diff --git a/admin/src/main/java/com/multictrl/modules/business/handler/TopicDistributor.java b/admin/src/main/java/com/multictrl/modules/business/handler/TopicDistributor.java
index e0e436d..11dd069 100644
--- a/admin/src/main/java/com/multictrl/modules/business/handler/TopicDistributor.java
+++ b/admin/src/main/java/com/multictrl/modules/business/handler/TopicDistributor.java
@@ -2,6 +2,9 @@ package com.multictrl.modules.business.handler;
 
 import cn.hutool.core.util.StrUtil;
 import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.modules.business.q20.handler.Q20EventsHandler;
+import com.multictrl.modules.business.q20.handler.Q20OsdTopicHandler;
+import com.multictrl.modules.business.q20.handler.Q20StateTopicHandler;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -26,7 +29,13 @@ public class TopicDistributor {
     private final StateHandler stateHandler;
     private final ServicesReplyHandler servicesReplyHandler;
     private final EventsHandler eventsHandler;
+    private final Q20OsdTopicHandler q20OsdTopicHandler;
+    private final Q20EventsHandler q20EventsHandler;
+    private final Q20StateTopicHandler q20StateTopicHandler;
     private final Map<String, MessageHandler> handlerMap = new ConcurrentHashMap<>();
+    private final Map<String, MessageHandler> q20HandlerMap = new ConcurrentHashMap<>();
+
+    private static final String Q20_TOPIC_PREFIX = "thing/device/";
 
     @PostConstruct
     public void init() {
@@ -36,13 +45,18 @@ public class TopicDistributor {
         handlerMap.put(BusinessConstant.STATE, stateHandler);
         handlerMap.put(BusinessConstant.EVENTS, eventsHandler);
         handlerMap.put(BusinessConstant.SERVICES_REPLY, servicesReplyHandler);
+
+        q20HandlerMap.put(BusinessConstant.OSD, q20OsdTopicHandler);
+        q20HandlerMap.put(BusinessConstant.EVENTS, q20EventsHandler);
+        q20HandlerMap.put(BusinessConstant.STATE, q20StateTopicHandler);
     }
 
     public void route(String topic, String payload) {
         String method = StrUtil.subAfter(topic, "/", true);
         String gateway = StrUtil.subAfter(StrUtil.subBefore(topic, "/", true),
                 "/", true);
-        MessageHandler handler = handlerMap.get(method);
+        Map<String, MessageHandler> map = topic.startsWith(Q20_TOPIC_PREFIX) ? q20HandlerMap : handlerMap;
+        MessageHandler handler = map.get(method);
         if (handler != null) {
             handler.handleMessage(topic, payload, gateway);
         } else {
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20BatteryHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20BatteryHandler.java
new file mode 100644
index 0000000..74a8de8
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20BatteryHandler.java
@@ -0,0 +1,74 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.q20.influxdb.Q20BatteryReport;
+import com.multictrl.modules.business.service.InfluxService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20电池数据处理（method: battery）
+ * 上报智能电池详细状态：id, full_charge_capacity, charge_remaining, voltage, current,
+ * low_volt_warn_value, status(0异常/1开机/2充电中/3需保养), temperature, cycle_index,
+ * time_flying, time_remaining, charge_time_remaining, health, flags, uid, version
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20BatteryHandler implements MessageHandler {
+
+    private final InfluxService influxService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                // 以电池id区分多块电池，缓存key加上电池id后缀
+                Integer batteryId = data.getInt("id");
+                String cacheKey = Q20Constant.Q20_BATTERY + deviceSn
+                        + (batteryId != null ? "_" + batteryId : "");
+                CacheUtils.set(cacheKey, data);
+                saveToInflux(deviceSn, batteryId, data);
+                log.debug("Q20 battery --> deviceSn: {}, id: {}, charge_remaining: {}%, status: {}",
+                        deviceSn, batteryId, data.getFloat("charge_remaining"), data.getInt("status"));
+            }
+        } else {
+            log.debug("Q20 battery --> payload解析失败，解析后为null");
+        }
+    }
+
+    private void saveToInflux(String deviceSn, Integer batteryId, JSONObject data) {
+        Q20BatteryReport report = Q20BatteryReport.builder()
+                .deviceSn(deviceSn)
+                .battery_id(batteryId != null ? String.valueOf(batteryId) : null)
+                .order_id(data.getStr("order_id"))
+                .full_charge_capacity(data.getInt("full_charge_capacity"))
+                .charge_remaining(data.getFloat("charge_remaining"))
+                .voltage(data.getInt("voltage"))
+                .current(data.getInt("current"))
+                .low_volt_warn_value(data.getInt("low_volt_warn_value"))
+                .status(data.getInt("status"))
+                .temperature(data.getFloat("temperature"))
+                .cycle_index(data.getInt("cycle_index"))
+                .time_flying(data.getLong("time_flying"))
+                .time_remaining(data.getInt("time_remaining"))
+                .charge_time_remaining(data.getInt("charge_time_remaining"))
+                .health(data.getInt("health"))
+                .flags(data.getInt("flags"))
+                .uid(data.getStr("uid"))
+                .version(data.getStr("version"))
+                .build();
+        influxService.addRecord(report);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20Constant.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20Constant.java
new file mode 100644
index 0000000..c3a5602
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20Constant.java
@@ -0,0 +1,47 @@
+package com.multictrl.modules.business.q20.handler;
+
+/**
+ * Q20设备相关常量
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+public interface Q20Constant {
+
+    // Q20 osd topic method字段值
+    String METHOD_OSD = "osd";
+    String METHOD_RTK = "rtk";
+    String METHOD_RC = "rc";
+    String METHOD_MOUNT = "mount";
+    String METHOD_BATTERY = "battery";
+    String METHOD_OBS = "obs";
+    // Q20 state topic method字段值
+    String METHOD_VERSION = "version";
+    String METHOD_NOTIFY = "notify";
+    String METHOD_HMS = "hms";
+    // Q20 events topic method字段值
+    String METHOD_LIFTOFF = "liftoff";
+    String METHOD_ARRIVAL = "arrival";
+    String METHOD_TAKEOFF = "takeoff";
+    String METHOD_LAND = "land";
+    String METHOD_NAVIGATE = "navigate";
+    String METHOD_ROUTE_UPLOAD = "route_upload";
+    String METHOD_ROUTE_EXECUTE = "route_execute";
+    String METHOD_ROUTE_AUTO = "route_auto";
+    String METHOD_OTA = "ota";
+
+    // Q20 缓存key前缀
+    String Q20_OSD = "q20_osd_";
+    String Q20_RTK = "q20_rtk_";
+    String Q20_RC = "q20_rc_";
+    String Q20_MOUNT = "q20_mount_";
+    String Q20_BATTERY = "q20_battery_";
+    String Q20_OBS = "q20_obs_";
+    String Q20_VERSION = "q20_version_";
+    String Q20_HMS = "q20_hms_";
+    String Q20_IN_WORK = "q20_in_work_";
+    String Q20_LIFTOFF = "q20_liftoff_";
+    String Q20_ARRIVAL = "q20_arrival_";
+    String Q20_ROUTE_EXECUTE = "q20_route_execute_";
+    String Q20_ROUTE_AUTO = "q20_route_auto_";
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20EventsHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20EventsHandler.java
new file mode 100644
index 0000000..5f3f153
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20EventsHandler.java
@@ -0,0 +1,193 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.service.MqttPushService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20设备事件消息处理（topic: thing/device/{device_sn}/events）
+ * 若need_reply=1需回复 events_reply 主题
+ * method: liftoff(起飞事件) | arrival(到达事件) | takeoff(起飞指令进度) | land(降落指令进度) |
+ * navigate(指点飞行进度) | route_upload(航线上传结果) | route_execute(航线执行进度) |
+ * route_auto(一键飞行进度) | ota(固件升级进度)
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20EventsHandler implements MessageHandler {
+
+    private final MqttPushService mqttPushService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message == null) {
+            log.debug("Q20 events --> payload解析失败，解析后为null");
+            return;
+        }
+
+        String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+        Integer needReply = message.getInt(BusinessConstant.NEED_REPLY);
+        if (needReply != null && needReply == 1) {
+            JSONObject data;
+            Object dataObject = message.get(BusinessConstant.DATA);
+            if (dataObject instanceof JSONObject) {
+                data = (JSONObject) dataObject;
+            } else {
+                data = new JSONObject();
+                message.set(BusinessConstant.DATA, data);
+            }
+            data.clear();
+            data.set("result", 0);
+            message.remove(BusinessConstant.NEED_REPLY);
+            message.remove(BusinessConstant.GATEWAY);
+            mqttPushService.pushMessageByClient1(topic + BusinessConstant._REPLY, message.toString());
+            log.debug("Q20 events --> 已回复, deviceSn: {}, topic: {}", deviceSn, topic + BusinessConstant._REPLY);
+        }
+
+        // 重新解析，避免回复时修改了data对象
+        message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message == null) {
+            return;
+        }
+        String method = message.getStr(BusinessConstant.METHOD);
+        if (method == null) {
+            log.debug("Q20 events --> method字段缺失, topic: {}", topic);
+            return;
+        }
+        JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+        if (data == null) {
+            return;
+        }
+
+        switch (method) {
+            case Q20Constant.METHOD_LIFTOFF:
+                handleLiftoff(deviceSn, data);
+                break;
+            case Q20Constant.METHOD_ARRIVAL:
+                handleArrival(deviceSn, data);
+                break;
+            case Q20Constant.METHOD_TAKEOFF:
+                handleProgress(deviceSn, "起飞指令", data);
+                break;
+            case Q20Constant.METHOD_LAND:
+                handleProgress(deviceSn, "降落指令", data);
+                break;
+            case Q20Constant.METHOD_NAVIGATE:
+                handleProgress(deviceSn, "指点飞行", data);
+                break;
+            case Q20Constant.METHOD_ROUTE_UPLOAD:
+                handleRouteUpload(deviceSn, data);
+                break;
+            case Q20Constant.METHOD_ROUTE_EXECUTE:
+                handleRouteExecute(deviceSn, data);
+                break;
+            case Q20Constant.METHOD_ROUTE_AUTO:
+                handleRouteAuto(deviceSn, data);
+                break;
+            case Q20Constant.METHOD_OTA:
+                handleOta(deviceSn, data);
+                break;
+            default:
+                log.debug("Q20 events --> 未知method: {}, deviceSn: {}", method, deviceSn);
+        }
+    }
+
+    /**
+     * 起飞事件：飞机从停机状态转变到起飞状态时上报
+     * type: command(指令飞行) | waypoint(航线飞行) | leapfrog(蛙跳飞行) | manual(手动飞行)
+     */
+    private void handleLiftoff(String deviceSn, JSONObject data) {
+        CacheUtils.set(Q20Constant.Q20_LIFTOFF + deviceSn, data);
+        log.info("Q20 events --> 起飞事件, deviceSn: {}, type: {}, wayline: {}",
+                deviceSn, data.getStr("type"), data.getStr("wayline"));
+    }
+
+    /**
+     * 到达事件：飞机飞到某位置停降时上报
+     * type: land(直接降落) | preLand(准备降落) | emergency(应急降落)
+     */
+    private void handleArrival(String deviceSn, JSONObject data) {
+        CacheUtils.set(Q20Constant.Q20_ARRIVAL + deviceSn, data);
+        log.info("Q20 events --> 到达事件, deviceSn: {}, type: {}, code: {}",
+                deviceSn, data.getStr("type"), data.getStr("code"));
+    }
+
+    /**
+     * 通用指令进度：takeoff / land / navigate
+     * status: in_progress | ok | failed | canceled 等
+     */
+    private void handleProgress(String deviceSn, String label, JSONObject data) {
+        String status = data.getStr("status");
+        JSONObject progress = data.getJSONObject("progress");
+        int percent = progress != null ? progress.getInt("percent", 0) : 0;
+        log.debug("Q20 events --> {}进度, deviceSn: {}, status: {}, percent: {}%",
+                label, deviceSn, status, percent);
+    }
+
+    /**
+     * 航线上传结果（need_reply=1已在上方统一处理）
+     */
+    private void handleRouteUpload(String deviceSn, JSONObject data) {
+        String status = data.getStr("status");
+        JSONObject progress = data.getJSONObject("progress");
+        String stepKey = progress != null ? progress.getStr("step_key") : null;
+        log.info("Q20 events --> 航线上传结果, deviceSn: {}, status: {}, step: {}",
+                deviceSn, status, stepKey);
+    }
+
+    /**
+     * 航线执行进度：缓存最新进度供前端轮询
+     * progress含: step_key, percent, remaining_distance, first_point_distance,
+     * first_point_remaining_time, first_point_progress, landing_progress
+     */
+    private void handleRouteExecute(String deviceSn, JSONObject data) {
+        CacheUtils.set(Q20Constant.Q20_ROUTE_EXECUTE + deviceSn, data);
+        String status = data.getStr("status");
+        JSONObject progress = data.getJSONObject("progress");
+        if (progress != null) {
+            log.debug("Q20 events --> 航线执行进度, deviceSn: {}, status: {}, step: {}, percent: {}%, remain: {}m",
+                    deviceSn, status, progress.getStr("step_key"),
+                    progress.getInt("percent"), progress.getInt("remaining_distance"));
+        } else {
+            log.debug("Q20 events --> 航线执行进度, deviceSn: {}, status: {}", deviceSn, status);
+        }
+    }
+
+    /**
+     * 一键飞行执行进度：缓存最新进度供前端轮询
+     */
+    private void handleRouteAuto(String deviceSn, JSONObject data) {
+        CacheUtils.set(Q20Constant.Q20_ROUTE_AUTO + deviceSn, data);
+        String status = data.getStr("status");
+        JSONObject progress = data.getJSONObject("progress");
+        if (progress != null) {
+            log.debug("Q20 events --> 一键飞行进度, deviceSn: {}, status: {}, step: {}, percent: {}%, remain: {}m",
+                    deviceSn, status, progress.getStr("step_key"),
+                    progress.getInt("percent"), progress.getInt("remaining_distance"));
+        } else {
+            log.debug("Q20 events --> 一键飞行进度, deviceSn: {}, status: {}", deviceSn, status);
+        }
+    }
+
+    /**
+     * 固件升级进度
+     */
+    private void handleOta(String deviceSn, JSONObject data) {
+        String status = data.getStr("status");
+        JSONObject progress = data.getJSONObject("progress");
+        int percent = progress != null ? progress.getInt("percent", 0) : 0;
+        log.info("Q20 events --> 固件升级进度, deviceSn: {}, status: {}, step: {}, percent: {}%",
+                deviceSn, status,
+                progress != null ? progress.getStr("step_key") : null, percent);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20HmsHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20HmsHandler.java
new file mode 100644
index 0000000..48785a7
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20HmsHandler.java
@@ -0,0 +1,60 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.service.MqttPushService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20系统健康状态处理（method: hms，state topic）
+ * 设备状态变化时触发上报，包含各子系统故障码数组：
+ * gnss, ins, battery, power, gimbal, system, structure, radar, vision, flight_control
+ * 以及故障状态位码：code2, code3, code4
+ * 若need_reply=1需回复 state_reply 主题
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20HmsHandler implements MessageHandler {
+
+    private final MqttPushService mqttPushService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            Integer needReply = message.getInt(BusinessConstant.NEED_REPLY);
+            if (needReply != null && needReply == 1) {
+                data.clear();
+                data.set("result", 0);
+                message.remove(BusinessConstant.NEED_REPLY);
+                mqttPushService.pushMessageByClient2(topic + BusinessConstant._REPLY, message.toString());
+                log.debug("Q20 hms --> 已回复, deviceSn: {}", deviceSn);
+            }
+            // 重新解析，避免回复时修改了data对象
+            message = JsonUtils.parseObject(payload, JSONObject.class);
+            if (message == null) {
+                return;
+            }
+            data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_HMS + deviceSn, data);
+                log.debug("Q20 hms --> deviceSn: {}, gnss: {}, ins: {}, battery: {}",
+                        deviceSn, data.getJSONArray("gnss"), data.getJSONArray("ins"),
+                        data.getJSONArray("battery"));
+            }
+        } else {
+            log.debug("Q20 hms --> payload解析失败，解析后为null");
+        }
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20MountHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20MountHandler.java
new file mode 100644
index 0000000..425ad55
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20MountHandler.java
@@ -0,0 +1,64 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.q20.influxdb.Q20MountReport;
+import com.multictrl.modules.business.service.InfluxService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20负载数据处理（method: mount）
+ * 上报挂载负载状态：mount_id, mount_port, mount_type, payload(yaw/pitch/roll/mode/zoom等)
+ * 支持ZT30(四光)、Z40T(双光)、A30(三光)、GL60P(探照灯)、4C(抛投器)、SZY/YKX/EayLoad10(索降)、
+ * LC(物流箱)、PARACHUTE(降落伞)等各类型负载
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20MountHandler implements MessageHandler {
+
+    private final InfluxService influxService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_MOUNT + deviceSn, data);
+                saveToInflux(deviceSn, data);
+                log.debug("Q20 mount --> deviceSn: {}, mount_type: {}, mount_port: {}",
+                        deviceSn, data.getStr("mount_type"), data.getInt("mount_port"));
+            }
+        } else {
+            log.debug("Q20 mount --> payload解析失败，解析后为null");
+        }
+    }
+
+    private void saveToInflux(String deviceSn, JSONObject data) {
+        JSONObject payload = data.getJSONObject("payload");
+
+        Q20MountReport report = Q20MountReport.builder()
+                .deviceSn(deviceSn)
+                .order_id(data.getStr("order_id"))
+                .mount_id(data.getStr("mount_id"))
+                .mount_port(data.getInt("mount_port"))
+                .mount_type(data.getStr("mount_type"))
+                .payload_yaw(payload != null ? payload.getFloat("yaw") : null)
+                .payload_pitch(payload != null ? payload.getFloat("pitch") : null)
+                .payload_roll(payload != null ? payload.getFloat("roll") : null)
+                .payload_mode(payload != null ? payload.getInt("mode") : null)
+                .payload_zoom(payload != null ? payload.getFloat("zoom") : null)
+                .build();
+        influxService.addRecord(report);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20NotifyHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20NotifyHandler.java
new file mode 100644
index 0000000..6dc9c72
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20NotifyHandler.java
@@ -0,0 +1,58 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.service.MqttPushService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20设备通知事件处理（method: notify，state topic）
+ * 设备状态变化时触发上报，包含：index, type, level(0紧急/2严重/4告警/6提示),
+ * message, timestamp, value(故障码), clear_codes(清除码)
+ * 若need_reply=1需回复 state_reply 主题
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20NotifyHandler implements MessageHandler {
+
+    private final MqttPushService mqttPushService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            Integer needReply = message.getInt(BusinessConstant.NEED_REPLY);
+            if (needReply != null && needReply == 1) {
+                data.clear();
+                data.set("result", 0);
+                message.remove(BusinessConstant.NEED_REPLY);
+                mqttPushService.pushMessageByClient2(topic + BusinessConstant._REPLY, message.toString());
+                log.debug("Q20 notify --> 已回复, deviceSn: {}", deviceSn);
+            }
+            // 重新解析，避免回复时修改了data对象
+            message = JsonUtils.parseObject(payload, JSONObject.class);
+            if (message == null) {
+                return;
+            }
+            data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                log.warn("Q20 notify --> deviceSn: {}, type: {}, level: {}, message: {}, value: {}",
+                        deviceSn, data.getStr("type"), data.getInt("level"),
+                        data.getStr("message"), data.getStr("value"));
+            }
+        } else {
+            log.debug("Q20 notify --> payload解析失败，解析后为null");
+        }
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20ObsHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20ObsHandler.java
new file mode 100644
index 0000000..305f891
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20ObsHandler.java
@@ -0,0 +1,81 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.q20.influxdb.Q20ObsReport;
+import com.multictrl.modules.business.service.InfluxService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20避障数据处理（method: obs）
+ * 上报避障传感器状态：cp_distance(避障距离/m), cp_enable(避障开关),
+ * ver_distances(垂直方向[下方,上方]障碍物距离数组/-1表示无障碍物),
+ * around_distances(水平方向8方位障碍物距离数组/-1表示无障碍物，从正前方顺时针)
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20ObsHandler implements MessageHandler {
+
+    private final InfluxService influxService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_OBS + deviceSn, data);
+                saveToInflux(deviceSn, data);
+                log.debug("Q20 obs --> deviceSn: {}, cp_distance: {}m, cp_enable: {}",
+                        deviceSn, data.getFloat("cp_distance"), data.getInt("cp_enable"));
+            }
+        } else {
+            log.debug("Q20 obs --> payload解析失败，解析后为null");
+        }
+    }
+
+    private void saveToInflux(String deviceSn, JSONObject data) {
+        JSONArray verDistances = data.getJSONArray("ver_distances");
+        JSONArray aroundDistances = data.getJSONArray("around_distances");
+
+        Q20ObsReport report = Q20ObsReport.builder()
+                .deviceSn(deviceSn)
+                .order_id(data.getStr("order_id"))
+                .cp_distance(data.getFloat("cp_distance"))
+                .cp_enable(data.getInt("cp_enable"))
+                .ver_down(getFloat(verDistances, 0))
+                .ver_up(getFloat(verDistances, 1))
+                .around_0(getFloat(aroundDistances, 0))
+                .around_1(getFloat(aroundDistances, 1))
+                .around_2(getFloat(aroundDistances, 2))
+                .around_3(getFloat(aroundDistances, 3))
+                .around_4(getFloat(aroundDistances, 4))
+                .around_5(getFloat(aroundDistances, 5))
+                .around_6(getFloat(aroundDistances, 6))
+                .around_7(getFloat(aroundDistances, 7))
+                .build();
+        influxService.addRecord(report);
+    }
+
+    private Float getFloat(JSONArray array, int index) {
+        if (array == null || array.size() <= index) {
+            return null;
+        }
+        Object val = array.get(index);
+        if (val == null) {
+            return null;
+        }
+        return ((Number) val).floatValue();
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20OsdHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20OsdHandler.java
new file mode 100644
index 0000000..e0fbcca
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20OsdHandler.java
@@ -0,0 +1,114 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.q20.influxdb.Q20OsdReport;
+import com.multictrl.modules.business.service.FlightTaskService;
+import com.multictrl.modules.business.service.InfluxService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20基础遥测数据处理（method: osd）
+ * 定频上报飞行数据：longitude, latitude, height, altitude, vs, gs, heading,
+ * pitch, roll, battery, voltage, mode, flying, fly_time, fly_distance, home_location, state等
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20OsdHandler implements MessageHandler {
+
+    private final FlightTaskService flightTaskService;
+    private final InfluxService influxService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_OSD + deviceSn, data);
+                trackFlyingState(deviceSn, data);
+                saveToInflux(deviceSn, data);
+            }
+        } else {
+            log.debug("Q20 osd --> payload解析失败，解析后为null");
+        }
+    }
+
+    private void trackFlyingState(String deviceSn, JSONObject data) {
+        Integer flying = data.getInt("flying");
+        if (flying == null) {
+            return;
+        }
+        // 起飞中，首次检测到飞行状态时更新架次开始
+        if (flying == 1) {
+            if (CacheUtils.get(Q20Constant.Q20_IN_WORK + deviceSn) == null) {
+                flightTaskService.updateTaskStart(deviceSn);
+                log.debug("{}设备架次开始，更新架次表", deviceSn);
+            }
+            CacheUtils.set(Q20Constant.Q20_IN_WORK + deviceSn, true);
+        }
+        // 刚从飞行切到非飞行，架次结束
+        if (flying == 0 && CacheUtils.get(Q20Constant.Q20_IN_WORK + deviceSn) != null) {
+            CacheUtils.delete(Q20Constant.Q20_IN_WORK + deviceSn);
+            flightTaskService.updateTaskComplete(deviceSn);
+            log.debug("{}设备架次结束，更新架次表", deviceSn);
+        }
+    }
+
+    private void saveToInflux(String deviceSn, JSONObject data) {
+        Double longitude = data.getDouble("longitude");
+        Double latitude = data.getDouble("latitude");
+        if (longitude == null || latitude == null || longitude == 0 || latitude == 0) {
+            return;
+        }
+        JSONObject homeLocation = data.getJSONObject("home_location");
+        JSONObject state = data.getJSONObject("state");
+
+        Q20OsdReport report = Q20OsdReport.builder()
+                .deviceSn(deviceSn)
+                .order_id(data.getStr("order_id"))
+                .longitude(longitude)
+                .latitude(latitude)
+                .height(data.getFloat("height"))
+                .altitude(data.getFloat("altitude"))
+                .vs(data.getFloat("vs"))
+                .gs(data.getFloat("gs"))
+                .heading(data.getFloat("heading"))
+                .pitch(data.getFloat("pitch"))
+                .roll(data.getFloat("roll"))
+                .battery(data.getInt("battery"))
+                .voltage(data.getInt("voltage"))
+                .mode(data.getStr("mode"))
+                .flying(data.getInt("flying"))
+                .fly_time(data.getLong("fly_time"))
+                .fly_distance(data.getFloat("fly_distance"))
+                .home_set(data.getInt("home_set"))
+                .home_distance(data.getFloat("home_distance"))
+                .home_altitude(homeLocation != null ? homeLocation.getFloat("altitude") : null)
+                .home_latitude(homeLocation != null ? homeLocation.getFloat("latitude") : null)
+                .home_longitude(homeLocation != null ? homeLocation.getFloat("longitude") : null)
+                .state_safe_enabled(state != null ? state.getInt("safe_enabled") : null)
+                .state_rtk_enabled(state != null ? state.getInt("rtk_enabled") : null)
+                .state_rtk_connected(state != null ? state.getInt("rtk_connected") : null)
+                .state_rc_connected(state != null ? state.getInt("rc_connected") : null)
+                .state_obs_enabled(state != null ? state.getInt("obs_enabled") : null)
+                .state_accel_cal(state != null ? state.getInt("accel_cal") : null)
+                .state_gyro_cal(state != null ? state.getInt("gyro_cal") : null)
+                .state_hor_cal(state != null ? state.getInt("hor_cal") : null)
+                .state_mag_cal(state != null ? state.getInt("mag_cal") : null)
+                .state_fpv_live(state != null ? state.getInt("fpv_live") : null)
+                .state_stream_live(state != null ? state.getInt("stream_live") : null)
+                .build();
+        influxService.addRecord(report);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20OsdTopicHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20OsdTopicHandler.java
new file mode 100644
index 0000000..1d81b05
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20OsdTopicHandler.java
@@ -0,0 +1,66 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20设备OSD主题分发器
+ * 接收 thing/device/{device_sn}/osd 主题消息，根据payload中的method字段分发到对应处理器
+ * method: osd(基础遥测) | rtk(RTK定位) | rc(遥控链路) | mount(负载) | battery(电池) | obs(避障)
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20OsdTopicHandler implements MessageHandler {
+
+    private final Q20OsdHandler q20OsdHandler;
+    private final Q20RtkHandler q20RtkHandler;
+    private final Q20RcHandler q20RcHandler;
+    private final Q20MountHandler q20MountHandler;
+    private final Q20BatteryHandler q20BatteryHandler;
+    private final Q20ObsHandler q20ObsHandler;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message == null) {
+            log.debug("Q20 osd topic --> payload解析失败，解析后为null");
+            return;
+        }
+        String method = message.getStr(BusinessConstant.METHOD);
+        if (method == null) {
+            log.debug("Q20 osd topic --> method字段缺失, topic: {}", topic);
+            return;
+        }
+        switch (method) {
+            case Q20Constant.METHOD_OSD:
+                q20OsdHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_RTK:
+                q20RtkHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_RC:
+                q20RcHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_MOUNT:
+                q20MountHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_BATTERY:
+                q20BatteryHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_OBS:
+                q20ObsHandler.handleMessage(topic, payload, gateway);
+                break;
+            default:
+                log.debug("Q20 osd topic --> 未知method: {}", method);
+        }
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20RcHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20RcHandler.java
new file mode 100644
index 0000000..72b8b10
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20RcHandler.java
@@ -0,0 +1,82 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.q20.influxdb.Q20RcReport;
+import com.multictrl.modules.business.service.InfluxService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20遥控链路数据处理（method: rc）
+ * 上报遥控与链路信息：priority, rc_channel_state, rc_state,
+ * link数组(id/type/connected/inuse/sqe/band), up_loss_rate, down_loss_rate, network信息
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20RcHandler implements MessageHandler {
+
+    private final InfluxService influxService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_RC + deviceSn, data);
+                saveToInflux(deviceSn, data);
+                log.debug("Q20 rc --> deviceSn: {}, priority: {}, rc_state: {}",
+                        deviceSn, data.getInt("priority"), data.getStr("rc_state"));
+            }
+        } else {
+            log.debug("Q20 rc --> payload解析失败，解析后为null");
+        }
+    }
+
+    private void saveToInflux(String deviceSn, JSONObject data) {
+        // 从link数组中取inuse=1的链路，无则取第一条
+        JSONObject inuseLink = null;
+        JSONArray links = data.getJSONArray("link");
+        if (links != null) {
+            for (int i = 0; i < links.size(); i++) {
+                JSONObject link = links.getJSONObject(i);
+                if (link != null && Integer.valueOf(1).equals(link.getInt("inuse"))) {
+                    inuseLink = link;
+                    break;
+                }
+            }
+            if (inuseLink == null && !links.isEmpty()) {
+                inuseLink = links.getJSONObject(0);
+            }
+        }
+        JSONObject network = data.getJSONObject("network");
+
+        Q20RcReport report = Q20RcReport.builder()
+                .deviceSn(deviceSn)
+                .order_id(data.getStr("order_id"))
+                .priority(data.getInt("priority"))
+                .rc_channel_state(data.getStr("rc_channel_state"))
+                .rc_state(data.getStr("rc_state"))
+                .up_loss_rate(data.getFloat("up_loss_rate"))
+                .down_loss_rate(data.getFloat("down_loss_rate"))
+                .link_inuse_id(inuseLink != null ? inuseLink.getInt("id") : null)
+                .link_inuse_type(inuseLink != null ? inuseLink.getInt("type") : null)
+                .link_inuse_sqe(inuseLink != null ? inuseLink.getInt("sqe") : null)
+                .link_inuse_band(inuseLink != null ? inuseLink.getInt("band") : null)
+                .network_type(network != null ? network.getInt("type") : null)
+                .network_quality(network != null ? network.getInt("quality") : null)
+                .build();
+        influxService.addRecord(report);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20RtkHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20RtkHandler.java
new file mode 100644
index 0000000..83aa2e9
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20RtkHandler.java
@@ -0,0 +1,67 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.q20.influxdb.Q20RtkReport;
+import com.multictrl.modules.business.service.InfluxService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20 RTK数据处理（method: rtk）
+ * 上报RTK定位信息：fix_type, latitude, longitude, altitude, ellipsoid_height,
+ * satellite_visible, eph, epv, velocity, yaw, cog, horizontal_acc, vertical_acc, velocity_acc
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20RtkHandler implements MessageHandler {
+
+    private final InfluxService influxService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_RTK + deviceSn, data);
+                saveToInflux(deviceSn, data);
+                log.debug("Q20 rtk --> deviceSn: {}, fix_type: {}, satellites: {}",
+                        deviceSn, data.getInt("fix_type"), data.getInt("satellite_visible"));
+            }
+        } else {
+            log.debug("Q20 rtk --> payload解析失败，解析后为null");
+        }
+    }
+
+    private void saveToInflux(String deviceSn, JSONObject data) {
+        Q20RtkReport report = Q20RtkReport.builder()
+                .deviceSn(deviceSn)
+                .order_id(data.getStr("order_id"))
+                .fix_type(data.getInt("fix_type"))
+                .latitude(data.getDouble("latitude"))
+                .longitude(data.getDouble("longitude"))
+                .altitude(data.getFloat("altitude"))
+                .ellipsoid_height(data.getFloat("ellipsoid_height"))
+                .satellite_visible(data.getInt("satellite_visible"))
+                .eph(data.getFloat("eph"))
+                .epv(data.getFloat("epv"))
+                .velocity(data.getFloat("velocity"))
+                .yaw(data.getFloat("yaw"))
+                .cog(data.getFloat("cog"))
+                .horizontal_acc(data.getFloat("horizontal_acc"))
+                .vertical_acc(data.getFloat("vertical_acc"))
+                .velocity_acc(data.getFloat("velocity_acc"))
+                .build();
+        influxService.addRecord(report);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20StateTopicHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20StateTopicHandler.java
new file mode 100644
index 0000000..0a5e2bf
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20StateTopicHandler.java
@@ -0,0 +1,54 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20设备State主题分发器
+ * 接收 thing/device/{device_sn}/state 主题消息，根据payload中的method字段分发到对应处理器
+ * method: version(固件版本) | notify(设备通知事件) | hms(系统健康状态)
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20StateTopicHandler implements MessageHandler {
+
+    private final Q20VersionHandler q20VersionHandler;
+    private final Q20NotifyHandler q20NotifyHandler;
+    private final Q20HmsHandler q20HmsHandler;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message == null) {
+            log.debug("Q20 state topic --> payload解析失败，解析后为null");
+            return;
+        }
+        String method = message.getStr(BusinessConstant.METHOD);
+        if (method == null) {
+            log.debug("Q20 state topic --> method字段缺失, topic: {}", topic);
+            return;
+        }
+        switch (method) {
+            case Q20Constant.METHOD_VERSION:
+                q20VersionHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_NOTIFY:
+                q20NotifyHandler.handleMessage(topic, payload, gateway);
+                break;
+            case Q20Constant.METHOD_HMS:
+                q20HmsHandler.handleMessage(topic, payload, gateway);
+                break;
+            default:
+                log.debug("Q20 state topic --> 未知method: {}", method);
+        }
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20VersionHandler.java b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20VersionHandler.java
new file mode 100644
index 0000000..1bb899d
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/handler/Q20VersionHandler.java
@@ -0,0 +1,58 @@
+package com.multictrl.modules.business.q20.handler;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.handler.MessageHandler;
+import com.multictrl.modules.business.service.MqttPushService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20固件版本状态处理（method: version，state topic）
+ * 设备状态变化时触发上报，包含：firmware_version, offboard_version, upgrade_status,
+ * vision_version, protocol_version, vehicle_type
+ * 若need_reply=1需回复 state_reply 主题
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class Q20VersionHandler implements MessageHandler {
+
+    private final MqttPushService mqttPushService;
+
+    @Override
+    public void handleMessage(String topic, String payload, String gateway) {
+        JSONObject message = JsonUtils.parseObject(payload, JSONObject.class);
+        if (message != null) {
+            String deviceSn = message.getStr(BusinessConstant.GATEWAY);
+            JSONObject data = message.getJSONObject(BusinessConstant.DATA);
+            Integer needReply = message.getInt(BusinessConstant.NEED_REPLY);
+            if (needReply != null && needReply == 1) {
+                data.clear();
+                data.set("result", 0);
+                message.remove(BusinessConstant.NEED_REPLY);
+                mqttPushService.pushMessageByClient2(topic + BusinessConstant._REPLY, message.toString());
+                log.debug("Q20 version --> 已回复, deviceSn: {}", deviceSn);
+            }
+            // 重新解析，避免回复时修改了data对象
+            message = JsonUtils.parseObject(payload, JSONObject.class);
+            if (message == null) {
+                return;
+            }
+            data = message.getJSONObject(BusinessConstant.DATA);
+            if (data != null) {
+                CacheUtils.set(Q20Constant.Q20_VERSION + deviceSn, data);
+                log.debug("Q20 version --> deviceSn: {}, firmware: {}, vehicle_type: {}",
+                        deviceSn, data.getStr("firmware_version"), data.getStr("vehicle_type"));
+            }
+        } else {
+            log.debug("Q20 version --> payload解析失败，解析后为null");
+        }
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20MountReport.java b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20MountReport.java
new file mode 100644
index 0000000..76ede75
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20MountReport.java
@@ -0,0 +1,80 @@
+package com.multictrl.modules.business.q20.influxdb;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.influxdb.annotations.Column;
+import com.influxdb.annotations.Measurement;
+import com.multictrl.common.utils.DateUtils;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.time.Instant;
+
+/**
+ * Q20设备负载数据 InfluxDB记录
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@AllArgsConstructor
+@NoArgsConstructor
+@Builder
+@Data
+@Schema(name = "Q20设备负载上报数据")
+@Measurement(name = "q20_mount")
+public class Q20MountReport {
+
+    @Schema(description = "设备SN")
+    @Column(tag = true)
+    private String deviceSn;
+
+    @Schema(description = "架次号")
+    @Column(tag = true)
+    private String order_id;
+
+    @Schema(hidden = true)
+    @Column(timestamp = true)
+    @JsonProperty("_time")
+    private Instant time;
+
+    @Schema(description = "负载ID")
+    @Column
+    private String mount_id;
+
+    @Schema(description = "负载挂载口")
+    @Column
+    private Integer mount_port;
+
+    @Schema(description = "负载类型：ZT30/Z40T/A30/GL60P/4C/SZY/YKX/EayLoad10/LC/PARACHUTE等")
+    @Column
+    private String mount_type;
+
+    @Schema(description = "云台偏航角，单位°")
+    @Column
+    private Float payload_yaw;
+
+    @Schema(description = "云台俯仰角，单位°")
+    @Column
+    private Float payload_pitch;
+
+    @Schema(description = "云台横滚角，单位°")
+    @Column
+    private Float payload_roll;
+
+    @Schema(description = "云台模式")
+    @Column
+    private Integer payload_mode;
+
+    @Schema(description = "变焦倍数")
+    @Column
+    private Float payload_zoom;
+
+    private String timeStr;
+
+    public void setTime(Instant time) {
+        this.time = time;
+        this.timeStr = DateUtils.utcToTime(time);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20ObsReport.java b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20ObsReport.java
new file mode 100644
index 0000000..959613b
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20ObsReport.java
@@ -0,0 +1,96 @@
+package com.multictrl.modules.business.q20.influxdb;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.influxdb.annotations.Column;
+import com.influxdb.annotations.Measurement;
+import com.multictrl.common.utils.DateUtils;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.time.Instant;
+
+/**
+ * Q20设备避障数据 InfluxDB记录
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@AllArgsConstructor
+@NoArgsConstructor
+@Builder
+@Data
+@Schema(name = "Q20设备避障上报数据")
+@Measurement(name = "q20_obs")
+public class Q20ObsReport {
+
+    @Schema(description = "设备SN")
+    @Column(tag = true)
+    private String deviceSn;
+
+    @Schema(description = "架次号")
+    @Column(tag = true)
+    private String order_id;
+
+    @Schema(hidden = true)
+    @Column(timestamp = true)
+    @JsonProperty("_time")
+    private Instant time;
+
+    @Schema(description = "避障距离，单位m")
+    @Column
+    private Float cp_distance;
+
+    @Schema(description = "避障开关：1开启/0关闭")
+    @Column
+    private Integer cp_enable;
+
+    @Schema(description = "下方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float ver_down;
+
+    @Schema(description = "上方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float ver_up;
+
+    @Schema(description = "水平正前方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_0;
+
+    @Schema(description = "水平右前方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_1;
+
+    @Schema(description = "水平正右方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_2;
+
+    @Schema(description = "水平右后方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_3;
+
+    @Schema(description = "水平正后方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_4;
+
+    @Schema(description = "水平左后方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_5;
+
+    @Schema(description = "水平正左方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_6;
+
+    @Schema(description = "水平左前方障碍物距离，单位m，-1表示无障碍物")
+    @Column
+    private Float around_7;
+
+    private String timeStr;
+
+    public void setTime(Instant time) {
+        this.time = time;
+        this.timeStr = DateUtils.utcToTime(time);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20OsdReport.java b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20OsdReport.java
new file mode 100644
index 0000000..4d0c72a
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20OsdReport.java
@@ -0,0 +1,172 @@
+package com.multictrl.modules.business.q20.influxdb;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.influxdb.annotations.Column;
+import com.influxdb.annotations.Measurement;
+import com.multictrl.common.utils.DateUtils;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.time.Instant;
+
+/**
+ * Q20设备OSD基础遥测数据 InfluxDB记录
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@AllArgsConstructor
+@NoArgsConstructor
+@Builder
+@Data
+@Schema(name = "Q20设备OSD上报数据")
+@Measurement(name = "q20_osd")
+public class Q20OsdReport {
+
+    @Schema(description = "设备SN")
+    @Column(tag = true)
+    private String deviceSn;
+
+    @Schema(description = "架次号")
+    @Column(tag = true)
+    private String order_id;
+
+    @Schema(hidden = true)
+    @Column(timestamp = true)
+    @JsonProperty("_time")
+    private Instant time;
+
+    @Schema(description = "位置经度，WGS84，精确到小数点后7位")
+    @Column
+    private Double longitude;
+
+    @Schema(description = "位置纬度，WGS84，精确到小数点后7位")
+    @Column
+    private Double latitude;
+
+    @Schema(description = "相对起飞点高度，单位m")
+    @Column
+    private Float height;
+
+    @Schema(description = "海拔高度，单位m")
+    @Column
+    private Float altitude;
+
+    @Schema(description = "垂直飞行速度，单位m/s，向上为负向下为正")
+    @Column
+    private Float vs;
+
+    @Schema(description = "水平飞行速度（对地速度），单位m/s")
+    @Column
+    private Float gs;
+
+    @Schema(description = "航向，取值范围[0,360]，正北为0顺时针递增，单位°")
+    @Column
+    private Float heading;
+
+    @Schema(description = "俯仰角，取值范围[-90,90]，仰为正俯为负，单位°")
+    @Column
+    private Float pitch;
+
+    @Schema(description = "横滚角，取值范围[-90,90]，向左为正向右为负，单位°")
+    @Column
+    private Float roll;
+
+    @Schema(description = "电池容量百分比，多电池为融合总电量，单位%")
+    @Column
+    private Integer battery;
+
+    @Schema(description = "电池电压，多电池为平均电压，单位V")
+    @Column
+    private Integer voltage;
+
+    @Schema(description = "飞行模式：MANUAL/ALTCTL/POSCTL/AUTO.MISSION/AUTO.RTL/AUTO.LAND等")
+    @Column
+    private String mode;
+
+    @Schema(description = "是否飞行中：1飞行中，0非飞行中")
+    @Column
+    private Integer flying;
+
+    @Schema(description = "飞行时长，单位秒")
+    @Column
+    private Long fly_time;
+
+    @Schema(description = "飞行里程，单位m")
+    @Column
+    private Float fly_distance;
+
+    @Schema(description = "返航点是否已设置：1已设置，0未设置")
+    @Column
+    private Integer home_set;
+
+    @Schema(description = "距离返航点距离，单位m")
+    @Column
+    private Float home_distance;
+
+    @Schema(description = "返航点相对高度，单位m")
+    @Column
+    private Float home_altitude;
+
+    @Schema(description = "返航点纬度")
+    @Column
+    private Float home_latitude;
+
+    @Schema(description = "返航点经度")
+    @Column
+    private Float home_longitude;
+
+    @Schema(description = "安全开关：1已启用，0未启用")
+    @Column
+    private Integer state_safe_enabled;
+
+    @Schema(description = "RTK是否启用：1已启用，0未启用")
+    @Column
+    private Integer state_rtk_enabled;
+
+    @Schema(description = "RTCM是否连接：1已连接，0未连接")
+    @Column
+    private Integer state_rtk_connected;
+
+    @Schema(description = "遥控是否连接：1已连接，0未连接")
+    @Column
+    private Integer state_rc_connected;
+
+    @Schema(description = "避障是否开启：1已启用，0未启用")
+    @Column
+    private Integer state_obs_enabled;
+
+    @Schema(description = "加速度计校准状态：1已校准，0未校准")
+    @Column
+    private Integer state_accel_cal;
+
+    @Schema(description = "陀螺仪校准状态：1已校准，0未校准")
+    @Column
+    private Integer state_gyro_cal;
+
+    @Schema(description = "水平校准状态：1已校准，0未校准")
+    @Column
+    private Integer state_hor_cal;
+
+    @Schema(description = "指南针校准状态：1已校准，0未校准")
+    @Column
+    private Integer state_mag_cal;
+
+    @Schema(description = "FPV推流状态：1开启，0关闭")
+    @Column
+    private Integer state_fpv_live;
+
+    @Schema(description = "云台推流状态：0关闭，1主码流，2子码流")
+    @Column
+    private Integer state_stream_live;
+
+    private String timeStr;
+
+    public void setTime(Instant time) {
+        this.time = time;
+        this.timeStr = DateUtils.utcToTime(time);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20RcReport.java b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20RcReport.java
new file mode 100644
index 0000000..6e07802
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20RcReport.java
@@ -0,0 +1,92 @@
+package com.multictrl.modules.business.q20.influxdb;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.influxdb.annotations.Column;
+import com.influxdb.annotations.Measurement;
+import com.multictrl.common.utils.DateUtils;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.time.Instant;
+
+/**
+ * Q20设备遥控链路数据 InfluxDB记录
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@AllArgsConstructor
+@NoArgsConstructor
+@Builder
+@Data
+@Schema(name = "Q20设备RC链路上报数据")
+@Measurement(name = "q20_rc")
+public class Q20RcReport {
+
+    @Schema(description = "设备SN")
+    @Column(tag = true)
+    private String deviceSn;
+
+    @Schema(description = "架次号")
+    @Column(tag = true)
+    private String order_id;
+
+    @Schema(hidden = true)
+    @Column(timestamp = true)
+    @JsonProperty("_time")
+    private Instant time;
+
+    @Schema(description = "遥控优先级")
+    @Column
+    private Integer priority;
+
+    @Schema(description = "遥控通道状态")
+    @Column
+    private String rc_channel_state;
+
+    @Schema(description = "遥控状态")
+    @Column
+    private String rc_state;
+
+    @Schema(description = "上行丢包率，单位%")
+    @Column
+    private Float up_loss_rate;
+
+    @Schema(description = "下行丢包率，单位%")
+    @Column
+    private Float down_loss_rate;
+
+    @Schema(description = "当前使用链路id")
+    @Column
+    private Integer link_inuse_id;
+
+    @Schema(description = "当前使用链路类型：0未知/1RC遥控/2图传/3网络")
+    @Column
+    private Integer link_inuse_type;
+
+    @Schema(description = "当前使用链路信号质量，单位%")
+    @Column
+    private Integer link_inuse_sqe;
+
+    @Schema(description = "当前使用链路频段，单位MHz")
+    @Column
+    private Integer link_inuse_band;
+
+    @Schema(description = "网络类型：0未知/1WiFi/24G/35G")
+    @Column
+    private Integer network_type;
+
+    @Schema(description = "网络信号质量，单位%")
+    @Column
+    private Integer network_quality;
+
+    private String timeStr;
+
+    public void setTime(Instant time) {
+        this.time = time;
+        this.timeStr = DateUtils.utcToTime(time);
+    }
+}
diff --git a/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20RtkReport.java b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20RtkReport.java
new file mode 100644
index 0000000..bb6fdf4
--- /dev/null
+++ b/admin/src/main/java/com/multictrl/modules/business/q20/influxdb/Q20RtkReport.java
@@ -0,0 +1,104 @@
+package com.multictrl.modules.business.q20.influxdb;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.influxdb.annotations.Column;
+import com.influxdb.annotations.Measurement;
+import com.multictrl.common.utils.DateUtils;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.time.Instant;
+
+/**
+ * Q20设备RTK定位数据 InfluxDB记录
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/12
+ */
+@AllArgsConstructor
+@NoArgsConstructor
+@Builder
+@Data
+@Schema(name = "Q20设备RTK上报数据")
+@Measurement(name = "q20_rtk")
+public class Q20RtkReport {
+
+    @Schema(description = "设备SN")
+    @Column(tag = true)
+    private String deviceSn;
+
+    @Schema(description = "架次号")
+    @Column(tag = true)
+    private String order_id;
+
+    @Schema(hidden = true)
+    @Column(timestamp = true)
+    @JsonProperty("_time")
+    private Instant time;
+
+    @Schema(description = "定位类型：0未定位/1单点定位/2差分定位/4固定解")
+    @Column
+    private Integer fix_type;
+
+    @Schema(description = "纬度，WGS84")
+    @Column
+    private Double latitude;
+
+    @Schema(description = "经度，WGS84")
+    @Column
+    private Double longitude;
+
+    @Schema(description = "海拔高度，单位m")
+    @Column
+    private Float altitude;
+
+    @Schema(description = "椭球高，单位m")
+    @Column
+    private Float ellipsoid_height;
+
+    @Schema(description = "可见卫星数")
+    @Column
+    private Integer satellite_visible;
+
+    @Schema(description = "水平位置精度因子，单位m")
+    @Column
+    private Float eph;
+
+    @Schema(description = "垂直位置精度因子，单位m")
+    @Column
+    private Float epv;
+
+    @Schema(description = "速度，单位m/s")
+    @Column
+    private Float velocity;
+
+    @Schema(description = "偏航角，单位°")
+    @Column
+    private Float yaw;
+
+    @Schema(description = "航迹角，单位°")
+    @Column
+    private Float cog;
+
+    @Schema(description = "水平精度，单位m")
+    @Column
+    private Float horizontal_acc;
+
+    @Schema(description = "垂直精度，单位m")
+    @Column
+    private Float vertical_acc;
+
+    @Schema(description = "速度精度，单位m/s")
+    @Column
+    private Float velocity_acc;
+
+    private String timeStr;
+
+    public void setTime(Instant time) {
+        this.time = time;
+        this.timeStr = DateUtils.utcToTime(time);
+    }
+}
diff --git a/admin/src/main/resources/application-docker.yml b/admin/src/main/resources/application-docker.yml
index 0e1f335..ed42310 100644
--- a/admin/src/main/resources/application-docker.yml
+++ b/admin/src/main/resources/application-docker.yml
@@ -45,7 +45,7 @@ mqtt:
     username: admin
     password: Aros2023
     subClientId: dj-one-sub${random.int(10)}
-    subTopic: thing/product/#,sys/product/#
+    subTopic: thing/product/#,sys/product/#,thing/device/#
     pubClientId: dj-one-pub${random.int(10)}
   client2:
     url: tcp://${host.ip}:61637
diff --git a/doc/Q20数据上报.docx b/doc/Q20数据上报.docx
new file mode 100644
index 0000000..a0a752c
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diff --git a/doc/Q20状态事件.docx b/doc/Q20状态事件.docx
new file mode 100644
index 0000000..06a34ec
Binary files /dev/null and b/doc/Q20状态事件.docx differ