update

sample/build.gradle

@@ -130,7 +130,6 @@ dependencies {
     implementation deps.legacySupport
     implementation deps.lifecycleViewModel
     implementation deps.lifecycleLiveData
-    implementation deps.leakcanary
     implementation deps.glide
     implementation deps.dynamicanimation
     implementation deps.expandedit

sample/src/main/java/com/zklh/dronecontroller/core/cloud/CloudCommandExecutor.kt

@@ -1,18 +1,23 @@
 package com.zklh.dronecontroller.core.cloud
 
 import android.util.Log
+import com.zklh.dronecontroller.core.diagnostics.DroneWarningItem
+import com.zklh.dronecontroller.core.diagnostics.DroneWarningState
 import com.zklh.dronecontroller.core.flight.FlightControlService
 import com.zklh.dronecontroller.core.flight.FlyToService
 import com.zklh.dronecontroller.core.gimbal.GimbalControlService
 import com.zklh.dronecontroller.core.livestream.LiveStreamingService
 import com.zklh.dronecontroller.core.media.CameraControlService
 import com.zklh.dronecontroller.core.media.CameraMediaService
+import com.zklh.dronecontroller.core.mission.MissionDroneInfo
 import com.zklh.dronecontroller.core.mission.MissionFinishAction
+import com.zklh.dronecontroller.core.mission.MissionPayloadInfo
 import com.zklh.dronecontroller.core.mission.MissionPlan
 import com.zklh.dronecontroller.core.mission.MissionWaypoint
 import com.zklh.dronecontroller.core.mission.WaypointMissionService
 import com.zklh.dronecontroller.core.mission.WpmlKmzBuilder
 import com.zklh.dronecontroller.core.msdk.DjiCommandResult
+import com.zklh.dronecontroller.core.telemetry.TelemetryCameraIdentity
 import com.zklh.dronecontroller.core.telemetry.TelemetrySnapshot
 import com.zklh.dronecontroller.core.telemetry.hasReliableRtkPosition
 import com.zklh.dronecontroller.core.telemetry.isRtkBlockingWaypointMission
@@ -25,11 +30,9 @@ import java.io.File
 import java.net.URL
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.atomic.AtomicBoolean
-import kotlin.math.asin
 import kotlin.math.atan2
 import kotlin.math.cos
 import kotlin.math.abs
-import kotlin.math.min
 import kotlin.math.roundToInt
 import kotlin.math.sin
 import kotlin.math.sqrt
@@ -44,15 +47,11 @@ import org.json.JSONObject
 private const val CloudCommandLogTag = "ZklhCloudCommand"
 private const val DefaultFlyToHeightMeters = 20.0
 private const val MinimumTakeoffTargetHeightMeters = 2.0
-private const val MinimumWaylineTakeoffHeightMeters = 20.0
-private const val WaylineInitialTakeoffReadyTimeoutMs = 45_000L
-private const val WaylineInitialTakeoffSettleDelayMs = 3_000L
 private const val WaylineStartRetryCount = 6
-private const val WaylineDirectGroundStartRetryCount = 2
 private const val WaylineStartRetryDelayMs = 2_000L
+private const val WaypointRtkReadyWaitMs = 25_000L
+private const val WaypointRtkReadyPollMs = 1_000L
 private const val TemporaryWaylineExitSettleDelayMs = 1_500L
-private const val TemporaryWaylineDepartureOffsetMeters = 5.0
-private const val TemporaryWaylineSamePointThresholdMeters = 2.0
 private const val PointFlightProgressIntervalMs = 5_000L
 private const val PointFlightProgressMonitorTimeoutMs = 30 * 60 * 1_000L
 private const val PointFlightArriveThresholdMeters = 3.0
@@ -61,6 +60,34 @@ private const val CoordPi = 3.1415926535897932384626
 private const val CoordSemiMajorAxis = 6378245.0
 private const val CoordEccentricity = 0.00669342162296594323
 private const val CoordEarthRadiusMeters = 6_371_000.0
+private const val WpmlUnknownEnumValue = 65_535
+private const val WpmlM350DroneEnumValue = 89
+private const val WpmlH20TPayloadEnumValue = 43
+private const val TemporaryWaylineMinimumTakeoffHeightMeters = 2.0
+private const val TemporaryWaylineDefaultGroundTakeoffHeightMeters = 20.0
+private const val TemporaryWaylineLeadInDistanceMeters = 6.0
+private const val TemporaryWaylineGroundLeadInDistanceMeters = 6.0
+private const val TemporaryWaylineGroundVerticalDistanceThresholdMeters = 5.0
+private const val TemporaryWaylineGroundVerticalSecondPointOffsetMeters = 2.0
+private const val TemporaryWaylineGroundStartMaxSpeedMetersPerSecond = 5.0
+private const val TemporaryWaylineMinimumDistinctWaypointDistanceMeters = 3.0
+private const val M350NativeTakeoffBeforeWaylineReadyTimeoutMs = 30_000L
+private const val M350NativeTakeoffBeforeWaylinePollMs = 500L
+private const val M350NativeTakeoffBeforeWaylineSettleMs = 4_000L
+private const val M350TakeoffToPointManualClimbHeightMeters = 20.0
+private const val M350TakeoffToPointManualClimbToleranceMeters = 0.6
+private const val M350TakeoffToPointManualClimbTimeoutMs = 60_000L
+private const val M350TakeoffToPointManualClimbPollMs = 100L
+private const val M350TakeoffToPointManualClimbSettleMs = 2_000L
+private const val M350TakeoffToPointManualClimbStickRatio = 0.42
+private const val PointFlightTakeoffStallCheckAfterMs = 20_000L
+private const val PointFlightTakeoffStallAltitudeMeters = 1.5
+private const val PointFlightTakeoffStallVerticalSpeedMeters = 0.25
+private const val NeutralStickDeadBand = 3
+private const val DjiHmsUnableTakeoffCode = "0x1F100031"
+private const val DjiHmsUnableTakeoffCodeAlt = "0x1F100032"
+private const val DjiHmsHeightLimitZoneCode = "0x1F100056"
+private const val DjiHmsPoorRtkSignalCode = "0x16100066"
 
 interface CloudMissionProgressPublisher {
     fun publishFlightTaskProgress(
@@ -96,6 +123,7 @@ class CloudCommandExecutor(
     private val gimbalControl: GimbalControlService = GimbalControlService(),
     private val mediaUpload: CloudMediaUploadService? = null,
     private val telemetryProvider: () -> TelemetrySnapshot = { TelemetrySnapshot() },
+    private val warningProvider: () -> DroneWarningState = { DroneWarningState() },
     private val progressPublisher: CloudMissionProgressPublisher? = null
 ) {
     private val scope = CoroutineScope(SupervisorJob() + Dispatchers.Default)
@@ -215,6 +243,22 @@ class CloudCommandExecutor(
     private suspend fun executeStickControl(
         data: JSONObject
     ): DjiCommandResult {
+        val position = if (data.hasAny("roll", "pitch", "throttle", "yaw")) {
+            data.toDrcStickPosition()
+        } else {
+            data.toProtocolStickPosition()
+        }
+        val now = System.currentTimeMillis()
+        if (position.isNeutral(deadBand = NeutralStickDeadBand) && isPointFlightStartingOrActive()) {
+            if (now - lastStickLogAt > 1_000L) {
+                Log.d(
+                    CloudCommandLogTag,
+                    "ignore neutral stick_control during point-flight wayline data=$data"
+                )
+                lastStickLogAt = now
+            }
+            return DjiCommandResult.ok("自动指点飞行执行中，已忽略中位杆量心跳")
+        }
         stopFlyToForManualControl()
         val enabled = ensureVirtualStickEnabled()
         if (!enabled.success) return enabled
@@ -224,12 +268,6 @@ class CloudCommandExecutor(
         } else {
             virtualStick.setSpeedLevel(15.0)
         }
-        val position = if (data.hasAny("roll", "pitch", "throttle", "yaw")) {
-            data.toDrcStickPosition()
-        } else {
-            data.toProtocolStickPosition()
-        }
-        val now = System.currentTimeMillis()
         if (now - lastStickLogAt > 500L) {
             Log.d(
                 CloudCommandLogTag,
@@ -434,8 +472,11 @@ class CloudCommandExecutor(
         flyToFailureMessage: String,
         progressKind: PointFlightProgressKind = PointFlightProgressKind.FlyToPoint
     ): DjiCommandResult {
-        val telemetry = telemetryProvider()
+        var telemetry = telemetryProvider()
-        if (telemetry.isRtkBlockingWaypointMission()) {
+        if (telemetry.isRtkBlockingWaypointMission() && !telemetry.canAttemptAirborneTemporaryWaylineWithoutRtk()) {
+            telemetry = waitForTemporaryWaylineRtkReady(command)
+        }
+        if (telemetry.isRtkBlockingWaypointMission() && !telemetry.canAttemptAirborneTemporaryWaylineWithoutRtk()) {
             publishPointFlightFailure(command, progressKind, "RTK 已开启但尚未就绪")
             return DjiCommandResult.failed(
                 "原生指点飞行不可用；RTK 已开启但尚未就绪（healthy=${telemetry.rtkHealthy}，" +
@@ -443,36 +484,116 @@ class CloudCommandExecutor(
                     "M350 航线任务会被 DJI 拒绝，请等待 RTK 固定解，或在 DJI Pilot 中关闭 RTK 后重试。"
             )
         }
+        if (telemetry.isRtkBlockingWaypointMission()) {
+            Log.w(
+                CloudCommandLogTag,
+                "RTK is not ready, but aircraft is already airborne with valid GPS; " +
+                    "try temporary wayline by FC/GPS position commandId=${command.commandId} " +
+                    "gps=${telemetry.gpsSatelliteCount} solution=${telemetry.rtkPositioningSolution}"
+            )
+        }
+        val requiresM350PointFlightFallback = telemetry.requiresTemporaryWaylinePointFlight()
+        val m350GroundStart = requiresM350PointFlightFallback &&
+            !telemetry.isM350NativeTakeoffReadyForAutonomousCommand()
+        val m350TakeoffToPointGroundStart =
+            m350GroundStart && progressKind == PointFlightProgressKind.TakeoffToPoint
+        warningProvider().preStartPointFlightBlocker(telemetry)?.let { blocker ->
+            if (m350GroundStart) {
+                Log.w(
+                    CloudCommandLogTag,
+                    "M350 ground point-flight ignores pre-start HMS blocker and lets native takeoff decide " +
+                        "commandId=${command.commandId} blocker=${blocker.toPointFlightBlockerText()}"
+                )
+            } else {
+                val message = "飞控当前禁止起飞：${blocker.toPointFlightBlockerText()}"
+                publishPointFlightFailure(command, progressKind, message)
+                return DjiCommandResult.failed("原生指点飞行不可用；$message")
+            }
+        }
+        val outputFile = File.createTempFile("point-flight-", ".kmz")
+        val missionId = waypointMission.missionIdFromPath(outputFile.absolutePath)
+        beginPointFlightStart(command, missionId)?.let { return it }
+        if (m350GroundStart) {
+            val takeoffResult = startM350NativeTakeoffBeforeTemporaryWayline(command, progressKind, missionId)
+            if (!takeoffResult.success) {
+                clearStartingPointFlight(missionId)
+                return takeoffResult
+            }
+            telemetry = telemetryProvider()
+            if (m350TakeoffToPointGroundStart) {
+                val climbResult = climbM350TakeoffToPointManually(command, progressKind, missionId)
+                if (!climbResult.success) {
+                    clearStartingPointFlight(missionId)
+                    return climbResult
+                }
+                telemetry = telemetryProvider()
+            }
+        }
+        if (
+            requiresM350PointFlightFallback &&
+            !m350TakeoffToPointGroundStart &&
+            telemetry.isM350NativeTakeoffReadyForAutonomousCommand()
+        ) {
+            val nativeFlyTo = tryM350NativeFlyToBeforeTemporaryWayline(command, progressKind, missionId)
+            if (nativeFlyTo?.success == true) {
+                return nativeFlyTo
+            }
+        }
         val startLocation = telemetry.pointFlightStartLocation()
             ?: run {
+                clearStartingPointFlight(missionId)
                 publishPointFlightFailure(command, progressKind, "当前位置无效，无法生成航线兜底")
                 return DjiCommandResult.failed(
                     "原生指点飞行不可用，且当前位置无效，无法生成航线兜底：$flyToFailureMessage"
                 )
             }
 
+        val isGroundStart = if (requiresM350PointFlightFallback) {
+            !telemetry.isM350NativeTakeoffReadyForAutonomousCommand()
+        } else {
+            !telemetry.isReadyToStartTemporaryWayline()
+        }
         val targetHeight = (command.commanderFlightHeight ?: command.height).coerceAtLeast(1.0)
-        val safeTakeoffHeight = command.securityTakeoffHeight
+        val requestedSpeed = command.maxSpeed.coerceIn(1, 15).toDouble()
-            .coerceAtLeast(1)
+        val speed = if (isGroundStart) {
-            .coerceAtMost(targetHeight.roundToInt().coerceAtLeast(1))
+            requestedSpeed.coerceAtMost(TemporaryWaylineGroundStartMaxSpeedMetersPerSecond)
-            .toDouble()
+        } else {
-        val speed = command.maxSpeed.coerceIn(1, 15).toDouble()
+            requestedSpeed
+        }
+        val safeTakeoffHeight = telemetry.temporaryWaylineTakeoffSecurityHeight(
+            targetHeight = targetHeight,
+            requestedTakeoffHeight = command.securityTakeoffHeight
+        )
+        val distanceToTarget = startLocation.distanceMetersTo(
+            PointFlightStartLocation(command.latitude, command.longitude)
+        )
+        val routeShape = if (
+            isGroundStart &&
+            distanceToTarget <= TemporaryWaylineGroundVerticalDistanceThresholdMeters
+        ) {
+            "vertical-to-target"
+        } else {
+            "lead-in-to-target"
+        }
         val temporaryWaypoints = temporaryPointFlightWaypoints(
             startLocation = startLocation,
             command = command,
             targetHeight = targetHeight,
-            speed = speed
+            speed = speed,
+            groundStart = isGroundStart
         )
-        val outputFile = File.createTempFile("point-flight-", ".kmz")
+        val droneInfo = telemetry.wpmlDroneInfoForTemporaryWayline()
-        val missionId = waypointMission.missionIdFromPath(outputFile.absolutePath)
+        val payloadInfo = telemetry.wpmlPayloadInfoForTemporaryWayline()
-        beginPointFlightStart(command, missionId)?.let { return it }
         val plan = MissionPlan(
             name = missionId,
             waypoints = temporaryWaypoints,
             globalSpeed = speed,
             takeoffHeight = safeTakeoffHeight,
             globalHeight = targetHeight,
-            finishAction = MissionFinishAction.NoAction
+            finishAction = MissionFinishAction.NoAction,
+            includeGimbalPitch = false,
+            droneInfo = droneInfo,
+            payloadInfo = payloadInfo
         )
 
         return runCatching {
@@ -480,11 +601,13 @@ class CloudCommandExecutor(
             WpmlKmzBuilder().generateKmz(plan, outputFile)
             Log.d(
                 CloudCommandLogTag,
-                "FlyTo handler missing, fallback to temporary wayline commandId=${command.commandId} missionId=$missionId " +
+                "start temporary point-flight wayline commandId=${command.commandId} missionId=$missionId " +
                     "from=${startLocation.latitude},${startLocation.longitude} " +
                     "to=${command.latitude},${command.longitude} height=$targetHeight " +
-                    "commanderFlightHeight=${command.commanderFlightHeight} speed=$speed " +
+                    "commanderFlightHeight=${command.commanderFlightHeight} speed=$speed requestedSpeed=$requestedSpeed " +
+                    "groundStart=$isGroundStart distanceToTarget=${distanceToTarget.formatMeters()} routeShape=$routeShape " +
                     "safeTakeoffHeight=$safeTakeoffHeight waypoints=${temporaryWaypoints.toLogText()} " +
+                    "wpmlDrone=$droneInfo wpmlPayloads=$payloadInfo " +
                     "flyToFailure=$flyToFailureMessage"
             )
             val upload = waypointMission.uploadKmzFile(outputFile.absolutePath)
@@ -498,7 +621,7 @@ class CloudCommandExecutor(
             val start = startTemporaryWaylineMission(missionId)
             if (start.success) {
                 markPointFlightActive(command, missionId)
-                startPointFlightProgressMonitor(command, progressKind, missionId)
+                startPointFlightProgressMonitor(command, progressKind, missionId, isGroundStart)
                 DjiCommandResult.ok("原生指点飞行不可用，已切换为临时航线指点飞行：$missionId")
             } else {
                 clearStartingPointFlight(missionId)
@@ -514,6 +637,184 @@ class CloudCommandExecutor(
         }
     }
 
+    private suspend fun tryM350NativeFlyToBeforeTemporaryWayline(
+        command: ParsedFlyToCommand,
+        progressKind: PointFlightProgressKind,
+        missionId: String
+    ): DjiCommandResult? {
+        Log.d(
+            CloudCommandLogTag,
+            "try M350 native FlyTo before temporary wayline commandId=${command.commandId} missionId=$missionId " +
+                "lat=${command.latitude} lon=${command.longitude} height=${command.height} " +
+                "maxSpeed=${command.maxSpeed} securityTakeoffHeight=${command.securityTakeoffHeight}"
+        )
+        val nativeResult = flyToService.startFlyTo(
+            latitude = command.latitude,
+            longitude = command.longitude,
+            height = command.height,
+            maxSpeed = command.maxSpeed,
+            securityTakeoffHeight = command.securityTakeoffHeight,
+            flyToMode = command.flyToMode
+        )
+        Log.d(
+            CloudCommandLogTag,
+            "M350 native FlyTo before temporary wayline result commandId=${command.commandId} " +
+                "success=${nativeResult.success} message=${nativeResult.message}"
+        )
+        if (!nativeResult.success) {
+            return null
+        }
+        clearStartingPointFlight(missionId)
+        clearActivePointFlight()
+        startPointFlightProgressMonitor(command, progressKind)
+        return nativeResult
+    }
+
+    private suspend fun startM350NativeTakeoffBeforeTemporaryWayline(
+        command: ParsedFlyToCommand,
+        progressKind: PointFlightProgressKind,
+        missionId: String
+    ): DjiCommandResult {
+        Log.d(
+            CloudCommandLogTag,
+            "M350 ground temporary wayline uses native takeoff first commandId=${command.commandId} missionId=$missionId"
+        )
+        publishPointFlightProgress(command, progressKind, "TAKEOFF_STARTED")
+        val takeoff = flightControl.startTakeoff()
+        if (!takeoff.success) {
+            val message = "M350 地面指点飞行先执行原生起飞失败：${takeoff.message}"
+            publishPointFlightFailure(command, progressKind, message)
+            return DjiCommandResult.failed(message)
+        }
+
+        val deadline = System.currentTimeMillis() + M350NativeTakeoffBeforeWaylineReadyTimeoutMs
+        var latest = telemetryProvider()
+        while (System.currentTimeMillis() < deadline) {
+            latest = telemetryProvider()
+            if (latest.isM350NativeTakeoffReadyForAutonomousCommand()) {
+                Log.d(
+                    CloudCommandLogTag,
+                    "M350 native takeoff is ready for autonomous command commandId=${command.commandId} " +
+                        "missionId=$missionId isFlying=${latest.isFlying} motorsOn=${latest.motorsOn} " +
+                        "altitude=${latest.altitude.formatMeters()} mode=${latest.flightMode}"
+                )
+                delay(M350NativeTakeoffBeforeWaylineSettleMs)
+                return DjiCommandResult.ok("M350 原生起飞完成，准备启动自主飞行指令")
+            }
+            delay(M350NativeTakeoffBeforeWaylinePollMs)
+        }
+
+        val message = "M350 原生起飞后未进入可启动航线状态：altitude=${latest.altitude.formatMeters()}，mode=${latest.flightMode}"
+        publishPointFlightFailure(command, progressKind, message)
+        return DjiCommandResult.failed(message)
+    }
+
+    private suspend fun climbM350TakeoffToPointManually(
+        command: ParsedFlyToCommand,
+        progressKind: PointFlightProgressKind,
+        missionId: String
+    ): DjiCommandResult {
+        val requestedTargetHeight = (command.commanderFlightHeight ?: command.height).coerceAtLeast(1.0)
+        val climbTargetHeight = requestedTargetHeight.coerceAtMost(M350TakeoffToPointManualClimbHeightMeters)
+        var latest = telemetryProvider()
+        if (latest.altitude >= climbTargetHeight - M350TakeoffToPointManualClimbToleranceMeters) {
+            return DjiCommandResult.ok("M350 已达到航线接管高度")
+        }
+
+        Log.d(
+            CloudCommandLogTag,
+            "M350 takeoff_to_point starts manual climb before wayline " +
+                "commandId=${command.commandId} missionId=$missionId " +
+                "from=${latest.altitude.formatMeters()} target=${climbTargetHeight.formatMeters()}"
+        )
+        publishPointFlightProgress(command, progressKind, "MANUAL_CLIMB_STARTED")
+        val enable = ensureVirtualStickEnabled()
+        if (!enable.success) {
+            val message = "M350 一键起飞获取手动飞行控制权失败：${enable.message}"
+            publishPointFlightFailure(command, progressKind, message)
+            return DjiCommandResult.failed(message)
+        }
+
+        val climbStick = (Stick.MAX_STICK_POSITION_ABS * M350TakeoffToPointManualClimbStickRatio)
+            .roundToInt()
+            .coerceIn(1, Stick.MAX_STICK_POSITION_ABS)
+        val deadline = System.currentTimeMillis() + M350TakeoffToPointManualClimbTimeoutMs
+        var reached = false
+        try {
+            while (System.currentTimeMillis() < deadline) {
+                latest = telemetryProvider()
+                if (!latest.motorsOn) break
+                if (latest.altitude >= climbTargetHeight - M350TakeoffToPointManualClimbToleranceMeters) {
+                    reached = true
+                    break
+                }
+                virtualStick.sendStickPosition(StickPosition(leftVertical = climbStick))
+                delay(M350TakeoffToPointManualClimbPollMs)
+            }
+        } finally {
+            repeat(3) {
+                sendNeutralStick()
+                delay(M350TakeoffToPointManualClimbPollMs)
+            }
+        }
+
+        val release = releaseVirtualStickForAutonomousFlight()
+        if (!release.success) {
+            val message = "M350 一键起飞释放手动飞行控制权失败：${release.message}"
+            publishPointFlightFailure(command, progressKind, message)
+            return DjiCommandResult.failed(message)
+        }
+        if (!reached) {
+            latest = telemetryProvider()
+            val message = "M350 一键起飞手动爬升未达到航线接管高度：" +
+                "altitude=${latest.altitude.formatMeters()}m，target=${climbTargetHeight.formatMeters()}m"
+            publishPointFlightFailure(command, progressKind, message)
+            return DjiCommandResult.failed(message)
+        }
+
+        delay(M350TakeoffToPointManualClimbSettleMs)
+        latest = telemetryProvider()
+        Log.d(
+            CloudCommandLogTag,
+            "M350 takeoff_to_point manual climb completed and released control " +
+                "commandId=${command.commandId} missionId=$missionId " +
+                "altitude=${latest.altitude.formatMeters()} mode=${latest.flightMode}"
+        )
+        publishPointFlightProgress(command, progressKind, "MANUAL_CLIMB_COMPLETED")
+        return DjiCommandResult.ok("M350 已手动爬升到航线接管高度，准备启动临时航线")
+    }
+
+    private suspend fun waitForTemporaryWaylineRtkReady(command: ParsedFlyToCommand): TelemetrySnapshot {
+        val deadline = System.currentTimeMillis() + WaypointRtkReadyWaitMs
+        var latest = telemetryProvider()
+        Log.w(
+            CloudCommandLogTag,
+            "temporary wayline waits for RTK ready commandId=${command.commandId} " +
+                "healthy=${latest.rtkHealthy} solution=${latest.rtkPositioningSolution} " +
+                "gps=${latest.gpsSatelliteCount}"
+        )
+        while (System.currentTimeMillis() < deadline) {
+            delay(WaypointRtkReadyPollMs)
+            latest = telemetryProvider()
+            if (!latest.isRtkBlockingWaypointMission() || latest.canAttemptAirborneTemporaryWaylineWithoutRtk()) {
+                Log.d(
+                    CloudCommandLogTag,
+                    "temporary wayline RTK wait passed commandId=${command.commandId} " +
+                        "healthy=${latest.rtkHealthy} solution=${latest.rtkPositioningSolution} " +
+                        "gps=${latest.gpsSatelliteCount}"
+                )
+                return latest
+            }
+        }
+        Log.w(
+            CloudCommandLogTag,
+            "temporary wayline RTK wait timed out commandId=${command.commandId} " +
+                "healthy=${latest.rtkHealthy} solution=${latest.rtkPositioningSolution} " +
+                "gps=${latest.gpsSatelliteCount}"
+        )
+        return latest
+    }
+
     private fun existingPointFlightResult(command: ParsedFlyToCommand): DjiCommandResult? {
         val commandId = command.commandId.takeIf { it.isNotBlank() } ?: return null
         return synchronized(pointFlightStateLock) {
@@ -611,6 +912,11 @@ class CloudCommandExecutor(
         }
     }
 
+    private fun isPointFlightStartingOrActive(): Boolean =
+        synchronized(pointFlightStateLock) {
+            activePointFlightWaylineMissionId != null || startingPointFlightMissionId != null
+        }
+
     private fun clearStartingPointFlight(missionId: String) {
         synchronized(pointFlightStateLock) {
             if (startingPointFlightMissionId == missionId) {
@@ -623,7 +929,8 @@ class CloudCommandExecutor(
     private fun startPointFlightProgressMonitor(
         command: ParsedFlyToCommand,
         progressKind: PointFlightProgressKind,
-        temporaryMissionId: String? = null
+        temporaryMissionId: String? = null,
+        groundStart: Boolean = false
     ) {
         val commandId = command.monitorKey(progressKind)
         pointFlightProgressJobs.remove(commandId)?.cancel()
@@ -631,6 +938,7 @@ class CloudCommandExecutor(
         pointFlightProgressJobs[commandId] = scope.launch {
             val targetLocation = PointFlightStartLocation(command.latitude, command.longitude)
             val deadline = System.currentTimeMillis() + PointFlightProgressMonitorTimeoutMs
+            val monitorStartAt = System.currentTimeMillis()
             var lastProgressAt = 0L
             var lastRemainingDistance = Double.MAX_VALUE
             while (System.currentTimeMillis() < deadline) {
@@ -641,6 +949,34 @@ class CloudCommandExecutor(
                     val altitudeError = abs(command.height - telemetry.altitude)
                     val remainingDistance = sqrt(horizontalDistance * horizontalDistance + altitudeError * altitudeError)
                     val remainingSeconds = (remainingDistance / command.maxSpeed.coerceIn(1, 15)).toFloat()
+                    val stalledTakeoff = groundStart &&
+                        !temporaryMissionId.isNullOrBlank() &&
+                        System.currentTimeMillis() - monitorStartAt >= PointFlightTakeoffStallCheckAfterMs &&
+                        telemetry.altitude <= PointFlightTakeoffStallAltitudeMeters &&
+                        abs(telemetry.speedZ) <= PointFlightTakeoffStallVerticalSpeedMeters
+                    if (stalledTakeoff) {
+                        val warning = warningProvider().pointFlightStallBlocker()
+                        val message = buildString {
+                            append("M350 临时航线起飞后卡在 ")
+                            append(telemetry.altitude.formatMeters())
+                            append("m，未继续爬升")
+                            append("，flightMode=${telemetry.flightMode}")
+                            if (warning != null) {
+                                append("；飞控告警：")
+                                append(warning.toPointFlightBlockerText())
+                            }
+                        }
+                        Log.w(
+                            CloudCommandLogTag,
+                            "point flight takeoff stalled commandId=$commandId missionId=$temporaryMissionId " +
+                                "altitude=${telemetry.altitude.formatMeters()} speedZ=${telemetry.speedZ.formatMeters()} " +
+                                "mode=${telemetry.flightMode} warning=${warning?.toPointFlightBlockerText().orEmpty()}"
+                        )
+                        stopTemporaryPointFlightWaylineAfterArrival(commandId, temporaryMissionId)
+                        publishPointFlightFailure(command, progressKind, message)
+                        pointFlightProgressJobs.remove(commandId)
+                        return@launch
+                    }
                     val arrived = horizontalDistance <= PointFlightArriveThresholdMeters &&
                         altitudeError <= PointFlightArriveAltitudeThresholdMeters &&
                         (telemetry.isFlying || telemetry.altitude >= 0.8)
@@ -783,56 +1119,21 @@ class CloudCommandExecutor(
     }
 
     /**
-     * M350 cannot reliably enter a dynamically generated waypoint mission
+     * Temporary point flight is executed as a normal WPML mission.
-     * directly from the ground. It first needs to finish the normal MSDK
+     * DJI wayline missions support both ground start (take off, climb, then fly)
-     * takeoff phase, then the already-uploaded temporary KMZ can be started.
+     * and airborne start, so do not mix in native takeoff here.
      */
     private suspend fun startTemporaryWaylineMission(missionId: String): DjiCommandResult {
-        if (telemetryProvider().isReadyToStartTemporaryWayline()) {
-            return startTemporaryWaylineMissionWithRetry(missionId)
-        }
-
-        Log.d(CloudCommandLogTag, "temporary wayline is ground-started; try direct startMission first missionId=$missionId")
-        val directStart = startTemporaryWaylineMissionWithRetry(
-            missionId = missionId,
-            maxAttempts = WaylineDirectGroundStartRetryCount
-        )
-        if (directStart.success) {
-            return directStart
-        }
-        Log.w(
-            CloudCommandLogTag,
-            "direct ground startMission failed, fallback to native takeoff then startMission missionId=$missionId " +
-                "message=${directStart.message}"
-        )
-
-        Log.d(CloudCommandLogTag, "issue native takeoff before retrying temporary wayline missionId=$missionId")
-        val takeoff = flightControl.startTakeoff()
-        if (!takeoff.success) {
-            return DjiCommandResult.failed("临时航线已上传，但地面直接启动失败：${directStart.message}；原生起飞也失败：${takeoff.message}")
-        }
-
-        val readyDeadline = System.currentTimeMillis() + WaylineInitialTakeoffReadyTimeoutMs
-        while (System.currentTimeMillis() < readyDeadline) {
-            val telemetry = telemetryProvider()
-            if (telemetry.isReadyToStartTemporaryWayline()) {
-                delay(WaylineInitialTakeoffSettleDelayMs)
-                val settledTelemetry = telemetryProvider()
-                Log.d(
-                    CloudCommandLogTag,
-                    "native takeoff ready for temporary wayline missionId=$missionId " +
-                        "isFlying=${settledTelemetry.isFlying} motorsOn=${settledTelemetry.motorsOn} " +
-                        "altitude=${settledTelemetry.altitude} mode=${settledTelemetry.flightMode}"
-                )
-                return startTemporaryWaylineMissionWithRetry(missionId)
-            }
-            delay(200L)
-        }
         val telemetry = telemetryProvider()
-        return DjiCommandResult.failed(
+        Log.d(
-            "临时航线已上传，但原生起飞未进入稳定悬停：isFlying=${telemetry.isFlying}，" +
+            CloudCommandLogTag,
-                "altitude=${telemetry.altitude.formatMeters()} 米"
+            "start temporary point-flight mission missionId=$missionId " +
+                "isFlying=${telemetry.isFlying} motorsOn=${telemetry.motorsOn} " +
+                "altitude=${telemetry.altitude.formatMeters()} mode=${telemetry.flightMode} " +
+                "rtkEnabled=${telemetry.rtkEnabled} rtkHealthy=${telemetry.rtkHealthy} " +
+                "rtkSolution=${telemetry.rtkPositioningSolution}"
         )
+        return startTemporaryWaylineMissionWithRetry(missionId)
     }
 
     private suspend fun startTemporaryWaylineMissionWithRetry(
@@ -1192,36 +1493,241 @@ private fun TelemetrySnapshot.requiresTemporaryWaylinePointFlight(): Boolean {
         product.contains("M350")
 }
 
+private fun TelemetrySnapshot.wpmlDroneInfoForTemporaryWayline(): MissionDroneInfo? {
+    val product = productType.uppercase()
+    return when {
+        product.contains("MATRICE_350") || product.contains("M350") ->
+            MissionDroneInfo(enumValue = WpmlM350DroneEnumValue)
+
+        else -> null
+    }
+}
+
+private fun TelemetrySnapshot.wpmlPayloadInfoForTemporaryWayline(): List<MissionPayloadInfo> {
+    val identities = cameraIdentities.ifEmpty {
+        listOf(
+            TelemetryCameraIdentity(
+                component = cameraComponent,
+                cameraType = cameraType,
+                cameraTypeValue = cameraTypeValue,
+                payloadCameraType = payloadCameraType,
+                payloadCameraTypeValue = payloadCameraTypeValue
+            )
+        )
+    }
+    val detected = identities
+        .mapNotNull { it.toMissionPayloadInfo() }
+        .distinctBy { it.positionIndex }
+    if (detected.isNotEmpty()) return detected
+
+    val fallbackEnum = wpmlPayloadEnumFor(
+        cameraTypeValue = cameraTypeValue,
+        cameraText = (
+            listOf(cameraType, payloadCameraType) +
+                cameraIdentities.flatMap { listOf(it.cameraType, it.payloadCameraType) }
+            ).joinToString(" "),
+        productText = productType
+    ) ?: return emptyList()
+    return listOf(
+        MissionPayloadInfo(
+            enumValue = fallbackEnum,
+            positionIndex = cameraComponent.toWpmlPayloadPositionIndex()
+        )
+    )
+}
+
+private fun TelemetryCameraIdentity.toMissionPayloadInfo(): MissionPayloadInfo? {
+    val enumValue = payloadCameraTypeValue.takeIf { it.isKnownWpmlEnum() }
+        ?: cameraTypeValue.takeIf { it.isKnownWpmlEnum() }
+        ?: wpmlPayloadEnumFor(
+            cameraTypeValue = cameraTypeValue,
+            cameraText = listOf(cameraType, payloadCameraType).joinToString(" "),
+            productText = ""
+        )
+        ?: return null
+    return MissionPayloadInfo(
+        enumValue = enumValue,
+        positionIndex = component.toWpmlPayloadPositionIndex()
+    )
+}
+
+private fun Int.isKnownWpmlEnum(): Boolean = this > 0 && this != WpmlUnknownEnumValue
+
+private fun wpmlPayloadEnumFor(cameraTypeValue: Int, cameraText: String, productText: String): Int? {
+    val camera = cameraText.uppercase()
+    val product = productText.uppercase()
+    return when {
+        camera.contains("H30T") || camera.contains("ZENMUSE_H30T") -> 83
+        camera.contains("H30") || camera.contains("ZENMUSE_H30") -> 82
+        camera.contains("H20N") || camera.contains("ZENMUSE_H20N") -> 61
+        camera.contains("H20T") || camera.contains("ZENMUSE_H20T") -> WpmlH20TPayloadEnumValue
+        camera.contains("H20") || camera.contains("ZENMUSE_H20") -> 42
+        cameraTypeValue.isKnownWpmlEnum() -> cameraTypeValue
+        product.contains("MATRICE_350") || product.contains("M350") -> WpmlH20TPayloadEnumValue
+        else -> null
+    }
+}
+
+private fun String.toWpmlPayloadPositionIndex(): Int =
+    when (uppercase()) {
+        "LEFT_OR_MAIN" -> 0
+        "RIGHT" -> 1
+        "UP" -> 2
+        "PORT_1" -> 3
+        "PORT_2" -> 4
+        "PORT_3" -> 5
+        "PORT_4" -> 6
+        else -> 0
+    }
+
 private fun TelemetrySnapshot.isReadyToStartTemporaryWayline(): Boolean =
     isFlying || altitude >= 0.8
 
+private fun TelemetrySnapshot.isM350NativeTakeoffReadyForAutonomousCommand(): Boolean {
+    val mode = flightMode.uppercase()
+    val stillTakingOff = mode.contains("AUTO_TAKE") ||
+        mode.contains("TAKE_OFF") ||
+        mode.contains("TAKEOFF") ||
+        mode.contains("MOTOR_START")
+    return motorsOn &&
+        altitude >= 0.8 &&
+        !stillTakingOff
+}
+
+private fun TelemetrySnapshot.temporaryWaylineTakeoffSecurityHeight(
+    targetHeight: Double,
+    requestedTakeoffHeight: Int
+): Double {
+    val minimumHeight = TemporaryWaylineMinimumTakeoffHeightMeters.coerceAtMost(targetHeight).coerceAtLeast(1.0)
+    if (!isReadyToStartTemporaryWayline()) {
+        val requestedOrDefault = requestedTakeoffHeight
+            .takeIf { it > 0 }
+            ?.toDouble()
+            ?: TemporaryWaylineDefaultGroundTakeoffHeightMeters
+        return requestedOrDefault
+            .coerceAtLeast(minimumHeight)
+            .coerceAtMost(targetHeight.coerceAtLeast(minimumHeight))
+    }
+    return requestedTakeoffHeight
+        .coerceAtLeast(minimumHeight.roundToInt().coerceAtLeast(1))
+        .coerceAtMost(targetHeight.roundToInt().coerceAtLeast(minimumHeight.roundToInt().coerceAtLeast(1)))
+        .toDouble()
+}
+
+private fun TelemetrySnapshot.canAttemptAirborneTemporaryWaylineWithoutRtk(): Boolean =
+    isReadyToStartTemporaryWayline() &&
+        gpsValid &&
+        locationValid &&
+        gpsSatelliteCount >= 10 &&
+        isValidCoordinate(latitude, longitude)
+
+private fun DroneWarningState.preStartPointFlightBlocker(telemetry: TelemetrySnapshot): DroneWarningItem? {
+    if (!active || telemetry.isReadyToStartTemporaryWayline()) return null
+    return items.firstOrNull { item ->
+        item.isUnableTakeoffWarning() || (item.isPoorRtkWarning() && telemetry.isRtkBlockingWaypointMission())
+    }
+}
+
+private fun DroneWarningState.pointFlightStallBlocker(): DroneWarningItem? {
+    if (!active) return null
+    return items.firstOrNull { it.isUnableTakeoffWarning() || it.isPoorRtkWarning() }
+        ?: items.firstOrNull()
+}
+
+private fun DroneWarningItem.isUnableTakeoffWarning(): Boolean =
+    code.equals(DjiHmsUnableTakeoffCode, ignoreCase = true) ||
+        code.equals(DjiHmsUnableTakeoffCodeAlt, ignoreCase = true) ||
+        warningText().contains("无法起飞")
+
+private fun DroneWarningItem.isHeightLimitZoneWarning(): Boolean =
+    code.equals(DjiHmsHeightLimitZoneCode, ignoreCase = true) ||
+        warningText().contains("限高区")
+
+private fun DroneWarningItem.isPoorRtkWarning(): Boolean =
+    code.equals(DjiHmsPoorRtkSignalCode, ignoreCase = true) ||
+        warningText().contains("RTK 信号差", ignoreCase = true)
+
+private fun DroneWarningItem.toPointFlightBlockerText(): String {
+    val text = listOf(title, description, message)
+        .map { it.trim() }
+        .firstOrNull { it.isNotBlank() }
+        .orEmpty()
+    return listOf(code.trim(), text)
+        .filter { it.isNotBlank() }
+        .distinct()
+        .joinToString(": ")
+        .ifBlank { "未知飞控告警" }
+}
+
+private fun DroneWarningItem.warningText(): String =
+    listOf(code, title, description, message).joinToString(" ")
+
 private fun temporaryPointFlightWaypoints(
     startLocation: PointFlightStartLocation,
     command: ParsedFlyToCommand,
     targetHeight: Double,
-    speed: Double
+    speed: Double,
+    groundStart: Boolean
 ): List<MissionWaypoint> {
     val targetLocation = PointFlightStartLocation(command.latitude, command.longitude)
-    val targetDistance = startLocation.distanceMetersTo(targetLocation)
+    val distanceToTarget = startLocation.distanceMetersTo(targetLocation)
-    val bearing = if (targetDistance > TemporaryWaylineSamePointThresholdMeters) {
+    if (groundStart && distanceToTarget <= TemporaryWaylineGroundVerticalDistanceThresholdMeters) {
-        startLocation.bearingRadiansTo(targetLocation)
+        return listOf(
-    } else {
+            MissionWaypoint(
-        0.0
+                latitude = targetLocation.latitude,
+                longitude = targetLocation.longitude,
+                altitude = targetHeight,
+                speed = speed
+            ),
+            MissionWaypoint(
+                latitude = targetLocation.offsetByMeters(
+                    northMeters = TemporaryWaylineGroundVerticalSecondPointOffsetMeters,
+                    eastMeters = 0.0
+                ).latitude,
+                longitude = targetLocation.offsetByMeters(
+                    northMeters = TemporaryWaylineGroundVerticalSecondPointOffsetMeters,
+                    eastMeters = 0.0
+                ).longitude,
+                altitude = targetHeight,
+                speed = speed
+            )
+        )
     }
-    val departureOffset = if (targetDistance > TemporaryWaylineDepartureOffsetMeters * 2) {
+    val preferredLeadInDistance = if (groundStart) {
-        TemporaryWaylineDepartureOffsetMeters
+        TemporaryWaylineGroundLeadInDistanceMeters
     } else {
-        min(TemporaryWaylineDepartureOffsetMeters, TemporaryWaylineSamePointThresholdMeters + 1.0)
+        TemporaryWaylineLeadInDistanceMeters
     }
-    val departureLocation = startLocation.offsetBy(
+    val minimumDistinctDistance = if (groundStart) {
-        distanceMeters = departureOffset,
+        TemporaryWaylineGroundLeadInDistanceMeters
-        bearingRadians = bearing
+    } else {
-    )
+        TemporaryWaylineMinimumDistinctWaypointDistanceMeters
+    }
+    val leadInLocation = when {
+        distanceToTarget >= minimumDistinctDistance * 2 -> {
+            val distanceBeforeTarget = preferredLeadInDistance.coerceAtMost(distanceToTarget / 2.0)
+            startLocation.pointAlongTo(
+                targetLocation,
+                distanceFromStartMeters = distanceToTarget - distanceBeforeTarget
+            )
+        }
 
+        distanceToTarget >= minimumDistinctDistance -> {
+            startLocation.pointAlongTo(
+                targetLocation,
+                distanceFromStartMeters = distanceToTarget / 2.0
+            )
+        }
+
+        else -> targetLocation.offsetByMeters(
+            northMeters = minimumDistinctDistance,
+            eastMeters = 0.0
+        )
+    }
     return listOf(
         MissionWaypoint(
-            latitude = departureLocation.latitude,
+            latitude = leadInLocation.latitude,
-            longitude = departureLocation.longitude,
+            longitude = leadInLocation.longitude,
             altitude = targetHeight,
             speed = speed
         ),
@@ -1234,6 +1740,36 @@ private fun temporaryPointFlightWaypoints(
     )
 }
 
+private fun PointFlightStartLocation.pointAlongTo(
+    other: PointFlightStartLocation,
+    distanceFromStartMeters: Double
+): PointFlightStartLocation {
+    val totalDistance = distanceMetersTo(other)
+    if (totalDistance <= 0.01) return offsetByMeters(
+        northMeters = TemporaryWaylineMinimumDistinctWaypointDistanceMeters,
+        eastMeters = 0.0
+    )
+    val fraction = (distanceFromStartMeters / totalDistance).coerceIn(0.0, 1.0)
+    return PointFlightStartLocation(
+        latitude = latitude + (other.latitude - latitude) * fraction,
+        longitude = longitude + (other.longitude - longitude) * fraction
+    )
+}
+
+private fun PointFlightStartLocation.offsetByMeters(
+    northMeters: Double,
+    eastMeters: Double
+): PointFlightStartLocation {
+    val latitudeRadians = latitude.toRadians()
+    val deltaLatitude = northMeters / CoordEarthRadiusMeters * 180.0 / CoordPi
+    val longitudeRadius = CoordEarthRadiusMeters * cos(latitudeRadians).coerceAtLeast(0.01)
+    val deltaLongitude = eastMeters / longitudeRadius * 180.0 / CoordPi
+    return PointFlightStartLocation(
+        latitude = latitude + deltaLatitude,
+        longitude = longitude + deltaLongitude
+    )
+}
+
 private fun PointFlightStartLocation.distanceMetersTo(other: PointFlightStartLocation): Double {
     val lat1 = latitude.toRadians()
     val lat2 = other.latitude.toRadians()
@@ -1245,33 +1781,6 @@ private fun PointFlightStartLocation.distanceMetersTo(other: PointFlightStartLoc
     return 2 * CoordEarthRadiusMeters * atan2(sqrt(normalized), sqrt(1 - normalized))
 }
 
-private fun PointFlightStartLocation.bearingRadiansTo(other: PointFlightStartLocation): Double {
-    val lat1 = latitude.toRadians()
-    val lat2 = other.latitude.toRadians()
-    val dLon = (other.longitude - longitude).toRadians()
-    val y = sin(dLon) * cos(lat2)
-    val x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(dLon)
-    return atan2(y, x)
-}
-
-private fun PointFlightStartLocation.offsetBy(
-    distanceMeters: Double,
-    bearingRadians: Double
-): PointFlightStartLocation {
-    val angularDistance = distanceMeters / CoordEarthRadiusMeters
-    val lat1 = latitude.toRadians()
-    val lon1 = longitude.toRadians()
-    val lat2 = asin(
-        sin(lat1) * cos(angularDistance) +
-            cos(lat1) * sin(angularDistance) * cos(bearingRadians)
-    )
-    val lon2 = lon1 + atan2(
-        sin(bearingRadians) * sin(angularDistance) * cos(lat1),
-        cos(angularDistance) - sin(lat1) * sin(lat2)
-    )
-    return PointFlightStartLocation(lat2.toDegrees(), lon2.toDegrees())
-}
-
 private fun List<MissionWaypoint>.toLogText(): String =
     joinToString(prefix = "[", postfix = "]") {
         "${it.latitude},${it.longitude},${it.altitude}"
@@ -1279,8 +1788,6 @@ private fun List<MissionWaypoint>.toLogText(): String =
 
 private fun Double.toRadians(): Double = this / 180.0 * CoordPi
 
-private fun Double.toDegrees(): Double = this / CoordPi * 180.0
-
 private fun parseFlyToCommand(data: JSONObject): ParsedFlyToCommand? {
     val target = data.optJSONObject("target_location")
         ?: data.optJSONObject("targetLocation")
@@ -1530,6 +2037,12 @@ private fun String.toLookAtMode(): LookAtMode =
         else -> LookAtMode.LOOK_AT_GIMBAL_FREE
     }
 
+private fun StickPosition.isNeutral(deadBand: Int = 0): Boolean =
+    abs(leftHorizontal) <= deadBand &&
+        abs(leftVertical) <= deadBand &&
+        abs(rightHorizontal) <= deadBand &&
+        abs(rightVertical) <= deadBand
+
 private fun JSONObject.hasAny(vararg names: String): Boolean =
     names.any { has(it) && !isNull(it) }
 

sample/src/main/java/com/zklh/dronecontroller/core/livestream/LiveStreamingService.kt

@@ -15,6 +15,7 @@ import dji.v5.manager.datacenter.livestream.LiveVideoBitrateMode
 import dji.v5.manager.datacenter.livestream.StreamQuality
 import dji.v5.manager.datacenter.livestream.settings.RtmpSettings
 import dji.v5.manager.interfaces.ICameraStreamManager
+import java.util.concurrent.atomic.AtomicBoolean
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.flow.MutableStateFlow
 import kotlinx.coroutines.flow.StateFlow
@@ -146,16 +147,29 @@ class LiveStreamingService {
         }
         _state.update { it.copy(busy = true, message = "正在关闭直播", lastError = null) }
         return suspendCancellableCoroutine { continuation ->
+            val resumed = AtomicBoolean(false)
             liveStreamManager().stopStream(object : CommonCallbacks.CompletionCallback {
                 override fun onSuccess() {
+                    if (!resumed.compareAndSet(false, true)) {
+                        Log.w(LiveStreamLogTag, "ignore duplicate stop stream success callback")
+                        return
+                    }
                     _state.update { it.copy(streaming = false, busy = false, message = "直播已关闭", lastError = null) }
-                    continuation.resume(DjiCommandResult.ok("直播已关闭"))
+                    if (continuation.isActive) {
+                        continuation.resume(DjiCommandResult.ok("直播已关闭"))
+                    }
                 }
 
                 override fun onFailure(error: IDJIError) {
+                    if (!resumed.compareAndSet(false, true)) {
+                        Log.w(LiveStreamLogTag, "ignore duplicate stop stream failure callback: $error")
+                        return
+                    }
                     val message = error.toString()
                     _state.update { it.copy(busy = false, lastError = message, message = "关闭直播失败：$message") }
-                    continuation.resume(DjiCommandResult.failed("关闭直播失败：$message"))
+                    if (continuation.isActive) {
+                        continuation.resume(DjiCommandResult.failed("关闭直播失败：$message"))
+                    }
                 }
             })
         }
@@ -219,16 +233,29 @@ class LiveStreamingService {
             )
         }
         return suspendCancellableCoroutine { continuation ->
+            val resumed = AtomicBoolean(false)
             manager.startStream(object : CommonCallbacks.CompletionCallback {
                 override fun onSuccess() {
+                    if (!resumed.compareAndSet(false, true)) {
+                        Log.w(LiveStreamLogTag, "ignore duplicate start stream success callback")
+                        return
+                    }
                     _state.update { it.copy(streaming = true, busy = false, message = "直播已开启", lastError = null) }
-                    continuation.resume(DjiCommandResult.ok("直播已开启"))
+                    if (continuation.isActive) {
+                        continuation.resume(DjiCommandResult.ok("直播已开启"))
+                    }
                 }
 
                 override fun onFailure(error: IDJIError) {
+                    if (!resumed.compareAndSet(false, true)) {
+                        Log.w(LiveStreamLogTag, "ignore duplicate start stream failure callback: $error")
+                        return
+                    }
                     val message = error.toString()
                     _state.update { it.copy(streaming = false, busy = false, lastError = message, message = "开启直播失败：$message") }
-                    continuation.resume(DjiCommandResult.failed("开启直播失败：$message"))
+                    if (continuation.isActive) {
+                        continuation.resume(DjiCommandResult.failed("开启直播失败：$message"))
+                    }
                 }
             })
         }

sample/src/main/java/com/zklh/dronecontroller/core/mission/MissionModels.kt

@@ -7,7 +7,21 @@ data class MissionPlan(
     val takeoffHeight: Double = 20.0,
     val globalHeight: Double = 100.0,
     val finishAction: MissionFinishAction = MissionFinishAction.GoHome,
-    val lostAction: MissionLostAction = MissionLostAction.GoBack
+    val lostAction: MissionLostAction = MissionLostAction.GoBack,
+    val includeGimbalPitch: Boolean = true,
+    val droneInfo: MissionDroneInfo? = null,
+    val payloadInfo: List<MissionPayloadInfo> = emptyList()
+)
+
+data class MissionDroneInfo(
+    val enumValue: Int,
+    val subEnumValue: Int = 0
+)
+
+data class MissionPayloadInfo(
+    val enumValue: Int,
+    val subEnumValue: Int = 0,
+    val positionIndex: Int = 0
 )
 
 data class MissionWaypoint(

sample/src/main/java/com/zklh/dronecontroller/core/mission/WaypointMissionService.kt

@@ -1,15 +1,22 @@
 package com.zklh.dronecontroller.core.mission
 
+import android.util.Log
 import com.zklh.dronecontroller.core.msdk.DjiCommandResult
 import com.zklh.dronecontroller.core.safety.SafetyInterlock
 import dji.v5.common.callback.CommonCallbacks
 import dji.v5.common.error.IDJIError
+import dji.v5.manager.aircraft.waypoint3.WaylineExecutingInfoListener
 import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager
+import dji.v5.manager.aircraft.waypoint3.model.WaylineExecutingInfo
 import java.io.File
 import kotlin.coroutines.resume
 import kotlinx.coroutines.suspendCancellableCoroutine
 
 class WaypointMissionService {
+    init {
+        installWaypointDebugListenersOnce()
+    }
+
     fun uploadKmzFile(
         kmzPath: String,
         onUpdate: (MissionUploadUpdate) -> Unit
@@ -118,6 +125,41 @@ class WaypointMissionService {
 
     fun missionIdFromPath(path: String): String = File(path).nameWithoutExtension
 
+    private fun installWaypointDebugListenersOnce() {
+        synchronized(WaypointListenerLock) {
+            if (waypointDebugListenersInstalled) return
+            waypointDebugListenersInstalled = true
+        }
+        runCatching {
+            WaypointMissionManager.getInstance().addWaypointMissionExecuteStateListener { state ->
+                Log.d(WaypointMissionLogTag, "execute state=${state?.name ?: state}")
+            }
+            WaypointMissionManager.getInstance().addWaylineExecutingInfoListener(
+                object : WaylineExecutingInfoListener {
+                    override fun onWaylineExecutingInfoUpdate(info: WaylineExecutingInfo) {
+                        Log.d(
+                            WaypointMissionLogTag,
+                            "executing info mission=${info.missionFileName} waylineId=${info.waylineID} " +
+                                "waypointIndex=${info.currentWaypointIndex}"
+                        )
+                    }
+
+                    override fun onWaylineExecutingInterruptReasonUpdate(error: IDJIError?) {
+                        if (error != null) {
+                            Log.e(
+                                WaypointMissionLogTag,
+                                "executing interrupt code=${error.errorCode()} description=${error.description()} raw=$error"
+                            )
+                        }
+                    }
+                }
+            )
+            Log.d(WaypointMissionLogTag, "waypoint debug listeners installed")
+        }.onFailure { error ->
+            Log.w(WaypointMissionLogTag, "install waypoint debug listeners failed: ${error.message}", error)
+        }
+    }
+
     private fun callback(
         continuation: kotlinx.coroutines.CancellableContinuation<DjiCommandResult>,
         successMessage: String
@@ -132,4 +174,11 @@ class WaypointMissionService {
             }
         }
     }
+
+    private companion object {
+        private const val WaypointMissionLogTag = "ZklhWaypointMission"
+        private val WaypointListenerLock = Any()
+        @Volatile
+        private var waypointDebugListenersInstalled = false
+    }
 }

sample/src/main/java/com/zklh/dronecontroller/core/mission/WpmlKmzBuilder.kt

@@ -21,6 +21,7 @@ import dji.sdk.wpmz.value.mission.WaylineAltitudeMode
 import dji.sdk.wpmz.value.mission.WaylineCoordinateMode
 import dji.sdk.wpmz.value.mission.WaylineCoordinateParam
 import dji.sdk.wpmz.value.mission.WaylineDroneInfo
+import dji.sdk.wpmz.value.mission.WaylineDroneType
 import dji.sdk.wpmz.value.mission.WaylineExitOnRCLostAction
 import dji.sdk.wpmz.value.mission.WaylineExitOnRCLostBehavior
 import dji.sdk.wpmz.value.mission.WaylineFinishedAction
@@ -32,6 +33,7 @@ import dji.sdk.wpmz.value.mission.WaylineMission
 import dji.sdk.wpmz.value.mission.WaylineMissionConfig
 import dji.sdk.wpmz.value.mission.WaylinePayloadInfo
 import dji.sdk.wpmz.value.mission.WaylinePayloadParam
+import dji.sdk.wpmz.value.mission.WaylinePayloadType
 import dji.sdk.wpmz.value.mission.WaylinePositioningType
 import dji.sdk.wpmz.value.mission.WaylineTemplateWaypointInfo
 import dji.sdk.wpmz.value.mission.WaylineWaypoint
@@ -65,13 +67,13 @@ class WpmlKmzBuilder {
         return WaylineMissionConfig().apply {
             flyToWaylineMode = WaylineFlyToWaylineMode.SAFELY
             finishAction = plan.finishAction.toDji()
-            droneInfo = WaylineDroneInfo()
+            droneInfo = plan.droneInfo.toDji()
             securityTakeOffHeight = plan.takeoffHeight
             isSecurityTakeOffHeightSet = true
             exitOnRCLostBehavior = WaylineExitOnRCLostBehavior.EXCUTE_RC_LOST_ACTION
             exitOnRCLostType = plan.lostAction.toDji()
             globalTransitionalSpeed = plan.globalSpeed
-            payloadInfo = ArrayList<WaylinePayloadInfo>()
+            payloadInfo = ArrayList(plan.payloadInfo.map { it.toDji() })
         }
     }
 
@@ -117,7 +119,11 @@ class WpmlKmzBuilder {
                 )
             }
             isTemplateGlobalYawParamSet = true
-            pitchMode = WaylineWaypointPitchMode.USE_POINT_SETTING
+            pitchMode = if (plan.includeGimbalPitch) {
+                WaylineWaypointPitchMode.USE_POINT_SETTING
+            } else {
+                WaylineWaypointPitchMode.MANUALLY
+            }
         }
     }
 
@@ -133,7 +139,9 @@ class WpmlKmzBuilder {
             ellipsoidHeight = point.altitude
             speed = point.speed ?: plan.globalSpeed
             useGlobalTurnParam = true
-            gimbalPitchAngle = point.gimbalPitch
+            if (plan.includeGimbalPitch) {
+                gimbalPitchAngle = point.gimbalPitch
+            }
             yawParam = WaylineWaypointYawParam().apply {
                 enableYawAngle = point.heading != null
                 yawAngle = point.heading ?: 0.0
@@ -264,4 +272,22 @@ class WpmlKmzBuilder {
             MissionLostAction.Hover -> WaylineExitOnRCLostAction.HOVER
         }
     }
+
+    private fun MissionDroneInfo?.toDji(): WaylineDroneInfo {
+        return WaylineDroneInfo().apply {
+            this@toDji?.let { info ->
+                droneType = WaylineDroneType.find(info.enumValue)
+                droneSubType = info.subEnumValue
+            }
+        }
+    }
+
+    private fun MissionPayloadInfo.toDji(): WaylinePayloadInfo {
+        return WaylinePayloadInfo().apply {
+            payloadType = WaylinePayloadType.find(enumValue)
+            payloadSubType = subEnumValue
+            payloadPositionIndex = positionIndex
+            isPayloadPositionIndexSet = true
+        }
+    }
 }

sample/src/main/java/com/zklh/dronecontroller/core/telemetry/TelemetryRepository.kt

@@ -995,7 +995,14 @@ class TelemetryRepository(
             return
         }
         val source = state.rtkReferenceStationSource ?: return
-        if (!source.isNetworkRtkSource() || rtkServiceStarted) return
+        if (!source.isNetworkRtkSource()) return
+        if (rtkServiceStarted) {
+            rtkServiceStarted = false
+            Log.d(
+                TelemetryLogTag,
+                "RTK network service became unhealthy; mark service stale and restart current source=$source"
+            )
+        }
         val now = System.currentTimeMillis()
         if (rtkStartInProgress || now - lastRtkStartAtMs < RTK_START_RETRY_INTERVAL_MS) return
         Log.d(TelemetryLogTag, "restore existing RTK network service source=$source")

sample/src/main/java/com/zklh/dronecontroller/ui/DroneControllerScreen.kt

@@ -322,6 +322,8 @@ fun DroneControllerScreen() {
     val liveStreaming = remember { LiveStreamingService() }
     val simulator = remember { SimulatorService() }
     val warningRepository = remember { DroneWarningRepository() }
+    val warningState by warningRepository.state.collectAsState()
+    val latestWarningState by rememberUpdatedState(warningState)
     val cloudLoginClient = remember { CloudLoginClient() }
     val cloudMqttService = remember { CloudMqttService(cloudLoginClient) }
     val cloudMediaUpload = remember(appContext, cloudMqttService) {
@@ -337,12 +339,12 @@ fun DroneControllerScreen() {
             waypointMission = waypointMission,
             mediaUpload = cloudMediaUpload,
             telemetryProvider = { latestTelemetry },
+            warningProvider = { latestWarningState },
             progressPublisher = cloudMqttService
         )
     }
     val stickStatus by virtualStick.status.collectAsState()
     val simulatorStatus by simulator.status.collectAsState()
-    val warningState by warningRepository.state.collectAsState()
     val cloudState by cloudMqttService.state.collectAsState()
     val liveState by liveStreaming.state.collectAsState()