKey.KeyYawSmoothingFactor, Integer.parseInt(data.getComponentIndex())), Integer.parseInt(value), new CommonCallbacks.CompletionCallback() {
+//                    @Override
+//                    public void onSuccess() {
+//                        sendMsg2Server( message);
+//                    }
+//
+//                    @Override
+//                    public void onFailure(@NonNull IDJIError error) {
+//                        sendMsg2Server( message, "云台缓启/停设置失败：" + error.description());
+//                    }
+//                });
+//            } else {
+//                sendMsg2Server( message, "云台未连接");
+//            }
+//        }
+//
+//
+//    }
+//
+//    //设置云台限位扩展
+//    public void setPitchRangeExtensionEnabled(MqttAndroidClient
+//                                                      mqttAndroidClient, MQMessage message) {
+//        MQMessage.Data data = message.getData();
+//        if (data != null) {
+//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
+//            if (isConnect) {
+//                String type = data.getPitchRangeExtensionEnabled();
+//                if (!TextUtils.isEmpty(type)) {
+//                    KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyPitchRangeExtensionEnabled,
+//                            Integer.parseInt(data.getComponentIndex())), type.equals("1") ? true : false, new CommonCallbacks.CompletionCallback() {
+//                        @Override
+//                        public void onSuccess() {
+//                            sendMsg2Server( message);
+//                        }
+//
+//                        @Override
+//                        public void onFailure(@NonNull IDJIError error) {
+//                            sendMsg2Server( message, "设置云台俯仰扩展失败:" + error.description());
+//                        }
+//                    });
+//                } else {
+//                    sendMsg2Server( message, "设置云台俯仰扩展参数有误");
+//                }
+//            } else {
+//                sendMsg2Server( message, "云台未连接");
+//            }
+//        }
+//
+//    }
+//
+    //设置云台模式
+    public void setGimbalMode(int gimbalMode) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
+                KeyConnection, ComponentIndexType.PORT_1));
+        if (isConnect != null && isConnect) {
+            KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode,
+                    ComponentIndexType.PORT_1), GimbalMode.find(gimbalMode), new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    switch (gimbalMode) {
+                        case 0:
+                            LogUtil.log(TAG, "设置云台自由模式成功");
+                            gimbalReset();
+                            break;
+                        case 1:
+                            LogUtil.log(TAG, "设置云台FPV模式成功");
+                            break;
+                        case 2:
+                            LogUtil.log(TAG, "设置云台跟随模式成功");
+                            break;
+                    }
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    switch (gimbalMode) {
+                        case 0:
+                            LogUtil.log(TAG, "设置云台自由模式失败:" + error.description());
+                            break;
+                        case 1:
+                            LogUtil.log(TAG, "设置云台FPV模式失败:" + error.description());
+                            break;
+                        case 2:
+                            LogUtil.log(TAG, "设置云台跟随模式失败:" + error.description());
+                            break;
+
+                    }
+                }
+            });
+
+        } else {
+            LogUtil.log(TAG, "设置云台模式失败:未连接");
+        }
+
+    }
+
+    public void releaseGimbalKey() {
+        KeyManager.getInstance().cancelListen(this);
+    }
+}

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

@@ -0,0 +1,71 @@
+package com.aros.apron.manager;
+
+
+import androidx.annotation.NonNull;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+
+import dji.sdk.keyvalue.key.FlightAssistantKey;
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.flightassistant.AuxiliaryLightMode;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+
+
+public class LEDsSettingsManager extends BaseManager {
+
+
+    private LEDsSettingsManager() {
+    }
+
+    private static class LEDsSettingsHolder {
+        private static final LEDsSettingsManager INSTANCE = new LEDsSettingsManager();
+    }
+
+    public static LEDsSettingsManager getInstance() {
+        return LEDsSettingsHolder.INSTANCE;
+    }
+
+    public void initLEDsInfo() {
+
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+//            LEDsSettings leDsSettings = new LEDsSettings();
+//            leDsSettings.setNavigationLEDsOn(PreferenceUtils.getInstance().getNavigationLEDsOn());
+//            leDsSettings.setFrontLEDsOn(true);
+//            leDsSettings.setRearLEDsOn(true);
+//            leDsSettings.setStatusIndicatorLEDsOn(true);
+            boolean navigationLEDsOn = PreferenceUtils.getInstance().getNavigationLEDsOn();
+            KeyManager.getInstance().setValue(KeyTools.createKey(FlightAssistantKey.KeyBottomAuxiliaryLightMode),
+                    navigationLEDsOn ? AuxiliaryLightMode.ON : AuxiliaryLightMode.OFF, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "设置夜航灯使能:" + PreferenceUtils.getInstance().getNavigationLEDsOn());
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+                    LogUtil.log(TAG, "设置夜航灯使能失败:" + new Gson().toJson(idjiError));
+                }
+            });
+//            KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyLEDsSettings), leDsSettings, new CommonCallbacks.CompletionCallback() {
+//                @Override
+//                public void onSuccess() {
+//                    LogUtil.log(TAG, "设置夜航灯使能:" + PreferenceUtils.getInstance().getNavigationLEDsOn());
+//                }
+//
+//                @Override
+//                public void onFailure(@NonNull IDJIError idjiError) {
+//                    LogUtil.log(TAG, "设置夜航灯使能失败:" + new Gson().toJson(idjiError));
+//                }
+//            });
+        } else {
+            LogUtil.log(TAG, "设置夜航灯失败");
+        }
+    }
+}

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

@@ -0,0 +1,119 @@
+package com.aros.apron.manager;
+
+import android.os.Handler;
+
+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 java.util.List;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.airlink.WlmDongleInfo;
+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.LTEDongleInfoListener;
+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)));
+//
+//                }
+//            });
+//            LTEManager.getInstance().addLTEAuthenticationInfoListener(new LTEAuthenticationInfoListener() {
+//                @Override
+//                public void onLTEAuthenticationInfoUpdate(LTEAuthenticationInfo info) {
+//                    if (info != null) {
+//                        LogUtil.log(TAG, "LTEAuthenticationInfo:" + new Gson().toJson(info));
+//                    }
+//                }
+//            });
+
+        }
+    }
+
+    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);
+                    }
+                }
+            });
+        }
+
+    }
+
+}

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

@@ -0,0 +1,585 @@
+package com.aros.apron.manager;
+
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+import android.os.Build;
+import android.os.Environment;
+import android.os.Handler;
+import android.text.TextUtils;
+import android.util.Log;
+import androidx.annotation.NonNull;
+import androidx.annotation.RequiresApi;
+import com.amazonaws.ClientConfiguration;
+import com.amazonaws.auth.AWSCredentials;
+import com.amazonaws.regions.Region;
+import com.amazonaws.regions.Regions;
+import com.amazonaws.services.s3.AmazonS3;
+import com.amazonaws.services.s3.AmazonS3Client;
+import com.amazonaws.services.s3.model.GeneratePresignedUrlRequest;
+import com.amazonaws.services.s3.model.ProgressEvent;
+import com.amazonaws.services.s3.model.ProgressListener;
+import com.amazonaws.services.s3.model.PutObjectRequest;
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.ApronExecutionStatus;
+import com.aros.apron.entity.FileUploadResult;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.PreferenceUtils;
+import com.autonavi.base.amap.mapcore.FileUtil;
+import com.google.gson.Gson;
+
+import java.io.BufferedOutputStream;
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.camera.MediaFileType;
+import dji.sdk.keyvalue.value.common.ComponentIndexType;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+import dji.v5.manager.datacenter.MediaDataCenter;
+import dji.v5.manager.datacenter.media.MediaFile;
+import dji.v5.manager.datacenter.media.MediaFileDownloadListener;
+import dji.v5.manager.datacenter.media.MediaFileListDataSource;
+import dji.v5.manager.datacenter.media.MediaFileListState;
+import dji.v5.manager.datacenter.media.MediaFileListStateListener;
+import dji.v5.manager.datacenter.media.PullMediaFileListParam;
+import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers;
+import io.reactivex.rxjava3.core.Observable;
+import io.reactivex.rxjava3.core.ObservableEmitter;
+import io.reactivex.rxjava3.core.ObservableOnSubscribe;
+import io.reactivex.rxjava3.core.Observer;
+import io.reactivex.rxjava3.disposables.Disposable;
+import io.reactivex.rxjava3.schedulers.Schedulers;
+
+public class MediaManager extends BaseManager {
+
+    private  final String TAG = "MediaManager";
+    private  final String mediaFileDir = "/apronPic";
+    private MediaFileListState mState = null;
+
+    private List<MediaFile> mediaFiles = new ArrayList<>();
+
+    /* ===== ① 新增：已上传文件名集合（本次任务内有效） ===== */
+    private final Set<String> uploadedFileNames = new HashSet<>();
+
+    private int updatingRetryCount = 0;
+    private static final int MAX_UPDATING_RETRY = 50; // 最多重试50次
+
+    private int mediaRestartCount = 0;
+    private static final int MAX_MEDIA_RESTART = 1; // 最多重启3次
+
+    private MediaManager() {
+    }
+
+    private static class MediaManagerHolder {
+        private static final MediaManager INSTANCE = new MediaManager();
+    }
+
+    public static MediaManager getInstance() {
+        return MediaManager.MediaManagerHolder.INSTANCE;
+    }
+
+    public  void init() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            MediaFileListDataSource source = new MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
+            MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
+            MediaDataCenter.getInstance().getMediaManager().addMediaFileListStateListener(new MediaFileListStateListener() {
+                @Override
+                public void onUpdate(MediaFileListState mediaFileListState) {
+                    mState = mediaFileListState;
+                    LogUtil.log(TAG, "当前媒体文件状态：" + mediaFileListState.name());
+                }
+            });
+        }
+    }
+
+    private int enterPlayBackFailTimes;
+    private boolean isEnablePlayback;
+
+    public void enablePlayback() {
+        updatingRetryCount = 0;
+        MediaDataCenter.getInstance().getMediaManager().enable(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "进入媒体模式成功");
+                new Handler().postDelayed(new Runnable() {
+                    @Override
+                    public void run() {
+                        MediaFileListDataSource source = new MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
+                        MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
+                        MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
+                            @Override
+                            public void onSuccess() {
+                                LogUtil.log(TAG,"拉取成功");
+                            }
+
+                            @Override
+                            public void onFailure(@NonNull IDJIError idjiError) {
+                                LogUtil.log(TAG,"拉取失败");
+                            }
+                        });
+
+                        new Handler().postDelayed(new Runnable() {
+                            @Override
+                            public void run() {
+                                pullMediaFileListFromCamera();
+                                isEnablePlayback=true;
+                            }
+                        }, 5000);
+                        isEnablePlayback=true;
+                    }
+                },2000);
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                LogUtil.log(TAG, "第"+enterPlayBackFailTimes+"次进入媒体模式失败:"+new Gson().toJson(idjiError));
+                if (!isEnablePlayback){
+                    new Handler().postDelayed(new Runnable() {
+                        @Override
+                        public void run() {
+                            if (enterPlayBackFailTimes < 10) {
+                                enterPlayBackFailTimes++;
+                                enablePlayback();
+                            }else{
+                                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                                sendMissionExecuteEvents( "媒体模式进入失败:关机");
+                            }
+                        }
+                    }, 1500);
+                }
+            }
+        });
+    }
+
+    private int pullMediaFileListFromCameraFailTimes;
+    private boolean isPullMediaFileListFromCameraSuccess;
+    private void pullMediaFileListFromCamera(){
+        mState=MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
+        if (mState == MediaFileListState.UPDATING) {
+            updatingRetryCount++;
+            LogUtil.log(TAG, "状态为" + mState + "，第" + updatingRetryCount + "次重试");
+            if (updatingRetryCount >= MAX_UPDATING_RETRY) {
+                if (mediaRestartCount >= MAX_MEDIA_RESTART) {
+                    LogUtil.log(TAG, "媒体模块重启" + MAX_MEDIA_RESTART + "次仍失败，强制关机");
+                    ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                    sendMissionExecuteEvents("媒体模块故障，强制关机");
+                    return;
+                }
+
+                mediaRestartCount++;
+                LogUtil.log(TAG, "媒体模块卡死，第" + mediaRestartCount + "次重启");
+
+                // 先退出媒体模式
+                MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
+                    @Override
+                    public void onSuccess() {
+                        // 延迟2秒后重新进入
+                        new Handler().postDelayed(() -> {
+                            enablePlayback(); // 重新走 enable -> pull 流程
+                        }, 2000);
+                    }
+                    @Override
+                    public void onFailure(@NonNull IDJIError error) {
+                        // 退不出也强制关机
+                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                    }
+                });
+                return;
+            }
+            new Handler().postDelayed(new Runnable() {
+                @Override
+                public void run() {
+                    pullMediaFileListFromCamera();
+                }
+            }, 3000);
+            return;
+        }
+
+        MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
+                    @Override
+                    public void onSuccess() {
+                        isPullMediaFileListFromCameraSuccess=true;
+                        // 成功时重置计数器
+                        updatingRetryCount = 0;
+                        // 成功后重置重启计数器，为下次任务做准备
+                        mediaRestartCount = 0;
+
+                        new Handler().postDelayed(new Runnable() {
+                            @Override
+                            public void run() {
+                                // 二次检查状态，防止延迟期间状态变化
+                                if (mState == MediaFileListState.UP_TO_DATE) {
+                                    List<MediaFile> rawList =
+                                            MediaDataCenter.getInstance().getMediaManager().getMediaFileListData().getData();
+                                    /* ===== ② 过滤已上传文件 ===== */
+                                    mediaFiles = new ArrayList<>();
+                                    for (MediaFile mf : rawList) {
+                                        if (!uploadedFileNames.contains(mf.getFileName())) {
+                                            mediaFiles.add(mf);
+                                        } else {
+                                            LogUtil.log(TAG, "跳过已上传文件: " + mf.getFileName());
+                                        }
+                                    }
+                                    if (mediaFiles.isEmpty()) {
+                                        LogUtil.log(TAG, "所有文件均已上传，直接清理");
+                                        downLoadMediaFileIndex = 0;
+                                        removeAllFiles();
+                                        return;
+                                    }
+
+                                    if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+                                        pullOriginalMediaFileFromCamera();
+                                    }
+                                } else {
+                                    LogUtil.log(TAG, "延迟后状态变为:" + mState + "，重新等待");
+                                    // 状态变化时重试而不是直接失败
+                                    if (pullMediaFileListFromCameraFailTimes < 10) {
+                                        pullMediaFileListFromCameraFailTimes++;
+                                        pullMediaFileListFromCamera();
+                                    } else {
+                                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                                        sendMissionExecuteEvents("拉取媒体文件失败:" + mState);
+                                        LogUtil.log(TAG, "拉取媒体文件失败,当前状态:" + mState);
+                                        disablePlayback();
+                                        LogUtil.log(TAG, "发送关闭无人机");
+                                    }
+                                }
+                            }
+                        },2000);
+                    }
+
+                    @Override
+                    public void onFailure(@NonNull IDJIError idjiError) {
+                        LogUtil.log(TAG, "第"+pullMediaFileListFromCameraFailTimes+"拉取媒体文件失败:"+new Gson().toJson(idjiError));
+
+                        if (!isPullMediaFileListFromCameraSuccess){
+                            new Handler().postDelayed(new Runnable() {
+                                @Override
+                                public void run() {
+                                    if (pullMediaFileListFromCameraFailTimes < 10) {
+                                        pullMediaFileListFromCameraFailTimes++;
+                                        pullMediaFileListFromCamera();
+                                    }else{
+                                        LogUtil.log(TAG, "拉取媒体文件失败:" + new Gson().toJson(idjiError));
+                                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                                        sendMissionExecuteEvents("拉取媒体文件失败");
+                                        disablePlayback();
+                                        LogUtil.log(TAG, "发送关闭无人机");
+                                    }
+                                }
+                            }, 1500);
+                        }
+                    }
+                }
+
+        );
+    }
+
+    @RequiresApi(Build.VERSION_CODES.O)
+    public void pullOriginalMediaFileFromCamera() {
+        final MediaFile mediaFile = mediaFiles.get(downLoadMediaFileIndex);
+
+        if ((!PreferenceUtils.getInstance().getNeedUpLoadVideo() && mediaFile.getFileType() == MediaFileType.MP4)
+                || !mediaFile.getFileName().contains(LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyyMMdd")))) {
+
+            downLoadMediaFileIndex++;
+
+            if (downLoadMediaFileIndex == mediaFiles.size()) {
+                // This refers to when all files have been downloaded or failed. Clear SD card, cache, exit media mode, and shut down the drone
+                downLoadMediaFileIndex = 0;
+                removeAllFiles();
+            } else {
+                LogUtil.log(TAG, "Skipping file download: " + mediaFile.getFileName());
+                pullOriginalMediaFileFromCamera();
+            }
+            return;
+        }
+
+        LogUtil.log(TAG, "File size: " + mediaFile.getFileSize());
+
+        File dirs = new File(getSDCardPath() + mediaFileDir);
+        if (!dirs.exists()) {
+            dirs.mkdir();
+        }
+
+        String filePath = getSDCardPath() + mediaFileDir + "/" + mediaFile.getFileName();
+        File file = new File(filePath);
+        long offset = 0L;
+        if (file.exists()) {
+            offset = file.length();
+        }
+
+        try {
+            FileOutputStream outputStream = new FileOutputStream(file, true);
+            long beginTime = System.currentTimeMillis();
+            BufferedOutputStream bos = new BufferedOutputStream(outputStream);
+
+            mediaFile.pullOriginalMediaFileFromCamera(0L, new MediaFileDownloadListener() {
+                @Override
+                public void onStart() {
+                    // No action needed for start
+                }
+
+                @Override
+                public void onProgress(long total, long current) {
+                    int tmpProgress = (int) ((1.0 * current / total) * 100);
+                    Log.e(TAG, "File " + downLoadMediaFileIndex + ": " + mediaFile.getFileName() + " Download Progress: " + tmpProgress + "%");
+                }
+
+                @Override
+                public void onRealtimeDataUpdate(byte[] data, long position) {
+                    try {
+                        bos.write(data);
+                        bos.flush();
+                    } catch (IOException e) {
+                        Log.e(TAG, "Write error: " + e.getMessage());
+                    }
+                }
+
+                @Override
+                public void onFinish() {
+                    LogUtil.log(TAG, "File:" + downLoadMediaFileIndex+"fileName:"+mediaFile.getFileName() + " downloaded successfully.");
+                    minIOUpLoad(file, mediaFile);
+                    try {
+                        outputStream.close();
+                        bos.close();
+                    } catch (IOException error) {
+                        LogUtil.log(TAG, "File " + downLoadMediaFileIndex + " error: " + error.getMessage());
+                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                    }
+                }
+
+                @Override
+                public void onFailure(IDJIError error) {
+                    LogUtil.log(TAG, "File " + downLoadMediaFileIndex + ": " + mediaFile.getFileName() + " download failed: " + new Gson().toJson(error));
+                    ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                    sendMissionExecuteEvents( "第" + downLoadMediaFileIndex + "个文件下载失败");
+                    downLoadMediaFileIndex = 0;
+                }
+            });
+
+        } catch (IOException e) {
+            Log.e(TAG, "Error opening file: " + e.getMessage());
+        }
+    }
+
+    private AmazonS3 s3 = new AmazonS3Client(new AWSCredentials() {
+        @Override
+        public String getAWSAccessKeyId() {
+            return PreferenceUtils.getInstance().getAccessKey(); // minio的key
+        }
+
+        @Override
+        public String getAWSSecretKey() {
+            return PreferenceUtils.getInstance().getSecretKey(); // minio的密钥
+        }
+    }, Region.getRegion(Regions.US_EAST_1), new ClientConfiguration());
+
+    @RequiresApi(Build.VERSION_CODES.O)
+    public void minIOUpLoad(final File file, final MediaFile mediaFile) {
+        LogUtil.log(TAG, "文件路径=" + file.getAbsolutePath() + ", 文件大小=" + file.length());
+        Observable.create(new ObservableOnSubscribe<String>() {
+                    @Override
+                    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());
+                        if (!bucketExists) {
+                            s3.createBucket(PreferenceUtils.getInstance().getBucketName());
+                        }
+
+                        // 上传文件到网关MINIO存储服务
+                        s3.putObject(
+                                new PutObjectRequest(
+                                        PreferenceUtils.getInstance().getBucketName(),
+                                        "/" + PreferenceUtils.getInstance().getObjectKey() + "/" +
+                                                PreferenceUtils.getInstance().getTaskId() + "/" + mediaFile.getFileName(),
+                                        file
+                                ).withProgressListener(new ProgressListener() {
+                                    @Override
+                                    public void progressChanged(ProgressEvent progressEvent) {
+                                        switch (progressEvent.getEventCode()) {
+                                            case ProgressEvent.PREPARING_EVENT_CODE:
+                                                LogUtil.log(TAG, "Preparing to upload file " + downLoadMediaFileIndex);
+                                                break;
+                                            case ProgressEvent.STARTED_EVENT_CODE:
+                                                long bytesTransferred = progressEvent.getBytesTransferred();
+                                                int percentage = (int) ((bytesTransferred * 100) / file.length());
+                                                LogUtil.log(TAG, "Upload started for file " + downLoadMediaFileIndex + ": " +
+                                                        percentage + "% (" + bytesTransferred + " out of " + file.length() + " bytes)");
+                                                break;
+                                            case ProgressEvent.COMPLETED_EVENT_CODE:
+                                                LogUtil.log(TAG, "Upload completed for file " + downLoadMediaFileIndex);
+                                                break;
+                                            case ProgressEvent.FAILED_EVENT_CODE:
+                                                LogUtil.log(TAG, "Upload failed for file " + downLoadMediaFileIndex);
+                                                break;
+                                            case ProgressEvent.RESET_EVENT_CODE:
+                                                LogUtil.log(TAG, "Upload reset for file " + downLoadMediaFileIndex);
+                                                break;
+                                        }
+                                    }
+                                })
+                        );
+
+                        // 获取文件上传后访问地址url
+                        GeneratePresignedUrlRequest urlRequest = new GeneratePresignedUrlRequest(
+                                PreferenceUtils.getInstance().getBucketName(),
+                                "/" + PreferenceUtils.getInstance().getObjectKey() + "/"
+                                        + PreferenceUtils.getInstance().getTaskId() + "/"+ mediaFile.getFileName()
+                        );
+                        String url = s3.generatePresignedUrl(urlRequest).toString();
+
+                        // 文件上传后访问地址url
+                        emitter.onNext(url);
+                        emitter.onComplete();
+                    }
+                })
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new Observer<String>() {
+                    @Override
+                    public void onSubscribe(Disposable d) {
+                        // Handle on subscribe (optional)
+                    }
+
+                    @Override
+                    public void onNext(String url) {
+                        FileUploadResult fileUploadResult = new FileUploadResult();
+                        fileUploadResult.setResult(1);
+                        fileUploadResult.setFileName(mediaFile.getFileName());
+                        fileUploadResult.setFileSize(mediaFile.getFileSize());
+                        fileUploadResult.setFileNum(mediaFiles.size());
+                        fileUploadResult.setBuckName(PreferenceUtils.getInstance().getBucketName());
+                        fileUploadResult.setObjectKey(PreferenceUtils.getInstance().getObjectKey());
+                        fileUploadResult.setTask_id(PreferenceUtils.getInstance().getTaskId());
+                        fileUploadResult.setUrl(PreferenceUtils.getInstance().getUploadUrl());
+                        fileUploadResult.setOffIndex(downLoadMediaFileIndex);
+
+                        sendFileUploadCallback(60102, fileUploadResult);
+                    }
+
+                    @RequiresApi(Build.VERSION_CODES.O)
+                    @Override
+                    public void onError(Throwable e) {
+                        // 每上传失败一张就清除缓存
+                        FileUtil.deleteFile(file);
+                        LogUtil.log(TAG, "Error uploading file " + downLoadMediaFileIndex + ": " + e.getMessage());
+
+                        downLoadMediaFileIndex++;
+                        if (downLoadMediaFileIndex == mediaFiles.size()) {
+                            // 所有文件已经下载完成或失败，清空SD卡，缓存，退出媒体模式，发送无人机关机
+                            downLoadMediaFileIndex = 0;
+                            removeAllFiles();
+                        } else {
+                            pullOriginalMediaFileFromCamera();
+                        }
+                    }
+
+                    @RequiresApi(Build.VERSION_CODES.O)
+                    @Override
+                    public void onComplete() {
+                        /* ===== ③ 上传成功时记入 Set ===== */
+                        uploadedFileNames.add(mediaFile.getFileName());
+                        FileUtil.deleteFile(file);
+                        LogUtil.log(TAG, "File " + downLoadMediaFileIndex + " uploaded successfully.");
+                        sendMissionExecuteEvents( "第" + downLoadMediaFileIndex + "个文件已上传");
+
+                        downLoadMediaFileIndex++;
+                        if (downLoadMediaFileIndex == mediaFiles.size()) {
+                            // 所有文件已上传完成，清空SD卡，缓存，退出媒体模式，发送无人机关机
+                            sendMissionExecuteEvents( "媒体文件已上传完毕");
+                            removeAllFiles();
+                            downLoadMediaFileIndex = 0;
+                        } else {
+                            pullOriginalMediaFileFromCamera();
+                        }
+                    }
+                });
+    }
+
+    public void removeAllFiles() {
+        MediaDataCenter.getInstance().getMediaManager().deleteMediaFiles(mediaFiles, new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                LogUtil.log(TAG, "清除文件成功 ");
+                sendMissionExecuteEvents("媒体文件已清除");
+                disablePlayback();
+                LogUtil.log(TAG, "发送关闭无人机");
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
+                LogUtil.log(TAG, "清除文件失败: "+new Gson().toJson(idjiError));
+                sendMissionExecuteEvents( "媒体文件清除失败");
+                LogUtil.log(TAG, "发送关闭无人机");
+            }
+        });
+    }
+
+    //退出媒体模式
+    public void  disablePlayback() {
+        MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "退出媒体模式成功");
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                LogUtil.log(TAG, "退出媒体模式失败:"+new Gson().toJson(idjiError));
+            }
+        });
+    }
+
+    private int downLoadMediaFileIndex = 0;
+
+    private String getSDCardPath(){
+        if (checkSDCard()) {
+            return Environment.getExternalStorageDirectory()
+                    .getPath();
+        } else {
+            return Environment.getExternalStorageDirectory()
+                    .getParentFile().getPath();
+        }
+    }
+
+
+    private boolean checkSDCard() {
+        return TextUtils.equals(Environment.MEDIA_MOUNTED, Environment.getExternalStorageState());
+    }
+
+    // 写入 exif 信息
+    public void setMediaFileXMPCustomInfo( final MQMessage message) {
+        MediaDataCenter.getInstance().getMediaManager().setMediaFileXMPCustomInfo(
+                message.getXmpInfo(),
+                new CommonCallbacks.CompletionCallback() {
+                    @Override
+                    public void onSuccess() {
+                        sendMsg2Server(message);
+                        sendMissionExecuteEvents( "设置文件XMP:" + message.getXmpInfo());
+                    }
+
+                    @Override
+                    public void onFailure(IDJIError error) {
+                        sendMsg2Server(message, "写入exif失败: " + getIDJIErrorMsg(error));
+                        LogUtil.log(TAG, "写入exif失败:"+new Gson().toJson(error));
+
+                    }
+                }
+        );
+    }
+}

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

@@ -0,0 +1,175 @@
+package com.aros.apron.manager;
+
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+import android.os.Handler;
+import androidx.annotation.NonNull;
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.tools.LogUtil;
+import com.google.gson.Gson;
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import java.nio.charset.StandardCharsets;
+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.megaphone.FileInfo;
+import dji.v5.manager.aircraft.megaphone.MegaphoneIndex;
+import dji.v5.manager.aircraft.megaphone.PlayMode;
+import dji.v5.manager.aircraft.megaphone.UploadType;
+import dji.v5.manager.aircraft.megaphone.WorkMode;
+import dji.v5.manager.interfaces.IMegaphoneManager;
+
+
+public class MegaphoneManager extends BaseManager {
+
+    private MegaphoneManager() {
+    }
+
+    private static class MegaphoneHolder {
+        private static final MegaphoneManager INSTANCE = new MegaphoneManager();
+    }
+
+    public static MegaphoneManager getInstance() {
+        return MegaphoneHolder.INSTANCE;
+    }
+
+    //设置喊话器音量/播放模式
+    public void startMegaphonePlay(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            IMegaphoneManager iMegaphoneManager = dji.v5.manager.aircraft.megaphone.MegaphoneManager.getInstance();
+            iMegaphoneManager.setMegaphoneIndex(MegaphoneIndex.PORT_2, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "喊话器位置设置成功");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+                    LogUtil.log(TAG, "喊话器位置设置失败:" + idjiError.description());
+                }
+            });
+            iMegaphoneManager.setVolume(message.getMegaphoneVolume(), new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    sendMsg2Server(message, "设置喊话器音量成功");
+                    LogUtil.log(TAG, "喊话器音量设置成功");
+                }
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    LogUtil.log(TAG,"设置喊话器音量失败:" +new Gson().toJson(error));
+                    sendMsg2Server(message, "设置喊话器音量失败:" + getIDJIErrorMsg(error));
+                }
+            });
+            iMegaphoneManager.setPlayMode(message.getMegaphonePlayMode() == 1 ? PlayMode.SINGLE : PlayMode.LOOP, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "设置喊话器播放模式成功");
+                }
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    LogUtil.log(TAG,"设置喊话器播放模式失败:" +new Gson().toJson(error));
+                    sendMsg2Server(message, "设置喊话器播放模式失败:" + getIDJIErrorMsg(error));
+                }
+            });
+            iMegaphoneManager.setWorkMode(WorkMode.TTS, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    sendMsg2Server(message);
+                    LogUtil.log(TAG, "喊话器工作模式设置成功");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    LogUtil.log(TAG,"喊话器工作模式设置失败:" +new Gson().toJson(error));
+                    sendMsg2Server(message, "喊话器工作模式设置失败:" + getIDJIErrorMsg(error));
+
+                }
+            });
+            new Handler().postDelayed(new Runnable() {
+                @Override
+                public void run() {
+                    iMegaphoneManager.startPushingFileToMegaphone(new FileInfo(UploadType.TTS_DATA, null,
+                                    message.getMegaphoneWord().getBytes(StandardCharsets.UTF_8)),
+                            new CommonCallbacks.CompletionCallbackWithProgress<Integer>() {
+                                @Override
+                                public void onProgressUpdate(Integer integer) {
+                                    LogUtil.log(TAG, "喊话器内容上传进度:" + integer + "%");
+                                }
+
+                                @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() {
+                                            startPlay(message);
+                                        }
+                                    }, 200);
+                                }
+
+                                @Override
+                                public void onFailure(@NonNull IDJIError error) {
+                                    LogUtil.log(TAG,"喊话器内容上传失败:" +new Gson().toJson(error));
+                                    sendMsg2Server(message, "喊话器内容上传失败:" + getIDJIErrorMsg(error));
+                                }
+                            });
+                }
+            }, 200);
+
+        } else {
+            sendMsg2Server(message, "飞控未连接");
+            LogUtil.log(TAG, "飞控未连接");
+
+        }
+
+    }
+
+
+    //播放
+    public void startPlay(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            IMegaphoneManager iMegaphoneManager = dji.v5.manager.aircraft.megaphone.MegaphoneManager.getInstance();
+            iMegaphoneManager.startPlay(new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "喊话器播放成功");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    LogUtil.log(TAG,"喊话器播放失败:" +new Gson().toJson(error));
+                    sendMsg2Server(message, "喊话器播放失败:" + getIDJIErrorMsg(error));
+                }
+            });
+        } else {
+            sendMsg2Server(message, "飞控未连接");
+        }
+    }
+
+    //停止播放
+    public void stopPlay(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            IMegaphoneManager iMegaphoneManager = dji.v5.manager.aircraft.megaphone.MegaphoneManager.getInstance();
+            iMegaphoneManager.stopPlay(new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    sendMsg2Server(message);
+                    LogUtil.log(TAG, "喊话器停止播放成功");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError error) {
+                    LogUtil.log(TAG,"喊话器停止播放失败:" +new Gson().toJson(error));
+                    sendMsg2Server(message, "喊话器停止播放失败:" + getIDJIErrorMsg(error));
+                }
+            });
+        } else {
+            LogUtil.log(TAG, "喊话器停止播放失败");
+        }
+    }
+}

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

@@ -0,0 +1,25 @@
+//package com.aros.apron.manager;
+//
+//import com.dji.wpmzsdk.common.data.Template;
+//import com.dji.wpmzsdk.interfaces.IWPMZManager;
+//import com.dji.wpmzsdk.manager.WPMZManager;
+//
+//import dji.sdk.wpmz.value.mission.WaylineMission;
+//import dji.sdk.wpmz.value.mission.WaylineMissionConfig;
+//import dji.sdk.wpmz.value.mission.WaylineTemplateWaypointInfo;
+//import dji.sdk.wpmz.value.mission.WaylineWaypoint;
+//
+//public class MissionTest {
+//    public void test(){
+//        WaylineMission waylineMission=new WaylineMission();
+//        WaylineMissionConfig waylineMissionConfig=new WaylineMissionConfig();
+//        Template template=new Template();
+//        template.setWaypointInfo();
+//        WaylineTemplateWaypointInfo waylineTemplateWaypointInfo=new WaylineTemplateWaypointInfo();
+//        waylineTemplateWaypointInfo.setWaypoints();
+//        WaylineWaypoint waylineWaypoint=new WaylineWaypoint();
+//        waylineWaypoint.se
+//        IWPMZManager iwpmzManager= WPMZManager.getInstance();
+//        iwpmzManager.generateKMZFile("",);
+//    }
+//}

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

@@ -0,0 +1,94 @@
+package com.aros.apron.manager;
+
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+import static dji.sdk.keyvalue.key.KeyTools.createKey;
+
+import android.os.Handler;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.PreferenceUtils;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.flightcontroller.NavigationSatelliteSystem;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+
+
+public class NavigationSatelliteSystemManager extends BaseManager {
+
+
+    private NavigationSatelliteSystemManager() {
+    }
+
+    private static class NavigationSatelliteHolder {
+        private static final NavigationSatelliteSystemManager INSTANCE = new NavigationSatelliteSystemManager();
+    }
+
+    public static NavigationSatelliteSystemManager getInstance() {
+        return NavigationSatelliteHolder.INSTANCE;
+    }
+
+    public void initNavigationSatelliteSystem() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                KeyConnection));
+        if (isConnect != null && isConnect) {
+            KeyManager.getInstance().listen(createKey(FlightControllerKey.KeyNavigationSatelliteSystemSource),
+                    this, new CommonCallbacks.KeyListener<NavigationSatelliteSystem>() {
+                        @Override
+                        public void onValueChange(@Nullable NavigationSatelliteSystem navigationSatelliteSystem,
+                                                  @Nullable NavigationSatelliteSystem t1) {
+                            if (t1 != null) {
+                                LogUtil.log(TAG, "监听卫星导航系统:" + t1.name());
+                                Movement.getInstance().setNavigationSatelliteSystem(t1.value());
+                            }
+                        }
+                    });
+        }
+    }
+
+    private int setLTEEnhancedTransmissionTypeTimes;
+    private boolean isLTEEnhancedTransmissionLte;
+
+    public void setNavigationSatelliteSystem() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                KeyConnection));
+        if (isConnect != null && isConnect) {
+
+            KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyNavigationSatelliteSystemSource),
+                    PreferenceUtils.getInstance().getSatelliteSystem() == 1 ?
+                            NavigationSatelliteSystem.GPS_GLONASS : NavigationSatelliteSystem.BEIDOU,
+                    new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            isLTEEnhancedTransmissionLte = true;
+                            LogUtil.log(TAG, "设置卫星系统" + setLTEEnhancedTransmissionTypeTimes + "次成功");
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "设置卫星系统第" + setLTEEnhancedTransmissionTypeTimes + "次失败:" + getIDJIErrorMsg(error));
+                            if (!isLTEEnhancedTransmissionLte) {
+                                new Handler().postDelayed(new Runnable() {
+                                    @Override
+                                    public void run() {
+                                        if (setLTEEnhancedTransmissionTypeTimes < 20) {
+                                            setLTEEnhancedTransmissionTypeTimes++;
+                                            setNavigationSatelliteSystem();
+                                        }
+                                    }
+                                }, 3000);
+                            }
+                        }
+                    });
+        }
+
+    }
+
+}

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

@@ -0,0 +1,423 @@
+package com.aros.apron.manager;
+
+import static android.os.Environment.getExternalStoragePublicDirectory;
+import static com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO;
+import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
+
+import android.os.Environment;
+import android.os.Handler;
+import android.os.Looper;
+import android.text.TextUtils;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.entity.FlightMission;
+import com.aros.apron.entity.MQMessage;
+import com.aros.apron.entity.MissionPoint;
+import com.aros.apron.entity.Movement;
+import com.aros.apron.tools.DomParserKML;
+import com.aros.apron.tools.DomParserWPML;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.MqttManager;
+import com.aros.apron.tools.PreferenceUtils;
+import com.aros.apron.tools.ZipUtil;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+import org.greenrobot.eventbus.EventBus;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.sdk.keyvalue.key.KeyTools;
+import dji.sdk.keyvalue.value.common.EmptyMsg;
+import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
+import dji.sdk.keyvalue.value.flightcontroller.FlightMode;
+import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
+import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
+import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
+import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
+import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
+import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
+import dji.v5.manager.interfaces.IWaypointMissionManager;
+
+/**
+ * 异地降落
+ */
+public class OffSiteLandingManager extends BaseManager {
+
+    private int goHomeHeight;
+
+    private OffSiteLandingManager() {
+    }
+
+    private static class OffSiteLandingHolder {
+        private static final OffSiteLandingManager INSTANCE = new OffSiteLandingManager();
+    }
+
+    public static OffSiteLandingManager getInstance() {
+        return OffSiteLandingHolder.INSTANCE;
+    }
+
+    public void initOffSiteLandingInfo() {
+        KeyManager.getInstance().listen(KeyTools.createKey(FlightControllerKey.KeyGoHomeHeight), this, new CommonCallbacks.KeyListener<Integer>() {
+            @Override
+            public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
+                if (t1 != null&&t1>=0) {
+                    goHomeHeight = t1;
+                    LogUtil.log(TAG,"返航高度:"+goHomeHeight);
+                    Movement.getInstance().setGoHomeHeight(goHomeHeight);
+                }else{
+                    goHomeHeight=80;
+                    LogUtil.log(TAG,"返航高度监听失败:"+goHomeHeight);
+                }
+            }
+        });
+    }
+
+    public void startTaskProcess(MQMessage message) {
+        if (TextUtils.isEmpty(message.getOffSitePointLat())||TextUtils.isEmpty(message.getOffSitePointLon())){
+            sendMissionExecuteEvents( "异地降落点经纬度有误");
+            LogUtil.log(TAG, "异地降落点经纬度有误,不触发异地降落");
+            return;
+        }
+        PerceptionManager.getInstance().setPerceptionEnable(false);
+        DockOpenManager.getInstance().sendDockOpenMsg2Server( MqttManager.getInstance().mqttAndroidClient);
+        //飞往异地降落点,关闭视觉识别
+        EventBus.getDefault().post(FLAG_STOP_ARUCO);
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
+                KeyConnection));
+        if (isConnect != null && isConnect) {
+            Boolean areMotorOn = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyAreMotorsOn));
+            Boolean isFlying = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyIsFlying));
+            if ((areMotorOn != null && areMotorOn) && (isFlying != null && isFlying)) {
+                RemoteControllerFlightMode remoteControllerFlightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
+                if (remoteControllerFlightMode != null && remoteControllerFlightMode == RemoteControllerFlightMode.P) {
+                    checkDroneState(message);
+                } else {
+                    if (message != null) {
+                        sendMsg2Server(message, "挡位不正确,不触发异地降落");
+                    }
+                    sendMissionExecuteEvents( "挡位不正确,不触发异地降落");
+                    LogUtil.log(TAG, "检测到挡位不正确,不触发异地降落");
+                }
+            } else {
+                if (message != null) {
+                    sendMsg2Server(message, "飞机未起飞,不触发异地降落");
+                }
+                sendMissionExecuteEvents( "飞机未起飞,不触发异地降落");
+            }
+        }
+    }
+
+    private void checkDroneState(MQMessage message) {
+        FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode));
+        if (flightMode != null) {
+            switch (flightMode) {
+                case GO_HOME:
+                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            LogUtil.log(TAG, "取消返航成功");
+                            toOffsitePoint(message);
+                            sendMissionExecuteEvents( "取消返航:触发异地降落");
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "取消返航失败:" + new Gson().toJson(error));
+                            toOffsitePoint(message);
+                            sendMissionExecuteEvents( "取消返航失败:不触发异地降落");
+
+                        }
+                    });
+                    break;
+                case WAYPOINT:
+                    IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
+                    missionManager.stopMission(TextUtils.isEmpty(Movement.getInstance().getMissionName())
+                            ? "aros" : Movement.getInstance().getMissionName(), new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "终止任务成功");
+                            sendMissionExecuteEvents( "终止任务成功:去异地降落");
+                            toOffsitePoint(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "终止任务失败:" + new Gson().toJson(error));
+                            sendMissionExecuteEvents( "终止任务失败:去异地降落");
+                            toOffsitePoint(message);
+                        }
+                    });
+                    break;
+                case AUTO_LANDING:
+                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopAutoLanding), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+                        @Override
+                        public void onSuccess(EmptyMsg emptyMsg) {
+                            LogUtil.log(TAG, "取消降落成功");
+                            sendMissionExecuteEvents( "取消降落成功:去异地降落");
+                            toOffsitePoint(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError error) {
+                            LogUtil.log(TAG, "取消降落失败:" + new Gson().toJson(error));
+                            sendMissionExecuteEvents( "取消降落失败:去异地降落");
+                            toOffsitePoint(message);
+                        }
+                    });
+                    break;
+                case VIRTUAL_STICK:
+//                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
+//                        @Override
+//                        public void onSuccess() {
+//                            LogUtil.log(TAG, "控制权取消成功");
+                    toOffsitePoint(message);
+//                        }
+//                        @Override
+//                        public void onFailure(@NonNull IDJIError error) {
+//                            LogUtil.log(TAG, "控制权取消失败:" + new Gson().toJson(error));
+//                            toOffsitePoint();
+//                        }
+//                    });
+                    break;
+                default:
+                    toOffsitePoint(message);
+                    break;
+            }
+        }
+    }
+
+
+    public void toOffsitePoint(MQMessage message) {
+        if (Movement.getInstance().getFlyingHeight() < 10) {
+            LogUtil.log(TAG, "高度低于10米,拉高");
+            sendMissionExecuteEvents( "拉高去异地降落点...");
+            raisesDrone(message);
+        } else {
+            sendMissionExecuteEvents( "开始创建异地降落任务");
+            LogUtil.log(TAG, "高度高于10米,创建异地降落任务");
+            creatMissionAndUpload(message);
+        }
+    }
+
+
+    public void raisesDrone(MQMessage message) {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            Boolean isVirtualStickControlModeEnabled = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyVirtualStickControlModeEnabled));
+            if (isVirtualStickControlModeEnabled != null && isVirtualStickControlModeEnabled) {
+                pullUp(message);
+            } else {
+                VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
+                    @Override
+                    public void onSuccess() {
+                        LogUtil.log(TAG, "异地降落拉高,控制权获取成功");
+                        VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
+                        pullUp(message);
+                    }
+
+                    @Override
+                    public void onFailure(@NonNull IDJIError error) {
+                        LogUtil.log(TAG, "异地降落拉高,控制权获取失败,直接上传异地降落航线:" + error.description());
+                        creatMissionAndUpload(message);
+                    }
+                });
+            }
+        } else {
+            LogUtil.log(TAG, "异地降落拉高,飞控未连接");
+        }
+    }
+
+    Handler handler = new Handler(Looper.getMainLooper());
+
+    public void pullUp(MQMessage message) {
+        Runnable runnable = new Runnable() {
+            @Override
+            public void run() {
+                if (Movement.getInstance().getFlyingHeight() < 10) {
+                    sendVirtualStickAdvancedParam();
+                    handler.postDelayed(this, 200);
+                } else {
+                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
+                        @Override
+                        public void onSuccess() {
+                            LogUtil.log(TAG, "到达10米,开始上传异地降落航线");
+                            creatMissionAndUpload(message);
+                        }
+
+                        @Override
+                        public void onFailure(@NonNull IDJIError idjiError) {
+                            LogUtil.log(TAG, "到达10米,取消虚拟摇杆控制失败:" + new Gson().toJson(idjiError));
+                            creatMissionAndUpload(message);
+                        }
+                    });
+                    handler.removeCallbacks(this);
+                }
+            }
+        };
+        // 开始循环
+        handler.post(runnable);
+    }
+
+    VirtualStickFlightControlParam param;
+
+    //飞行器虚拟摇杆
+    public void sendVirtualStickAdvancedParam() {
+        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            if (param == null) {
+                param = new VirtualStickFlightControlParam();
+                param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
+                param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
+                param.setVerticalControlMode(VerticalControlMode.VELOCITY);
+                param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
+            }
+            param.setPitch(0.0);//左右
+            param.setRoll(0.0);//前后
+            param.setYaw(0.0);//旋转
+            param.setVerticalThrottle(4.0);//上下
+            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
+        }
+    }
+
+    public void creatMissionAndUpload(MQMessage message) {
+        // 创建第一个 MissionPoint 对象
+        MissionPoint missionPoint = new MissionPoint();
+        missionPoint.setLat(Movement.getInstance().getCurrentLatitude());
+        missionPoint.setLng(Movement.getInstance().getCurrentLongitude());
+        missionPoint.setSpeed(8.0);
+        missionPoint.setExecuteHeight(Movement.getInstance().getFlyingHeight()
+                > goHomeHeight
+                ? Movement.getInstance().getFlyingHeight()-1 :
+                goHomeHeight);
+
+        // 创建第二个 MissionPoint 对象
+        MissionPoint missionPoint1 = new MissionPoint();
+        missionPoint1.setLat(message.getOffSitePointLat());
+        missionPoint1.setLng(message.getOffSitePointLon());
+        missionPoint1.setSpeed(7.0);
+        missionPoint1.setExecuteHeight(Movement.getInstance().getFlyingHeight()
+                > goHomeHeight
+                ? Movement.getInstance().getFlyingHeight() -1 :
+                goHomeHeight);
+
+        // 创建一个 MissionPoint 列表
+        List<MissionPoint> missionPoints = new ArrayList<>();
+        missionPoints.add(missionPoint);
+        missionPoints.add(missionPoint1);
+
+        // 创建 FlightMission 对象并设置其属性
+        FlightMission flightMission = new FlightMission();
+        flightMission.setPoints(missionPoints);
+        flightMission.setMissionId(2);
+        flightMission.setTakeOffSecurityHeight(Float.parseFloat(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
+        flightMission.setSpeed(15.0);
+
+        sendMissionExecuteEvents( "开始生成异地降落航线");
+
+        // 生成xml文件
+        File file1 = new File(
+                getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz");
+        if (!file1.exists()) {
+            if (file1.mkdirs()) {
+                LogUtil.log(TAG, "生成异地降落航线成功");
+                sendMissionExecuteEvents( "生成异地降落路线文件成功");
+
+            } else {
+                LogUtil.log(TAG, "生成异地降落航线失败");
+                sendMissionExecuteEvents( "生成异地降落航线失败");
+                if (message != null) {
+                    sendMsg2Server(message, "生成异地降落航线失败");
+                }
+            }
+        }
+        DomParserKML domParserKML = new DomParserKML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
+                "/template.kml");
+        domParserKML.createKml(flightMission);
+
+        DomParserWPML domParserWPML = new DomParserWPML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
+                "/waylines.wpml");
+        domParserWPML.createWpml(flightMission);
+
+        File kmzFile = new File(getExternalStoragePublicDirectory(Environment.DIRECTORY_DOCUMENTS) + File.separator + "offsite.kmz");
+        kmzFile.getParentFile().mkdirs();
+
+        try {
+            ZipUtil.zip(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + "/wpmz", getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "offsite.kmz");
+        } catch (IOException e) {
+            LogUtil.log(TAG, "异地降落航线压缩异常：" + e.toString());
+            sendMissionExecuteEvents( "异地降落任务生成异常");
+            if (message != null) {
+                sendMsg2Server(message, "异地降落任务生成异常");
+            }
+            throw new RuntimeException(e);
+        }
+
+        IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
+        missionManager.pushKMZFileToAircraft(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "offsite.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
+            @Override
+            public void onProgressUpdate(Double aDouble) {
+                LogUtil.log(TAG, "异地降落航线上传进度:" + aDouble + "%");
+                sendMissionExecuteEvents( "异地降落任务上传中:" + aDouble + "%");
+
+            }
+
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "异地降落航线上传成功");
+                sendMissionExecuteEvents( "异地降落航线上传成功");
+
+                new Handler().postDelayed(new Runnable() {
+                    @Override
+                    public void run() {
+                        missionManager.startMission("offsite", new CommonCallbacks.CompletionCallback() {
+                            @Override
+                            public void onSuccess() {
+
+                                LogUtil.log(TAG, "开始异地降落航线");
+                                sendMissionExecuteEvents( "开始异地降落航线");
+                                //设置为未开始识别二维码状态
+                                FlightManager.getInstance().setSendDetect(false);
+                                EventBus.getDefault().post(FLAG_STOP_ARUCO);
+
+                                if (message != null) {
+                                    sendMsg2Server(message);
+                                }
+                            }
+
+                            @Override
+                            public void onFailure(@NonNull IDJIError idjiError) {
+                                LogUtil.log(TAG, "飞往异地降落点失败:" + new Gson().toJson(idjiError));
+                                sendMissionExecuteEvents( "飞往异地降落点失败");
+                                if (message != null) {
+                                    sendMsg2Server(message, "飞往异地降落点失败");
+                                }
+                            }
+                        });
+                    }
+                }, 1000);
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                LogUtil.log(TAG, "异地降落航线上传失败:" + new Gson().toJson(idjiError));
+                sendMissionExecuteEvents( "异地降落航线上传失败");
+                if (message != null) {
+                    sendMsg2Server(message, "异地降落航线上传失败:"  + getIDJIErrorMsg(idjiError));
+                }
+            }
+        });
+    }
+
+}

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

@@ -0,0 +1,146 @@
+package com.aros.apron.manager;//package com.aros.apron.manager;
+
+import static dji.sdk.keyvalue.key.KeyTools.createKey;
+
+import android.os.Handler;
+
+import androidx.annotation.NonNull;
+
+import com.aros.apron.base.BaseManager;
+import com.aros.apron.tools.LogUtil;
+import com.aros.apron.tools.PreferenceUtils;
+import com.google.gson.Gson;
+
+import org.eclipse.paho.android.service.MqttAndroidClient;
+
+import dji.sdk.keyvalue.key.FlightControllerKey;
+import dji.v5.common.callback.CommonCallbacks;
+import dji.v5.common.error.IDJIError;
+import dji.v5.manager.KeyManager;
+import dji.v5.manager.aircraft.perception.data.ObstacleAvoidanceType;
+import dji.v5.manager.aircraft.perception.data.PerceptionDirection;
+import dji.v5.manager.aircraft.perception.data.PerceptionInfo;
+import dji.v5.manager.aircraft.perception.listener.PerceptionInformationListener;
+import dji.v5.manager.interfaces.IPerceptionManager;
+
+public class PerceptionManager extends BaseManager {
+
+
+    private PerceptionManager() {
+    }
+
+    private static class PerceptionManagerHolder {
+        private static final PerceptionManager INSTANCE = new PerceptionManager();
+    }
+
+    public static PerceptionManager getInstance() {
+        return PerceptionManagerHolder.INSTANCE;
+    }
+
+    private int closePerceptionTimes;
+    private boolean closePerceptionSuccess;
+
+        public void init(){
+            IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
+            perceptionManager.addPerceptionInformationListener(new PerceptionInformationListener() {
+                @Override
+                public void onUpdate(@NonNull PerceptionInfo information) {
+                    if(information!=null){
+                        if (Boolean.TRUE.equals(information.getDownwardObstacleAvoidanceWorking())){
+                            setObstacleAvoidancedownEnabled();
+                            LogUtil.log(TAG,"监听然后关闭下避障");
+                        }
+                    }
+                }
+            });
+        }
+
+    public void setPerceptionEnable(boolean perceptionEnable) {
+        if (PreferenceUtils.getInstance().getCloseObsEnable() && perceptionEnable) {
+            LogUtil.log(TAG, "全局避障关闭,不开启避障");
+            return;
+        }
+        Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
+            perceptionManager.setObstacleAvoidanceType(perceptionEnable ? ObstacleAvoidanceType.BRAKE : ObstacleAvoidanceType.CLOSE, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    if (perceptionEnable) {
+                        LogUtil.log(TAG, "避障开启");
+                    } else {
+                        closePerceptionSuccess = true;
+                        LogUtil.log(TAG, "避障关闭");
+                    }
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+                    if (perceptionEnable) {
+                        LogUtil.log(TAG, "避障开启失败:" + new Gson().toJson(idjiError));
+                    } else {
+                        LogUtil.log(TAG, "第" + closePerceptionTimes + "次关闭避障失败:" + new Gson().toJson(idjiError));
+                        if (!closePerceptionSuccess) {
+                            if (closePerceptionTimes <= 5) {
+                                new Handler().postDelayed(new Runnable() {
+                                    @Override
+                                    public void run() {
+                                        closePerceptionTimes++;
+                                        setPerceptionEnable(false);
+                                    }
+                                }, 2000);
+                            } else {
+                                LogUtil.log(TAG, "避障关闭" + closePerceptionTimes + "次失败");
+                            }
+                        }
+                    }
+                }
+            });
+        }
+    }
+
+    public void setObstacleAvoidancedownEnabled(){
+        Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
+            perceptionManager.setObstacleAvoidanceEnabled(false, PerceptionDirection.DOWNWARD, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "关闭下避障");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+                    LogUtil.log(TAG, "关闭下避障:"+new Gson().toJson(idjiError));
+
+                }
+            });
+        }
+    }
+    //开启水平避障
+    public void setObstacleAvoidanceHorizontalEnabled() {
+        if (PreferenceUtils.getInstance().getCloseObsEnable()) {
+            LogUtil.log(TAG, "全局避障关闭,不开启避障");
+            return;
+        }
+        Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
+        if (isConnect != null && isConnect) {
+            IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
+            perceptionManager.setObstacleAvoidanceEnabled(true, PerceptionDirection.HORIZONTAL, new CommonCallbacks.CompletionCallback() {
+                @Override
+                public void onSuccess() {
+                    LogUtil.log(TAG, "开启水平避障");
+                }
+
+                @Override
+                public void onFailure(@NonNull IDJIError idjiError) {
+                    LogUtil.log(TAG, "开启水平避障:"+new Gson().toJson(idjiError));
+
+                }
+            });
+        }
+
+    }
+
+
+}