支持 Pilot2 上云：云控授权、DRC 设备 Broker 与 RC 飞控分支。

对 Pilot RC 走 cloud_control_auth；DRC 区分 Web WSS 与设备 MQTT；拒发无应答的 flighttask；增强枚举/OSD 容错。 Co-authored-by: Cursor <cursoragent@cursor.com>

支持 Pilot2 上云：云控授权、DRC 设备 Broker 与 RC 飞控分支。
对 Pilot RC 走 cloud_control_auth；DRC 区分 Web WSS 与设备 MQTT；拒发无应答的 flighttask；增强枚举/OSD 容错。 Co-authored-by: Cursor <cursoragent@cursor.com>
b1d18fde · 真的三个金的鑫 · 24356261 · b1d18fde · b1d18fde · b1d18fde
Commit b1d18fde authored Aug 03, 2026 by 真的三个金的鑫
46 changed files
--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/CloudControlAuthRequest.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/CloudControlAuthRequest.java
+package com.dji.sdk.cloudapi.control;
+import com.dji.sdk.common.BaseModel;
+import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Size;
+import java.util.List;
+/**
+ * Pilot 云端申请飞行控制权：cloud_control_auth_request
+ * @see <a href="https://developer.dji.com/doc/cloud-api-tutorial/cn/api-reference/pilot-to-cloud/mqtt/rc-pro/drc.html">Pilot DRC</a>
+ */
+public class CloudControlAuthRequest extends BaseModel {
+    @NotNull
+    private String userId;
+    @NotNull
+    private String userCallsign;
+    @NotNull
+    @Size(min = 1)
+    private List<String> controlKeys;
+    public CloudControlAuthRequest() {
+    }
+    public String getUserId() {
+        return userId;
+    }
+    public CloudControlAuthRequest setUserId(String userId) {
+        this.userId = userId;
+        return this;
+    }
+    public String getUserCallsign() {
+        return userCallsign;
+    }
+    public CloudControlAuthRequest setUserCallsign(String userCallsign) {
+        this.userCallsign = userCallsign;
+        return this;
+    }
+    public List<String> getControlKeys() {
+        return controlKeys;
+    }
+    public CloudControlAuthRequest setControlKeys(List<String> controlKeys) {
+        this.controlKeys = controlKeys;
+        return this;
+    }
+    @Override
+    public String toString() {
+        return "CloudControlAuthRequest{" +
+                "userId='" + userId + '\'' +
+                ", userCallsign='" + userCallsign + '\'' +
+                ", controlKeys=" + controlKeys +
+                '}';
+    }
+}
--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/CloudControlReleaseRequest.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/CloudControlReleaseRequest.java
+package com.dji.sdk.cloudapi.control;
+import com.dji.sdk.common.BaseModel;
+import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Size;
+import java.util.List;
+/**
+ * Pilot 释放云端控制权：cloud_control_release
+ */
+public class CloudControlReleaseRequest extends BaseModel {
+    @NotNull
+    @Size(min = 1)
+    private List<String> controlKeys;
+    public CloudControlReleaseRequest() {
+    }
+    public List<String> getControlKeys() {
+        return controlKeys;
+    }
+    public CloudControlReleaseRequest setControlKeys(List<String> controlKeys) {
+        this.controlKeys = controlKeys;
+        return this;
+    }
+    @Override
+    public String toString() {
+        return "CloudControlReleaseRequest{" +
+                "controlKeys=" + controlKeys +
+                '}';
+    }
+}
--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/ControlErrorCodeEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/ControlErrorCodeEnum.java
@@ -46,15 +46,15 @@ public enum ControlErrorCodeEnum implements IServicesErrorCode, IEventsErrorCode
    WRONG_LENS_TYPE(327015, "Invalid camera lens type."),
-    DRC_ABNORMAL(514300, "DRC abnormal."),
+    DRC_ABNORMAL(514300, "Gateway error."),
-    DRC_HEARTBEAT_TIMED_OUT(514301, "DRC heartbeat timed out."),
+    DRC_HEARTBEAT_TIMED_OUT(514301, "Request timed out. Disconnected."),
-    DRC_CERTIFICATE_ABNORMAL(514302, "DRC certificate is abnormal."),
+    DRC_CERTIFICATE_ABNORMAL(514302, "Network certificate error. Connection failed."),
-    DRC_LINK_LOST(514303, "DRC link is lost."),
+    DRC_LINK_LOST(514303, "Network error. Disconnected."),
-    DRC_LINK_REFUSED(514304, "DRC link is refused."),
+    DRC_LINK_REFUSED(514304, "Request rejected. Connection failed."),
    UNKNOWN(-1, "UNKNOWN"),

--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/ControlMethodEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/ControlMethodEnum.java
@@ -11,6 +11,10 @@ public enum ControlMethodEnum {
    PAYLOAD_AUTHORITY_GRAB("payload_authority_grab"),
+    CLOUD_CONTROL_AUTH_REQUEST("cloud_control_auth_request"),
+    CLOUD_CONTROL_RELEASE("cloud_control_release"),
    DRC_MODE_ENTER("drc_mode_enter"),
    DRC_MODE_EXIT("drc_mode_exit"),

--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/DrcStatusErrorEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/DrcStatusErrorEnum.java
@@ -15,15 +15,15 @@ public enum DrcStatusErrorEnum implements IErrorInfo {
    SUCCESS(0, "success"),
-    MQTT_ERR(514300, "The mqtt connection error."),
+    MQTT_ERR(514300, "Gateway error."),
-    HEARTBEAT_TIMEOUT(514301, "The heartbeat times out and the dock disconnects."),
+    HEARTBEAT_TIMEOUT(514301, "Request timed out. Disconnected."),
-    MQTT_CERTIFICATE_ERR(514302, "The mqtt certificate is abnormal and the connection fails."),
+    MQTT_CERTIFICATE_ERR(514302, "Network certificate error. Connection failed."),
-    MQTT_LOST(514303, "The dock network is abnormal and the mqtt connection is lost."),
+    MQTT_LOST(514303, "Network error. Disconnected."),
-    MQTT_REFUSE(514304, "The dock connection to mqtt server was refused.");
+    MQTT_REFUSE(514304, "Request rejected. Connection failed.");
    private final String msg;

--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/api/AbstractControlService.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/control/api/AbstractControlService.java
@@ -90,7 +90,7 @@ public abstract class AbstractControlService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flightAuthorityGrab(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -103,7 +103,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> payloadAuthorityGrab(GatewayManager gateway, PayloadAuthorityGrabRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -112,12 +112,37 @@ public abstract class AbstractControlService {
    }
    /**
+     * Pilot：请求遥控器授权云端控制（遥控器弹窗确认）
+     * 超时放宽：飞手需在 Pilot 上点同意，默认 3s 不够。
+     */
+    @CloudSDKVersion
+    public TopicServicesResponse<ServicesReplyData> cloudControlAuthRequest(GatewayManager gateway, CloudControlAuthRequest request) {
+        return servicesPublish.publish(
+                gateway.getGatewaySn(),
+                ControlMethodEnum.CLOUD_CONTROL_AUTH_REQUEST.getMethod(),
+                request,
+                1,
+                30_000L);
+    }
+    /**
+     * Pilot：释放云端控制授权
+     */
+    @CloudSDKVersion
+    public TopicServicesResponse<ServicesReplyData> cloudControlRelease(GatewayManager gateway, CloudControlReleaseRequest request) {
+        return servicesPublish.publish(
+                gateway.getGatewaySn(),
+                ControlMethodEnum.CLOUD_CONTROL_RELEASE.getMethod(),
+                request);
+    }
+    /**
     * Enter the live flight controls mode
     * @param gateway
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> drcModeEnter(GatewayManager gateway, DrcModeEnterRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -130,7 +155,7 @@ public abstract class AbstractControlService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> drcModeExit(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -143,7 +168,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> takeoffToPoint(GatewayManager gateway, TakeoffToPointRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -157,7 +182,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flyToPoint(GatewayManager gateway, FlyToPointRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -184,7 +209,7 @@ public abstract class AbstractControlService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flyToPointStop(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -197,7 +222,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraModeSwitch(GatewayManager gateway, CameraModeSwitchRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -211,7 +236,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraPhotoTake(GatewayManager gateway, CameraPhotoTakeRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -252,7 +277,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraRecordingStart(GatewayManager gateway, CameraRecordingStartRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -266,7 +291,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraRecordingStop(GatewayManager gateway, CameraRecordingStopRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -280,7 +305,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraAim(GatewayManager gateway, CameraAimRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -294,7 +319,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraScreenDrag(GatewayManager gateway, CameraScreenDragRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -308,7 +333,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraFrameZoom(GatewayManager gateway, CameraFrameZoomRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -322,7 +347,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> cameraFocalLengthSet(GatewayManager gateway, CameraFocalLengthSetRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -336,7 +361,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> gimbalReset(GatewayManager gateway, GimbalResetRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -352,7 +377,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0, exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    public TopicServicesResponse<ServicesReplyData> cameraLookAt(GatewayManager gateway, CameraLookAtRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -366,7 +391,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0, exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    public TopicServicesResponse<ServicesReplyData> cameraScreenSplit(GatewayManager gateway, CameraScreenSplitRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -380,7 +405,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0, exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    public TopicServicesResponse<ServicesReplyData> photoStorageSet(GatewayManager gateway, PhotoStorageSetRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -394,7 +419,7 @@ public abstract class AbstractControlService {
     * @param request   data
     * @return  services_reply
     */
-    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0, exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    public TopicServicesResponse<ServicesReplyData> videoStorageSet(GatewayManager gateway, VideoStorageSetRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -590,7 +615,7 @@ public abstract class AbstractControlService {
     * @param gateway
     * @param request   data
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    protected void droneControlDown(GatewayManager gateway, DroneControlRequest request) {
        drcDownPublish.publish(
                gateway.getGatewaySn(),
@@ -613,7 +638,7 @@ public abstract class AbstractControlService {
     * DRC-drone emergency stop
     * @param gateway
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public void droneEmergencyStopDown(GatewayManager gateway) {
        drcDownPublish.publish(
                gateway.getGatewaySn(),
@@ -637,7 +662,7 @@ public abstract class AbstractControlService {
     * @param gateway
     * @param request   data
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public void heartBeatDown(GatewayManager gateway, HeartBeatRequest request) {
        drcDownPublish.publish(
                gateway.getGatewaySn(),

--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/device/api/AbstractDeviceService.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/device/api/AbstractDeviceService.java
@@ -168,7 +168,7 @@ public class AbstractDeviceService {
     */
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_WPMZ_VERSION)
    public void dockWpmzVersionUpdate(TopicStateRequest<DockDroneWpmzVersion> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockWpmzVersionUpdate not implemented");
+        // 默认 no-op；业务实现见 sample SDKDeviceService
    }
    /**
@@ -178,7 +178,7 @@ public class AbstractDeviceService {
     */
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_THERMAL_SUPPORTED_PALETTE_STYLE)
    public void dockThermalSupportedPaletteStyle(TopicStateRequest<DockDroneThermalSupportedPaletteStyle> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockThermalSupportedPaletteStyle not implemented");
+        // optional property; ignore if not consumed by business
    }
    /**
@@ -190,7 +190,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_RTH_MODE, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockDroneRthMode(TopicStateRequest<DockDroneRthMode> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockRthMode not implemented");
+        return ackState();
    }
    /**
@@ -201,7 +201,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_CURRENT_RTH_MODE, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockDroneCurrentRthMode(TopicStateRequest<DockDroneCurrentRthMode> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockCurrentRthMode not implemented");
+        return ackState();
    }
    /**
@@ -212,7 +212,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_COMMANDER_MODE_LOST_ACTION, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockDroneCommanderModeLostAction(TopicStateRequest<DockDroneCommanderModeLostAction> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockDroneCommanderModeLostAction not implemented");
+        return ackState();
    }
    /**
@@ -223,7 +223,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_CURRENT_COMMANDER_FLIGHT_MODE, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockDroneCurrentCommanderFlightMode(TopicStateRequest<DockDroneCurrentCommanderFlightMode> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockDroneCurrentCommanderFlightMode not implemented");
+        return ackState();
    }
    /**
@@ -235,7 +235,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_COMMANDER_FLIGHT_HEIGHT, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockDroneCommanderFlightHeight(TopicStateRequest<DockDroneCommanderFlightHeight> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockDroneCommanderFlightHeight not implemented");
+        return ackState();
    }
    /**
@@ -246,7 +246,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_DRONE_MODE_CODE_REASON, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockDroneModeCodeReason(TopicStateRequest<DockDroneModeCodeReason> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockDroneModeCodeReason not implemented");
+        return ackState();
    }
    /**
@@ -257,7 +257,7 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_1, include = GatewayTypeEnum.DOCK2)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_AND_DRONE_DONGLE_INFOS, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dongleInfos(TopicStateRequest<DongleInfos> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dongleInfos not implemented");
+        return ackState();
    }
    /**
@@ -268,7 +268,11 @@ public class AbstractDeviceService {
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_2, include = GatewayTypeEnum.DOCK)
    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_SILENT_MODE, outputChannel = ChannelName.OUTBOUND_STATE)
    public TopicStateResponse<MqttReply> dockSilentMode(TopicStateRequest<DockSilentMode> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("dockSilentMode not implemented");
+        return ackState();
+    }
+    private static TopicStateResponse<MqttReply> ackState() {
+        return new TopicStateResponse<MqttReply>().setData(MqttReply.success());
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/livestream/VideoTypeEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/livestream/VideoTypeEnum.java
 package com.dji.sdk.cloudapi.livestream;
-import com.dji.sdk.exception.CloudSDKException;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonValue;
@@ -23,7 +22,10 @@ public enum VideoTypeEnum {
    POINT_CLOUD("point_cloud"),
-    IR("ir");
+    IR("ir"),
+    /** 停流或固件未填 video_type 时常见为空串 */
+    UNKNOWN("");
    private final String type;
@@ -39,6 +41,6 @@ public enum VideoTypeEnum {
    @JsonCreator
    public static VideoTypeEnum find(String videoType) {
        return Arrays.stream(values()).filter(typeEnum -> typeEnum.type.equals(videoType)).findAny()
-                .orElseThrow(() -> new CloudSDKException(VideoTypeEnum.class , videoType));
+                .orElse(UNKNOWN);
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/wayline/LastPointTypeEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/wayline/LastPointTypeEnum.java
 package com.dji.sdk.cloudapi.wayline;
-import com.dji.sdk.exception.CloudSDKException;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonValue;
@@ -17,7 +16,8 @@ public enum LastPointTypeEnum {
    NOT_OVER_THE_HOME_POINT(1),
-    ;
+    /** 固件未就绪/无效时常见哨兵值（如 65535） */
+    UNKNOWN(65535);
    private final int type;
@@ -33,7 +33,7 @@ public enum LastPointTypeEnum {
    @JsonCreator
    public static LastPointTypeEnum find(int type) {
        return Arrays.stream(values()).filter(typeEnum -> typeEnum.type == type).findAny()
-            .orElseThrow(() -> new CloudSDKException(LastPointTypeEnum.class, type));
+                .orElse(UNKNOWN);
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/wayline/api/AbstractWaylineService.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/cloudapi/wayline/api/AbstractWaylineService.java
@@ -43,7 +43,7 @@ public abstract class AbstractWaylineService {
     */
    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DEVICE_EXIT_HOMING_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public TopicEventsResponse<MqttReply> deviceExitHomingNotify(TopicEventsRequest<DeviceExitHomingNotify> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("deviceExitHomingNotify not implemented");
+        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
    }
    /**
@@ -73,7 +73,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(deprecated = CloudSDKVersionEnum.V0_0_1, exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(deprecated = CloudSDKVersionEnum.V0_0_1)
    public TopicServicesResponse<ServicesReplyData> flighttaskCreate(GatewayManager gateway, FlighttaskCreateRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -86,7 +86,8 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    /** Pilot RC 可作为网关接收航线任务（模拟机场）；设备固件需实测是否响应 */
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flighttaskPrepare(GatewayManager gateway, FlighttaskPrepareRequest request) {
        validPrepareParam(request);
        return servicesPublish.publish(
@@ -101,7 +102,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flighttaskExecute(GatewayManager gateway, FlighttaskExecuteRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -115,7 +116,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flighttaskUndo(GatewayManager gateway, FlighttaskUndoRequest request) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -128,7 +129,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flighttaskPause(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -140,7 +141,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> flighttaskRecovery(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -152,7 +153,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> returnHome(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -164,7 +165,7 @@ public abstract class AbstractWaylineService {
     * @param gateway
     * @return  services_reply
     */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion
    public TopicServicesResponse<ServicesReplyData> returnHomeCancel(GatewayManager gateway) {
        return servicesPublish.publish(
                gateway.getGatewaySn(),
@@ -190,8 +191,8 @@ public abstract class AbstractWaylineService {
     */
    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_RETURN_HOME_INFO, outputChannel = ChannelName.OUTBOUND_EVENTS)
    @CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
-    public TopicRequestsResponse<MqttReply> returnHomeInfo(TopicRequestsRequest<ReturnHomeInfo> request, MessageHeaders headers) {
+    public TopicEventsResponse<MqttReply> returnHomeInfo(TopicEventsRequest<ReturnHomeInfo> request, MessageHeaders headers) {
-        throw new UnsupportedOperationException("returnHomeInfo not implemented");
+        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
    }
    private void validPrepareParam(FlighttaskPrepareRequest request) {

--- a/cloud-sdk/src/main/java/com/dji/sdk/common/SDKManager.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/common/SDKManager.java
@@ -10,6 +10,7 @@ import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import java.util.Objects;
+import java.util.Optional;
 import java.util.concurrent.ConcurrentHashMap;
 /**
@@ -24,6 +25,14 @@ public class SDKManager {
    private static final ConcurrentHashMap<String, GatewayManager> SDK_MAP = new ConcurrentHashMap<>(16);
+    public static boolean isRegistered(String gatewaySn) {
+        return gatewaySn != null && SDK_MAP.containsKey(gatewaySn);
+    }
+    public static Optional<GatewayManager> findDeviceSDK(String gatewaySn) {
+        return Optional.ofNullable(SDK_MAP.get(gatewaySn));
+    }
    public static GatewayManager getDeviceSDK(String gatewaySn) {
        if (SDK_MAP.containsKey(gatewaySn)) {
            return SDK_MAP.get(gatewaySn);

--- a/cloud-sdk/src/main/java/com/dji/sdk/config/version/Dock2ThingVersionEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/config/version/Dock2ThingVersionEnum.java
 package com.dji.sdk.config.version;
-import com.dji.sdk.exception.CloudSDKVersionException;
 import com.fasterxml.jackson.annotation.JsonValue;
 import java.util.Arrays;
@@ -71,6 +70,8 @@ public enum Dock2ThingVersionEnum implements IThingVersion {
    public static Dock2ThingVersionEnum find(String thingVersion) {
        return Arrays.stream(values()).filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion))
-                .findAny().orElseThrow(() -> new CloudSDKVersionException(thingVersion));
+                .findAny()
+                // null/未知物模型版本：回落最新，避免重启临时注册或 Redis 缺版本时直接炸
+                .orElse(values()[values().length - 1]);
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/config/version/Dock3ThingVersionEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/config/version/Dock3ThingVersionEnum.java
 package com.dji.sdk.config.version;
-import com.dji.sdk.exception.CloudSDKVersionException;
 import com.fasterxml.jackson.annotation.JsonValue;
 import java.util.Arrays;
@@ -64,6 +63,7 @@ public enum Dock3ThingVersionEnum implements IThingVersion {
    public static Dock3ThingVersionEnum find(String thingVersion) {
        return Arrays.stream(values()).filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion))
-                .findAny().orElseThrow(() -> new CloudSDKVersionException(thingVersion));
+                .findAny()
+                .orElse(values()[values().length - 1]);
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/config/version/DockThingVersionEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/config/version/DockThingVersionEnum.java
 package com.dji.sdk.config.version;
-import com.dji.sdk.exception.CloudSDKVersionException;
 import com.fasterxml.jackson.annotation.JsonValue;
 import java.util.Arrays;
@@ -74,6 +73,7 @@ public enum DockThingVersionEnum implements IThingVersion {
    public static DockThingVersionEnum find(String thingVersion) {
        return Arrays.stream(values()).filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion))
-                .findAny().orElseThrow(() -> new CloudSDKVersionException(thingVersion));
+                .findAny()
+                .orElse(values()[values().length - 1]);
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/config/version/DroneThingVersionEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/config/version/DroneThingVersionEnum.java
 package com.dji.sdk.config.version;
-import com.dji.sdk.exception.CloudSDKVersionException;
 import com.fasterxml.jackson.annotation.JsonValue;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
 import java.util.Arrays;
 import java.util.Optional;
@@ -65,8 +62,6 @@ public enum DroneThingVersionEnum implements IThingVersion {
    V1_2_3("1.2.3", CloudSDKVersionEnum.V1_0_3),
    ;
-    private static final Logger log = LoggerFactory.getLogger(DroneThingVersionEnum.class);
    private final String thingVersion;
    private final CloudSDKVersionEnum cloudSDKVersion;
@@ -88,9 +83,6 @@ public enum DroneThingVersionEnum implements IThingVersion {
    public static DroneThingVersionEnum find(String thingVersion) {
        Optional<DroneThingVersionEnum> opt = Arrays.stream(values())
                .filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion)).findAny();
-        if (opt.isPresent()) {
+        return opt.orElse(values()[values().length - 1]);
-            return opt.get();
-        }
-        throw new CloudSDKVersionException(thingVersion);
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/config/version/GatewayManager.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/config/version/GatewayManager.java
@@ -29,10 +29,7 @@ public class GatewayManager {
    public GatewayManager(String gatewaySn, String droneSn, GatewayTypeEnum gatewayType, String gatewayThingVersion, String droneThingVersion) {
        this(gatewaySn, droneSn, gatewayType);
        this.gatewayThingVersion = new GatewayThingVersion(gatewayType, gatewayThingVersion);
-        if (GatewayTypeEnum.RC == gatewayType) {
+        // Pilot RC 作为虚拟机场时，按物模型版本计算 CloudSDK 版本，避免被钉死在 V0_0_1 而无法下发航线/飞控
-            this.sdkVersion = CloudSDKVersionEnum.V0_0_1;
-            return;
-        }
        if (Objects.isNull(droneThingVersion)) {
            this.sdkVersion = this.gatewayThingVersion.getCloudSDKVersion();
            return;

--- a/cloud-sdk/src/main/java/com/dji/sdk/mqtt/osd/OsdRouter.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/mqtt/osd/OsdRouter.java
@@ -2,11 +2,14 @@ package com.dji.sdk.mqtt.osd;
 import com.dji.sdk.cloudapi.device.PayloadModelConst;
 import com.dji.sdk.common.Common;
-import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.SDKManager;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.ChannelName;
 import com.fasterxml.jackson.core.type.TypeReference;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.integration.dsl.IntegrationFlow;
@@ -31,6 +34,8 @@ import static com.dji.sdk.mqtt.TopicConst.*;
 @Configuration
 public class OsdRouter {
+    private static final Logger log = LoggerFactory.getLogger(OsdRouter.class);
    @Bean
    public IntegrationFlow osdRouterFlow() {
        return IntegrationFlows
@@ -45,9 +50,10 @@ public class OsdRouter {
                    }
                }, null)
                .<TopicOsdRequest>handle((response, headers) -> {
-                    GatewayManager gateway = SDKManager.getDeviceSDK(response.getGateway());
-                    OsdDeviceTypeEnum typeEnum = OsdDeviceTypeEnum.find(gateway.getType(), response.getFrom().equals(response.getGateway()));
                    Map<String, Object> data = (Map<String, Object>) response.getData();
+                    boolean isGateway = response.getFrom().equals(response.getGateway());
+                    GatewayTypeEnum gatewayType = resolveGatewayType(response.getGateway(), isGateway, data);
+                    OsdDeviceTypeEnum typeEnum = OsdDeviceTypeEnum.find(gatewayType, isGateway);
                    if (!typeEnum.isGateway()) {
                        List payloadData = (List) data.getOrDefault(PayloadModelConst.PAYLOAD_KEY, new ArrayList<>());
                        PayloadModelConst.getAllIndexWithPosition().stream().filter(data::containsKey)
@@ -61,4 +67,34 @@ public class OsdRouter {
                .get();
    }
+    /**
+     * 优先用已注册网关类型；未注册时（重启后 status 尚未回来）仅按 OSD 字段推断，
+     * 不调用 registerDevice(null thingVersion)，避免 CloudSDKVersionException。
+     * 正式注册交给 osd* 里的 recoverDeviceOnline / update_topo。
+     */
+    private GatewayTypeEnum resolveGatewayType(String gatewaySn, boolean isGateway, Map<String, Object> data) {
+        return SDKManager.findDeviceSDK(gatewaySn)
+                .map(GatewayManager::getType)
+                .orElseGet(() -> {
+                    GatewayTypeEnum inferred = inferGatewayType(data, isGateway);
+                    log.debug("OSD from unregistered gateway {}, infer type {}", gatewaySn, inferred);
+                    return inferred;
+                });
+    }
+    private static GatewayTypeEnum inferGatewayType(Map<String, Object> data, boolean isGatewayPayload) {
+        boolean looksLikeDock = data.containsKey("drone_in_dock")
+                || data.containsKey("cover_state")
+                || data.containsKey("flighttask_step_code")
+                || data.containsKey("drone_charge_state")
+                || data.containsKey("air_conditioner")
+                || data.containsKey("job_number")
+                || data.containsKey("backup_battery")
+                || data.containsKey("alternate_land_point");
+        if (looksLikeDock || !isGatewayPayload) {
+            return GatewayTypeEnum.DOCK2;
+        }
+        return GatewayTypeEnum.RC;
+    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/mqtt/state/DockStateDataKeyEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/mqtt/state/DockStateDataKeyEnum.java
@@ -6,7 +6,8 @@ import com.dji.sdk.cloudapi.property.DockDroneCommanderFlightHeight;
 import com.dji.sdk.cloudapi.property.DockDroneCommanderModeLostAction;
 import com.dji.sdk.cloudapi.property.DockDroneOfflineMapEnable;
 import com.dji.sdk.cloudapi.property.DockDroneRthMode;
-import com.dji.sdk.exception.CloudSDKException;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import java.util.Arrays;
 import java.util.Collections;
@@ -50,8 +51,16 @@ public enum DockStateDataKeyEnum {
    SILENT_MODE(Set.of("silent_mode"), DockSilentMode.class),
+    /** 图传拓扑（多机场等）；暂无业务消费，走 DEFAULT */
+    WIRELESS_LINK_TOPO(Set.of("wireless_link_topo", "wireless_link_topo_all"), Object.class),
+    /** 固件新增未收录字段：不抛异常，路由到 DEFAULT */
+    UNKNOWN(Collections.emptySet(), Object.class),
    ;
+    private static final Logger log = LoggerFactory.getLogger(DockStateDataKeyEnum.class);
    private final Set<String> keys;
    private final Class classType;
@@ -71,8 +80,13 @@ public enum DockStateDataKeyEnum {
    }
    public static DockStateDataKeyEnum find(Set<String> keys) {
-        return Arrays.stream(values()).filter(keyEnum -> !Collections.disjoint(keys, keyEnum.keys)).findAny()
+        return Arrays.stream(values())
-                .orElseThrow(() -> new CloudSDKException(DockStateDataKeyEnum.class, keys));
+                .filter(keyEnum -> keyEnum != UNKNOWN && !Collections.disjoint(keys, keyEnum.keys))
+                .findAny()
+                .orElseGet(() -> {
+                    log.debug("Dock state unknown keys {}, route to DEFAULT", keys);
+                    return UNKNOWN;
+                });
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/mqtt/state/RcStateDataKeyEnum.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/mqtt/state/RcStateDataKeyEnum.java
@@ -2,7 +2,8 @@ package com.dji.sdk.mqtt.state;
 import com.dji.sdk.cloudapi.device.*;
 import com.dji.sdk.cloudapi.livestream.RcLivestreamAbilityUpdate;
-import com.dji.sdk.exception.CloudSDKException;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import java.util.Arrays;
 import java.util.Collections;
@@ -25,8 +26,28 @@ public enum RcStateDataKeyEnum {
    LIVE_STATUS(Set.of("live_status"), RcLiveStatus.class),
    PAYLOAD_FIRMWARE(PayloadModelConst.getAllModelWithPosition(), PayloadFirmwareVersion.class),
+    /** RC / 飞行器也会上报 4G Dongle；与机场共用 DongleInfos 模型 */
+    DONGLE_INFOS(Set.of("dongle_infos"), DongleInfos.class),
+    /** Pilot/机场共用：当前指点飞模式 */
+    CURRENT_COMMANDER_FLIGHT_MODE(Set.of("current_commander_flight_mode"), Object.class),
+    /**
+     * Pilot 云端控制授权状态（文档亦见 is_cloud_control_auth）。
+     * 暂无强类型消费，走 DEFAULT，避免刷 ERROR。
+     */
+    CLOUD_CONTROL_AUTH(Set.of("cloud_control_auth", "is_cloud_control_auth"), Object.class),
+    /** 图传拓扑等固件新增字段；暂无业务消费，走 DEFAULT */
+    WIRELESS_LINK_TOPO(Set.of("wireless_link_topo", "wireless_link_topo_all"), Object.class),
+    /** 固件新增未收录字段：不抛异常，路由到 DEFAULT */
+    UNKNOWN(Collections.emptySet(), Object.class),
    ;
+    private static final Logger log = LoggerFactory.getLogger(RcStateDataKeyEnum.class);
    private final Set<String> keys;
    private final Class classType;
@@ -46,8 +67,13 @@ public enum RcStateDataKeyEnum {
    }
    public static RcStateDataKeyEnum find(Set<String> keys) {
-        return Arrays.stream(values()).filter(keyEnum -> !Collections.disjoint(keys, keyEnum.keys)).findAny()
+        return Arrays.stream(values())
-                .orElseThrow(() -> new CloudSDKException(RcStateDataKeyEnum.class, keys));
+                .filter(keyEnum -> keyEnum != UNKNOWN && !Collections.disjoint(keys, keyEnum.keys))
+                .findAny()
+                .orElseGet(() -> {
+                    log.debug("RC state unknown keys {}, route to DEFAULT", keys);
+                    return UNKNOWN;
+                });
    }
 }
--- a/cloud-sdk/src/main/java/com/dji/sdk/mqtt/state/StateRouter.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/mqtt/state/StateRouter.java
@@ -77,6 +77,7 @@ public class StateRouter {
    private Class getTypeReference(String gatewaySn, Object data) {
        Set<String> keys = ((Map<String, Object>) data).keySet();
+        try {
            switch (SDKManager.getDeviceSDK(gatewaySn).getType()) {
                case RC:
                    return RcStateDataKeyEnum.find(keys).getClassType();
@@ -87,5 +88,9 @@ public class StateRouter {
                default:
                    throw new CloudSDKException(CloudSDKErrorEnum.WRONG_DATA, "Unexpected value: " + SDKManager.getDeviceSDK(gatewaySn).getType());
            }
+        } catch (CloudSDKException e) {
+            // 兼容旧包 / 未收录字段：降级为 Object，由 StateDataKeyEnum.UNKNOWN → DEFAULT 消化
+            return Object.class;
+        }
    }
 }
\ No newline at end of file
--- a/sample/src/main/java/com/dji/sample/component/ApplicationBootInitial.java
+++ b/sample/src/main/java/com/dji/sample/component/ApplicationBootInitial.java
@@ -7,6 +7,7 @@ import com.dji.sample.manage.service.IDeviceRedisService;
 import com.dji.sample.manage.service.IDeviceService;
 import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.common.SDKManager;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.boot.CommandLineRunner;
 import org.springframework.stereotype.Component;
@@ -18,6 +19,7 @@ import java.util.Optional;
 * @date 2021/11/24
 * @version 0.1
 */
+@Slf4j
 @Component
 public class ApplicationBootInitial implements CommandLineRunner {
@@ -41,12 +43,19 @@ public class ApplicationBootInitial implements CommandLineRunner {
                .stream()
                .map(key -> key.substring(start))
                .map(deviceRedisService::getDeviceOnline)
+                .filter(Optional::isPresent)
                .map(Optional::get)
                .filter(device -> DeviceDomainEnum.DRONE != device.getDomain())
-                .forEach(device -> deviceService.subDeviceOnlineSubscribeTopic(
+                .forEach(device -> {
+                    try {
+                        deviceService.subDeviceOnlineSubscribeTopic(
                                SDKManager.registerDevice(device.getDeviceSn(), device.getChildDeviceSn(), device.getDomain(),
                                        device.getType(), device.getSubType(), device.getThingVersion(),
-                                deviceRedisService.getDeviceOnline(device.getChildDeviceSn()).map(DeviceDTO::getThingVersion).orElse(null))));
+                                        deviceRedisService.getDeviceOnline(device.getChildDeviceSn()).map(DeviceDTO::getThingVersion).orElse(null)));
+                    } catch (Exception e) {
+                        log.error("Boot re-subscribe failed for {}: {}", device.getDeviceSn(), e.getMessage());
+                    }
+                });
    }
 }
--- a/sample/src/main/java/com/dji/sample/component/GlobalScheduleService.java
+++ b/sample/src/main/java/com/dji/sample/component/GlobalScheduleService.java
@@ -5,13 +5,12 @@ import com.dji.sample.component.redis.RedisOpsUtils;
 import com.dji.sample.manage.model.dto.DeviceDTO;
 import com.dji.sample.manage.service.IDeviceRedisService;
 import com.dji.sample.manage.service.IDeviceService;
-import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
+import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
-import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
-import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
 import org.springframework.util.StringUtils;
@@ -41,8 +40,6 @@ public class GlobalScheduleService {
    @Autowired
    private MqttPahoMessageDrivenChannelAdapter mqttInbound;
-    @Autowired
-    private ObjectMapper mapper;
    /**
     * Check the status of the devices every 30 seconds. It is recommended to use cache.
     */
@@ -70,54 +67,25 @@ public class GlobalScheduleService {
    }
    /**
-     * Check MQTT connection/subscriptions every 30 seconds and recover missing dynamic subscriptions.
+     * Recover MQTT adapter if down; always re-sync online gateways into SDKManager.
+     * Wildcard +/osd can deliver traffic before status re-login after restart.
     */
-    @Scheduled(initialDelay = 30, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
+    @Scheduled(initialDelay = 5, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
    private void mqttConnectionCheck() {
        if (!mqttInbound.isRunning()) {
            log.warn("MQTT adapter is not running, attempting to restart and re-subscribe...");
            try {
                mqttInbound.start();
-                resubscribeOnlineDevices();
            } catch (Exception e) {
                log.error("Failed to restart MQTT adapter", e);
-            }
                return;
            }
-        String[] currentTopics = topicService.getSubscribedTopic();
-        int start = RedisConst.DEVICE_ONLINE_PREFIX.length();
-        boolean missingSubscription = false;
-        for (String key : RedisOpsUtils.getAllKeys(RedisConst.DEVICE_ONLINE_PREFIX + "*")) {
-            String sn = key.substring(start);
-            String osdTopic = "thing/product/" + sn + "/osd";
-            if (!containsTopic(currentTopics, osdTopic) && !containsTopic(currentTopics, "thing/product/+/osd")) {
-                missingSubscription = true;
-                break;
        }
-        }
-        if (missingSubscription) {
-            log.warn("Detected missing MQTT subscriptions after reconnect, re-subscribing online devices...");
        resubscribeOnlineDevices();
    }
-    }
-    private boolean containsTopic(String[] topics, String expected) {
-        if (topics == null || topics.length == 0 || !StringUtils.hasText(expected)) {
-            return false;
-        }
-        for (String topic : topics) {
-            if (expected.equals(topic)) {
-                return true;
-            }
-        }
-        return false;
-    }
    /**
-     * Re-subscribe all currently online non-drone devices.
+     * Re-subscribe all currently online non-drone devices and ensure SDKManager registration.
     */
    private void resubscribeOnlineDevices() {
        int start = RedisConst.DEVICE_ONLINE_PREFIX.length();
@@ -131,10 +99,10 @@ public class GlobalScheduleService {
                    try {
                        if (DeviceDomainEnum.DRONE == device.getDomain()) {
                            deviceService.subDroneOnlineSubscribeTopic(device.getDeviceSn());
-                            log.info("Re-subscribed drone device: {}", device.getDeviceSn());
                            return;
                        }
+                        boolean wasRegistered = SDKManager.isRegistered(device.getDeviceSn());
                        String childSn = device.getChildDeviceSn();
                        String childThingVersion = StringUtils.hasText(childSn)
                                ? deviceRedisService.getDeviceOnline(childSn).map(DeviceDTO::getThingVersion).orElse(null)
@@ -144,7 +112,9 @@ public class GlobalScheduleService {
                                SDKManager.registerDevice(device.getDeviceSn(), childSn,
                                        device.getDomain(), device.getType(), device.getSubType(),
                                        device.getThingVersion(), childThingVersion));
-                        log.info("Re-subscribed device: {}", device.getDeviceSn());
+                        if (!wasRegistered) {
+                            log.info("Re-registered online gateway into SDKManager: {}", device.getDeviceSn());
+                        }
                    } catch (Exception e) {
                        log.error("Failed to re-subscribe device: {}", device.getDeviceSn(), e);
                    }

--- a/sample/src/main/java/com/dji/sample/component/mqtt/config/MqttPropertyConfiguration.java
+++ b/sample/src/main/java/com/dji/sample/component/mqtt/config/MqttPropertyConfiguration.java
@@ -7,6 +7,7 @@ import com.dji.sample.component.mqtt.model.MqttProtocolEnum;
 import com.dji.sample.component.mqtt.model.MqttUseEnum;
 import com.dji.sdk.cloudapi.control.DrcModeMqttBroker;
 import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
 import org.springframework.boot.context.properties.ConfigurationProperties;
 import org.springframework.context.annotation.Bean;
@@ -23,6 +24,7 @@ import java.util.Map;
 * @date 2021/11/10
 * @version 0.1
 */
+@Slf4j
 @Configuration
 @Data
 @ConfigurationProperties
@@ -91,28 +93,71 @@ public class MqttPropertyConfiguration {
    }
    /**
-     * Get the connection parameters of the mqtt client of the drc link.
+     * Web 前端 DRC 连接（mqtt.js）：需要带 scheme 的完整 URL，如 wss://host:443/mqtt
-     * @param clientId
-     * @param username
-     * @param age   The validity period of the token. unit: s
-     * @param map   Custom data added in token.
-     * @return
     */
    public static DrcModeMqttBroker getMqttBrokerWithDrc(String clientId, String username, Long age, Map<String, ?> map) {
+        return buildDrcBroker(clientId, username, age, map, false);
+    }
+    /**
+     * 下发给机场/Pilot 的 DRC Broker（官方格式）：address=host:port，无 wss:// 前缀。
+     */
+    public static DrcModeMqttBroker getMqttBrokerWithDrcForDevice(String clientId, String username, Long age, Map<String, ?> map) {
+        return buildDrcBroker(clientId, username, age, map, true);
+    }
+    private static DrcModeMqttBroker buildDrcBroker(String clientId, String username, Long age, Map<String, ?> map, boolean forDevice) {
        if (!mqtt.containsKey(MqttUseEnum.DRC)) {
            throw new RuntimeException("Please configure the drc link parameters of mqtt in the backend configuration file first.");
        }
        Algorithm algorithm = JwtUtil.algorithm;
        String token = JwtUtil.createToken(map, age, algorithm, null, null);
+        MqttClientOptions drcOptions = mqtt.get(MqttUseEnum.DRC);
+        String address;
+        boolean enableTls;
+        if (forDevice) {
+            String host = StringUtils.hasText(drcOptions.getDeviceHost())
+                    ? drcOptions.getDeviceHost().trim()
+                    : drcOptions.getHost().trim();
+            int port;
+            if (drcOptions.getDevicePort() != null) {
+                port = drcOptions.getDevicePort();
+            } else if (drcOptions.getProtocol() == MqttProtocolEnum.WSS
+                    || drcOptions.getProtocol() == MqttProtocolEnum.WS) {
+                // Web 用 WSS:443；设备官方示例为 MQTTS:8883。未单独配置时默认 8883，避免把 443/wss 路径塞给 Pilot。
+                port = 8883;
+                log.warn("mqtt.DRC.device-port unset; using {}:8883 for device DRC (set device-port to override)", host);
+            } else {
+                port = drcOptions.getPort();
+            }
+            address = host + ":" + port;
+            if (drcOptions.getDeviceEnableTls() != null) {
+                enableTls = drcOptions.getDeviceEnableTls();
+            } else if (port == 8883) {
+                enableTls = true;
+            } else if (drcOptions.getDevicePort() != null) {
+                // 显式配了非 8883 设备端口（如 1883/54418）：默认明文，勿因 Web 的 WSS 误开 TLS
+                enableTls = false;
+            } else {
+                enableTls = drcOptions.getProtocol() == MqttProtocolEnum.MQTTS;
+            }
+        } else {
+            address = getMqttAddress(drcOptions);
+            enableTls = drcOptions.getProtocol() == MqttProtocolEnum.WSS
+                    || drcOptions.getProtocol() == MqttProtocolEnum.MQTTS;
+        }
+        log.info("Build DRC mqtt broker: forDevice={}, address={}, enableTls={}, clientId={}, username={}",
+                forDevice, address, enableTls, clientId, username);
        return new DrcModeMqttBroker()
-                .setAddress(getMqttAddress(mqtt.get(MqttUseEnum.DRC)))
+                .setAddress(address)
                .setUsername(username)
                .setClientId(clientId)
                .setExpireTime(System.currentTimeMillis() / 1000 + age)
                .setPassword(token)
-                .setEnableTls(false);
+                .setEnableTls(enableTls);
    }

--- a/sample/src/main/java/com/dji/sample/component/mqtt/model/MqttClientOptions.java
+++ b/sample/src/main/java/com/dji/sample/component/mqtt/model/MqttClientOptions.java
@@ -25,6 +25,22 @@ public class MqttClientOptions {
    private String path;
    /**
+     * 下发给机场/Pilot 的 DRC 地址主机（官方格式 host:port，无 scheme）。
+     * 不填则回退到 {@link #host}。
+     */
+    private String deviceHost;
+    /**
+     * 下发给设备的 DRC 端口。官方示例为 MQTTS 8883；不填则回退到 {@link #port}。
+     */
+    private Integer devicePort;
+    /**
+     * 设备侧是否 TLS。不填时：MQTTS/WSS 为 true，否则 false。
+     */
+    private Boolean deviceEnableTls;
+    /**
     * The topic to subscribe to immediately when client connects. Only required for basic link.
     */
    private String inboundTopic;

--- a/sample/src/main/java/com/dji/sample/component/redis/RedisConst.java
+++ b/sample/src/main/java/com/dji/sample/component/redis/RedisConst.java
@@ -53,6 +53,12 @@ public final class RedisConst {
    public static final String OSD_PREFIX = "osd" + DELIMITER;
+    /** 飞行器 WPMZ（航线任务库）版本，完整 key = wpmz_version:{sn} */
+    public static final String WPMZ_VERSION_PREFIX = "wpmz_version" + DELIMITER;
+    /** 飞行器 mode_code_reason，完整 key = mode_code_reason:{sn} */
+    public static final String MODE_CODE_REASON_PREFIX = "mode_code_reason" + DELIMITER;
    public static final String MEDIA_FILE_PREFIX = "media_file" + DELIMITER;
    public static final String MEDIA_HIGHEST_PRIORITY_PREFIX = "media_highest_priority" + DELIMITER;

--- a/sample/src/main/java/com/dji/sample/component/websocket/config/MyWebSocketHandler.java
+++ b/sample/src/main/java/com/dji/sample/component/websocket/config/MyWebSocketHandler.java
@@ -93,10 +93,30 @@ public class MyWebSocketHandler extends WebSocketDefaultHandler {
        String payload = message.getPayload().toString();
        log.debug("Received message from session {}: {}", sessionId, payload);
+        // 明文心跳（网关/旧客户端常见），勿按 JSON 解析
+        String trimmed = payload == null ? "" : payload.trim();
+        if ("ping".equalsIgnoreCase(trimmed)) {
+            if (session.isOpen()) {
+                session.sendMessage(new org.springframework.web.socket.TextMessage("pong"));
+            }
+            return;
+        }
+        if ("pong".equalsIgnoreCase(trimmed)) {
+            return;
+        }
        try {
            JsonNode jsonNode = objectMapper.readTree(payload);
            String type = jsonNode.has("type") ? jsonNode.get("type").asText() : null;
+            if ("ping".equalsIgnoreCase(type)) {
+                if (session.isOpen()) {
+                    session.sendMessage(new org.springframework.web.socket.TextMessage(
+                            objectMapper.writeValueAsString(Map.of("type", "pong"))));
+                }
+                return;
+            }
            if ("auth".equals(type) && !Boolean.TRUE.equals(isAuthenticated)) {
                String token = jsonNode.has("token") ? jsonNode.get("token").asText() : null;
                if (StringUtils.hasText(token)) {

--- a/sample/src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java
+++ b/sample/src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java
@@ -19,6 +19,21 @@ public enum BizCodeEnum {
    DOCK_OSD("dock_osd"),
+    /** 机场直播状态 state.live_status */
+    DOCK_LIVE_STATUS("dock_live_status"),
+    /** 遥控器直播状态 state.live_status */
+    RC_LIVE_STATUS("rc_live_status"),
+    /** AirSense 有人机告警 events.airsense_warning */
+    AIRSENSE_WARNING("airsense_warning"),
+    /** 飞行器进入当前状态的原因 state.mode_code_reason */
+    MODE_CODE_REASON("mode_code_reason"),
+    /** 航线任务库 WPMZ 版本 state.wpmz_version */
+    WPMZ_VERSION("wpmz_version"),
    MAP_ELEMENT_CREATE("map_element_create"),
    MAP_ELEMENT_UPDATE("map_element_update"),

--- a/sample/src/main/java/com/dji/sample/control/controller/DockController.java
+++ b/sample/src/main/java/com/dji/sample/control/controller/DockController.java
@@ -75,6 +75,22 @@ public class DockController {
        return result;
    }
+    /** Pilot：申请云端控制授权（遥控器弹窗） */
+    @PostMapping("/{sn}/authority/cloud-control")
+    public HttpResultResponse requestCloudControlAuth(HttpServletRequest request, @PathVariable String sn) {
+        HttpResultResponse result = controlService.requestCloudControlAuth(sn);
+        operateRecordService.record(request, OperateRecordTypeEnum.SEIZE_FLIGHT_AUTHORITY, sn, null);
+        return result;
+    }
+    /** Pilot：释放云端控制授权 */
+    @DeleteMapping("/{sn}/authority/cloud-control")
+    public HttpResultResponse releaseCloudControlAuth(HttpServletRequest request, @PathVariable String sn) {
+        HttpResultResponse result = controlService.releaseCloudControlAuth(sn);
+        operateRecordService.record(request, OperateRecordTypeEnum.SEIZE_FLIGHT_AUTHORITY, sn, null);
+        return result;
+    }
    @PostMapping("/{sn}/authority/payload")
    public HttpResultResponse seizePayloadAuthority(HttpServletRequest request,@PathVariable String sn, @Valid @RequestBody DronePayloadParam param) {
        HttpResultResponse result = controlService.seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, param);

--- a/sample/src/main/java/com/dji/sample/control/service/IControlService.java
+++ b/sample/src/main/java/com/dji/sample/control/service/IControlService.java
@@ -62,6 +62,16 @@ public interface IControlService {
    HttpResultResponse seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param);
    /**
+     * Pilot：向遥控器申请云端控制授权（遥控器弹窗确认）
+     */
+    HttpResultResponse requestCloudControlAuth(String sn);
+    /**
+     * Pilot：释放云端控制授权
+     */
+    HttpResultResponse releaseCloudControlAuth(String sn);
+    /**
     * Control the payload of the drone.
     * @param param
     * @return

--- a/sample/src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java
@@ -27,6 +27,9 @@ public class CameraFocalLengthSetImpl extends PayloadCommandsHandler {
    @Override
    public boolean canPublish(String deviceSn) {
        super.canPublish(deviceSn);
+        if (osdCamera == null) {
+            return true;
+        }
        if (CameraStateEnum.WORKING == osdCamera.getPhotoState()) {
            return false;
        }

--- a/sample/src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java
@@ -24,6 +24,9 @@ public class CameraModeSwitchImpl extends PayloadCommandsHandler {
    @Override
    public boolean canPublish(String deviceSn) {
        super.canPublish(deviceSn);
+        if (osdCamera == null) {
+            return true;
+        }
        return param.getCameraMode() != osdCamera.getCameraMode()
                && CameraStateEnum.IDLE == osdCamera.getPhotoState()
                && CameraStateEnum.IDLE == osdCamera.getRecordingState();

--- a/sample/src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java
@@ -17,6 +17,10 @@ public class CameraPhotoTakeImpl extends PayloadCommandsHandler {
    @Override
    public boolean canPublish(String deviceSn) {
        super.canPublish(deviceSn);
+        // Pilot OsdRcDrone 无 camera OSD，跳过状态门禁
+        if (osdCamera == null) {
+            return true;
+        }
        return CameraStateEnum.WORKING != osdCamera.getPhotoState() && osdCamera.getRemainPhotoNum() > 0;
    }
 }
--- a/sample/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java
@@ -18,6 +18,9 @@ public class CameraRecordingStartImpl extends PayloadCommandsHandler {
    @Override
    public boolean canPublish(String deviceSn) {
        super.canPublish(deviceSn);
+        if (osdCamera == null) {
+            return true;
+        }
        return CameraModeEnum.VIDEO == osdCamera.getCameraMode()
                && CameraStateEnum.IDLE == osdCamera.getRecordingState()
                && osdCamera.getRemainRecordDuration() > 0;

--- a/sample/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java
@@ -17,6 +17,9 @@ public class CameraRecordingStopImpl extends PayloadCommandsHandler {
    @Override
    public boolean canPublish(String deviceSn) {
        super.canPublish(deviceSn);
+        if (osdCamera == null) {
+            return true;
+        }
        return CameraStateEnum.WORKING == osdCamera.getRecordingState();
    }
 }
--- a/sample/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -13,6 +13,8 @@ import com.dji.sample.manage.model.dto.DeviceDTO;
 import com.dji.sample.manage.service.IDevicePayloadService;
 import com.dji.sample.manage.service.IDeviceRedisService;
 import com.dji.sample.manage.service.IDeviceService;
+import com.dji.sdk.cloudapi.control.CloudControlAuthRequest;
+import com.dji.sdk.cloudapi.control.CloudControlReleaseRequest;
 import com.dji.sdk.cloudapi.control.ControlMethodEnum;
 import com.dji.sdk.cloudapi.control.FlyToPointRequest;
 import com.dji.sdk.cloudapi.control.PayloadAuthorityGrabRequest;
@@ -20,6 +22,7 @@ import com.dji.sdk.cloudapi.control.TakeoffToPointRequest;
 import com.dji.sdk.cloudapi.control.api.AbstractControlService;
 import com.dji.sdk.cloudapi.debug.DebugMethodEnum;
 import com.dji.sdk.cloudapi.debug.api.AbstractDebugService;
+import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.cloudapi.device.DockModeCodeEnum;
 import com.dji.sdk.cloudapi.device.DroneModeCodeEnum;
 import com.dji.sdk.cloudapi.device.PayloadIndex;
@@ -27,6 +30,7 @@ import com.dji.sdk.cloudapi.wayline.api.AbstractWaylineService;
 import com.dji.sdk.common.HttpResultResponse;
 import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
+import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.services.ServicesReplyData;
 import com.dji.sdk.mqtt.services.TopicServicesResponse;
 import com.fasterxml.jackson.databind.ObjectMapper;
@@ -35,10 +39,12 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Qualifier;
 import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
+import java.util.Collections;
 import java.util.Objects;
 import java.util.Optional;
 import java.util.UUID;
@@ -176,7 +182,17 @@ public class ControlServiceImpl implements IControlService {
            return;
        }
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
-        if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
+        if (dockOpt.isEmpty()) {
+            throw new RuntimeException("The current state does not support takeoff.");
+        }
+        DeviceDTO gateway = dockOpt.get();
+        // Pilot RC 模拟机场：无 Dock mode_code，仅要求网关在线且子机存在
+        if (DeviceDomainEnum.REMOTER_CONTROL == gateway.getDomain()) {
+            if (!StringUtils.hasText(gateway.getChildDeviceSn())
+                    || !deviceRedisService.checkDeviceOnline(gateway.getChildDeviceSn())) {
+                throw new RuntimeException("The current state does not support takeoff.");
+            }
+        } else if (DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
            throw new RuntimeException("The current state does not support takeoff.");
        }
@@ -212,8 +228,13 @@ public class ControlServiceImpl implements IControlService {
        RedisOpsUtils.setWithExpire("templateTask:"+param.getFlightId(), takeoffToPointRequest, 24*60*60);
-        TopicServicesResponse<ServicesReplyData> response = abstractControlService.takeoffToPoint(
+        TopicServicesResponse<ServicesReplyData> response;
+        try {
+            response = abstractControlService.takeoffToPoint(
                    SDKManager.getDeviceSDK(sn), takeoffToPointRequest);
+        } catch (CloudSDKException e) {
+            throw new RuntimeException(mqttNoReplyHint(sn, "takeoff_to_point"), e);
+        }
        ServicesReplyData reply = response.getData();
        return reply.getResult().isSuccess() ?
                HttpResultResponse.success()
@@ -225,6 +246,11 @@ public class ControlServiceImpl implements IControlService {
        TopicServicesResponse<ServicesReplyData> response;
        switch (authority) {
            case FLIGHT:
+                // Pilot RC：topo 上的 controlSource=A 表示遥控器本控，不是云端已授权。
+                // 不能走 Dock 的 checkAuthorityFlight，必须走 cloud_control_auth_request。
+                if (isRemoterControlGateway(sn)) {
+                    return requestCloudControlAuth(sn);
+                }
                if (deviceService.checkAuthorityFlight(sn)) {
                    return HttpResultResponse.success();
                }
@@ -247,6 +273,55 @@ public class ControlServiceImpl implements IControlService {
                : HttpResultResponse.error(serviceReply.getResult());
    }
+    private boolean isRemoterControlGateway(String sn) {
+        return deviceRedisService.getDeviceOnline(sn)
+                .map(d -> DeviceDomainEnum.REMOTER_CONTROL == d.getDomain())
+                .orElse(false);
+    }
+    private String mqttNoReplyHint(String gatewaySn, String method) {
+        if (isRemoterControlGateway(gatewaySn)) {
+            return "Pilot 遥控器未应答 " + method + "（211001）。"
+                    + "请先在遥控器确认云端控制授权弹窗；确认 dock_sn 为遥控器 SN，"
+                    + "并用 MQTT 抓包核对 thing/product/{rc_sn}/services 与 services_reply。";
+        }
+        return "设备未应答 " + method + "（211001）。请确认网关在线、已订阅 services，并检查 MQTT 连通与 SDKManager 注册。";
+    }
+    @Override
+    public HttpResultResponse requestCloudControlAuth(String sn) {
+        if (!deviceRedisService.checkDeviceOnline(sn)) {
+            return HttpResultResponse.error("The gateway is offline.");
+        }
+        CloudControlAuthRequest request = new CloudControlAuthRequest()
+                .setUserId(Optional.ofNullable(SecurityUtils.getUserId()).orElse("cloud"))
+                .setUserCallsign(Optional.ofNullable(SecurityUtils.getUsername()).orElse("GeoFly"))
+                .setControlKeys(Collections.singletonList("flight"));
+        TopicServicesResponse<ServicesReplyData> response =
+                abstractControlService.cloudControlAuthRequest(SDKManager.getDeviceSDK(sn), request);
+        ServicesReplyData reply = response.getData();
+        if (!reply.getResult().isSuccess()) {
+            return HttpResultResponse.error(reply.getResult());
+        }
+        // services_reply 在飞手同意后返回；提示前端/日志
+        return HttpResultResponse.success().setMessage("云端控制已授权，请继续操作");
+    }
+    @Override
+    public HttpResultResponse releaseCloudControlAuth(String sn) {
+        if (!deviceRedisService.checkDeviceOnline(sn)) {
+            return HttpResultResponse.error("The gateway is offline.");
+        }
+        CloudControlReleaseRequest request = new CloudControlReleaseRequest()
+                .setControlKeys(Collections.singletonList("flight"));
+        TopicServicesResponse<ServicesReplyData> response =
+                abstractControlService.cloudControlRelease(SDKManager.getDeviceSDK(sn), request);
+        ServicesReplyData reply = response.getData();
+        return reply.getResult().isSuccess()
+                ? HttpResultResponse.success()
+                : HttpResultResponse.error(reply.getResult());
+    }
    private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
        if (dockOpt.isEmpty()) {

--- a/sample/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
@@ -23,13 +23,16 @@ import com.dji.sample.wayline.model.param.UpdateJobParam;
 import com.dji.sample.wayline.service.IFlightTaskService;
 import com.dji.sample.wayline.service.IWaylineJobService;
 import com.dji.sample.wayline.service.IWaylineRedisService;
+import com.dji.sdk.cloudapi.control.ControlErrorCodeEnum;
 import com.dji.sdk.cloudapi.control.ControlMethodEnum;
 import com.dji.sdk.cloudapi.control.DrcModeEnterRequest;
 import com.dji.sdk.cloudapi.control.DrcModeMqttBroker;
 import com.dji.sdk.cloudapi.control.api.AbstractControlService;
+import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.cloudapi.device.DockModeCodeEnum;
 import com.dji.sdk.cloudapi.device.OsdDock;
 import com.dji.sdk.cloudapi.device.OsdDockDrone;
+import com.dji.sdk.cloudapi.device.OsdRcDrone;
 import com.dji.sdk.cloudapi.wayline.FlighttaskProgress;
 import com.dji.sdk.common.HttpResultResponse;
 import com.dji.sdk.common.SDKManager;
@@ -142,12 +145,36 @@ public class DrcServiceImpl implements IDrcService {
                    UpdateJobParam.builder().status(WaylineTaskStatusEnum.PAUSE).build());
        }
-        DockModeCodeEnum dockMode = deviceService.getDockMode(dockSn);
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
-        if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
+        if (dockOpt.isEmpty()) {
-            Optional<OsdDockDrone> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdDockDrone.class);
+            throw new RuntimeException("The gateway is offline.");
+        }
+        DeviceDTO gateway = dockOpt.get();
+        // Pilot RC：无 Dock mode / drone_in_dock；校验子机在线后申请云控授权并抢权
+        if (DeviceDomainEnum.REMOTER_CONTROL == gateway.getDomain()) {
+            String childSn = gateway.getChildDeviceSn();
+            if (!StringUtils.hasText(childSn) || !deviceRedisService.checkDeviceOnline(childSn)) {
+                throw new RuntimeException("Aircraft under RC is offline.");
+            }
+            boolean droneAirborne = deviceRedisService.getDeviceOsd(childSn, OsdRcDrone.class)
+                    .map(osd -> osd.getElevation() != null && osd.getElevation() > 0)
+                    .orElse(false);
+            if (!droneAirborne) {
+                // 地面也可进 DRC（负载控制），不强制在空；仅打日志
+                log.info("Pilot RC DRC enter while aircraft may be on ground, sn={}", dockSn);
+            }
+            HttpResultResponse auth = controlService.requestCloudControlAuth(dockSn);
+            if (HttpResultResponse.CODE_SUCCESS != auth.getCode()) {
+                throw new IllegalArgumentException(auth.getMessage());
+            }
+            return;
+        }
+        DockModeCodeEnum dockMode = deviceService.getDockMode(dockSn);
+        if (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode) {
+            Optional<OsdDockDrone> deviceOsd = deviceRedisService.getDeviceOsd(gateway.getChildDeviceSn(), OsdDockDrone.class);
            Optional<OsdDock> dockOsd = deviceRedisService.getDeviceOsd(dockSn, OsdDock.class);
-            // if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
            if (deviceOsd.isEmpty() || dockOsd.isEmpty() || dockOsd.get().getDroneInDock()) {
                throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode.");
            }
@@ -183,7 +210,9 @@ public class DrcServiceImpl implements IDrcService {
        TopicServicesResponse<ServicesReplyData> reply = abstractControlService.drcModeEnter(
                SDKManager.getDeviceSDK(param.getDockSn()),
                new DrcModeEnterRequest()
-                        .setMqttBroker(MqttPropertyConfiguration.getMqttBrokerWithDrc(param.getDockSn() + "-" + System.currentTimeMillis(), param.getDockSn(),
+                        // 设备侧必须用官方 host:port 格式，不能用 Web 的 wss://.../mqtt
+                        .setMqttBroker(MqttPropertyConfiguration.getMqttBrokerWithDrcForDevice(
+                                param.getDockSn() + "-" + System.currentTimeMillis(), param.getDockSn(),
                                RedisConst.DRC_MODE_ALIVE_SECOND.longValue(),
                                Map.of(MapKeyConst.ACL, objectMapper.convertValue(JwtAclDTO.builder()
                                        .pub(List.of(subTopic))
@@ -192,8 +221,15 @@ public class DrcServiceImpl implements IDrcService {
                        .setHsiFrequency(1).setOsdFrequency(10));
        if (!reply.getData().getResult().isSuccess()) {
-            throw new RuntimeException("SN: " + param.getDockSn() + "; Error:" + reply.getData().getResult() +
+            Integer code = reply.getData().getResult().getCode();
-                    "; Failed to enter command flight control mode, please try again later!");
+            String hint = "SN: " + param.getDockSn() + "; Error:" + reply.getData().getResult()
+                    + "; Failed to enter command flight control mode, please try again later!";
+            if (code != null && code == ControlErrorCodeEnum.DRC_LINK_REFUSED.getCode()) {
+                hint += " (514304: 设备连不上 DRC Broker。"
+                        + "请在 mqtt.DRC 配置 device-host/device-port 为公网可达的 MQTTS，例如 host:8883、device-enable-tls=true；"
+                        + "官方地址格式为 host:port，不要带 wss://。)";
+            }
+            throw new RuntimeException(hint);
        }
        refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
@@ -222,9 +258,17 @@ public class DrcServiceImpl implements IDrcService {
        TopicServicesResponse<ServicesReplyData> reply =
                abstractControlService.drcModeExit(SDKManager.getDeviceSDK(param.getDockSn()));
        if (!reply.getData().getResult().isSuccess()) {
+            Integer code = reply.getData().getResult().getCode();
+            // 官方错误码 514300–514304：网关/网络断开或连接失败，设备侧已无有效 DRC
+            // 见 docs/dji-cloud-api/ERROR-CODE-NOTES.md 与 cn|en/error-code.md
+            if (isDrcLinkAlreadyGone(code)) {
+                log.warn("drc_mode_exit: DRC/gateway link already gone ({}), treat as exited. sn={}",
+                        code, param.getDockSn());
+            } else {
                throw new RuntimeException("SN: " + param.getDockSn() + "; Error:" +
                        reply.getData().getResult() + "; Failed to exit command flight control mode, please try again later!");
            }
+        }
        String jobId = waylineRedisService.getPausedWaylineJobId(param.getDockSn());
        if (StringUtils.hasText(jobId)) {
@@ -240,6 +284,31 @@ public class DrcServiceImpl implements IDrcService {
        this.delDrcModeInRedis(param.getDockSn());
        RedisOpsUtils.del(RedisConst.MQTT_ACL_PREFIX + param.getClientId());
+        // Pilot：退出 DRC 后释放云端控制授权
+        Optional<DeviceDTO> gw = deviceRedisService.getDeviceOnline(param.getDockSn());
+        if (gw.isPresent() && DeviceDomainEnum.REMOTER_CONTROL == gw.get().getDomain()) {
+            try {
+                controlService.releaseCloudControlAuth(param.getDockSn());
+            } catch (Exception e) {
+                log.warn("release cloud control auth failed for {}: {}", param.getDockSn(), e.getMessage());
+            }
+        }
+    }
+    /**
+     * 官方 Error Code 514300–514304：网关异常 / 超时断开 / 证书失败 / 网络断开 / 连接被拒。
+     * 退出 DRC 时表示链路已不可用，按已退出处理。
+     */
+    private static boolean isDrcLinkAlreadyGone(Integer code) {
+        if (code == null) {
+            return false;
+        }
+        return code == ControlErrorCodeEnum.DRC_ABNORMAL.getCode()
+                || code == ControlErrorCodeEnum.DRC_HEARTBEAT_TIMED_OUT.getCode()
+                || code == ControlErrorCodeEnum.DRC_CERTIFICATE_ABNORMAL.getCode()
+                || code == ControlErrorCodeEnum.DRC_LINK_LOST.getCode()
+                || code == ControlErrorCodeEnum.DRC_LINK_REFUSED.getCode();
    }
 }
--- a/sample/src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java
+++ b/sample/src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java
@@ -5,8 +5,11 @@ import com.dji.sample.control.model.param.DronePayloadParam;
 import com.dji.sample.manage.model.dto.DeviceDTO;
 import com.dji.sample.manage.service.IDevicePayloadService;
 import com.dji.sample.manage.service.IDeviceRedisService;
+import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.cloudapi.device.OsdCamera;
 import com.dji.sdk.cloudapi.device.OsdDockDrone;
+import com.dji.sdk.cloudapi.device.OsdRcDrone;
+import org.springframework.util.StringUtils;
 import java.util.Optional;
@@ -32,18 +35,28 @@ public abstract class PayloadCommandsHandler {
    }
    public boolean canPublish(String deviceSn) {
-        Optional<OsdDockDrone> deviceOpt = SpringBeanUtilsTest.getBean(IDeviceRedisService.class)
+        IDeviceRedisService redis = SpringBeanUtilsTest.getBean(IDeviceRedisService.class);
-                .getDeviceOsd(deviceSn, OsdDockDrone.class);
-        if (deviceOpt.isEmpty()) {
+        Optional<OsdDockDrone> dockDroneOpt = redis.getDeviceOsd(deviceSn, OsdDockDrone.class);
-            throw new RuntimeException("The device is offline.");
+        if (dockDroneOpt.isPresent()) {
-        }
+            osdCamera = dockDroneOpt.get().getCameras().stream()
-        osdCamera = deviceOpt.get().getCameras().stream()
+                    .filter(cam -> param.getPayloadIndex().equals(cam.getPayloadIndex().toString()))
-                .filter(osdCamera -> param.getPayloadIndex().equals(osdCamera.getPayloadIndex().toString()))
                    .findAny()
-                .orElseThrow(() -> new RuntimeException("Did not receive osd information about the camera, please check the cache data."));
+                    .orElseThrow(() -> new RuntimeException(
+                            "Did not receive osd information about the camera, please check the cache data."));
+            return true;
+        }
+        // Pilot 飞机 OSD 为 OsdRcDrone，通常无 cameras 列表；在线即可下发负载/云台指令
+        Optional<OsdRcDrone> rcDroneOpt = redis.getDeviceOsd(deviceSn, OsdRcDrone.class);
+        if (rcDroneOpt.isPresent()) {
+            osdCamera = null;
            return true;
        }
+        throw new RuntimeException("The device is offline.");
+    }
    private String checkDockOnline(String dockSn) {
        Optional<DeviceDTO> deviceOpt = SpringBeanUtilsTest.getBean(IDeviceRedisService.class).getDeviceOnline(dockSn);
        if (deviceOpt.isEmpty()) {
@@ -59,7 +72,12 @@ public abstract class PayloadCommandsHandler {
        }
    }
-    private void checkAuthority(String deviceSn) {
+    private void checkAuthority(String dockSn, String deviceSn) {
+        // Pilot：飞控与负载权不区分，cloud_control_auth(flight) 即可控云台
+        Optional<DeviceDTO> gatewayOpt = SpringBeanUtilsTest.getBean(IDeviceRedisService.class).getDeviceOnline(dockSn);
+        if (gatewayOpt.isPresent() && DeviceDomainEnum.REMOTER_CONTROL == gatewayOpt.get().getDomain()) {
+            return;
+        }
        boolean hasAuthority = SpringBeanUtilsTest.getBean(IDevicePayloadService.class)
                .checkAuthorityPayload(deviceSn, param.getPayloadIndex());
        if (!hasAuthority) {
@@ -77,8 +95,11 @@ public abstract class PayloadCommandsHandler {
        }
        String deviceSn = checkDockOnline(dockSn);
+        if (!StringUtils.hasText(deviceSn)) {
+            throw new RuntimeException("The device is offline.");
+        }
        checkDeviceOnline(deviceSn);
-        checkAuthority(deviceSn);
+        checkAuthority(dockSn, deviceSn);
        if (!canPublish(deviceSn)) {
            throw new RuntimeException("The current state of the drone does not support this function, please try again later.");

--- a/sample/src/main/java/com/dji/sample/manage/service/impl/DeviceRedisServiceImpl.java
+++ b/sample/src/main/java/com/dji/sample/manage/service/impl/DeviceRedisServiceImpl.java
@@ -53,7 +53,11 @@ public class DeviceRedisServiceImpl implements IDeviceRedisService {
    @Override
    public <T> Optional<T> getDeviceOsd(String sn, Class<T> clazz) {
-        return Optional.ofNullable(clazz.cast(RedisOpsUtils.get(RedisConst.OSD_PREFIX + sn)));
+        Object data = RedisOpsUtils.get(RedisConst.OSD_PREFIX + sn);
+        if (data == null || !clazz.isInstance(data)) {
+            return Optional.empty();
+        }
+        return Optional.of(clazz.cast(data));
    }
    @Override

--- a/sample/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
+++ b/sample/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
@@ -599,21 +599,35 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
        }
        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
-                .peek(device -> {
+                .peek(this::enrichDeviceGatewayRelation)
-                    if (StringUtils.hasText(device.getDeviceSn())) {
+                .collect(Collectors.toList());
-                        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
+        return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
+    }
+    /**
+     * 补充网关/子机关系：机场与 RC 挂 children；飞行器反查 parent_sn（Pilot 模拟机场用 RC SN 下发任务）。
+     */
+    private void enrichDeviceGatewayRelation(DeviceDTO device) {
+        if (device == null || !StringUtils.hasText(device.getDeviceSn())) {
+            return;
        }
+        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
        if (StringUtils.hasText(device.getChildDeviceSn())) {
            Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
            childOpt.ifPresent(child -> {
                child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
                child.setWorkspaceName(device.getWorkspaceName());
+                child.setParentSn(device.getDeviceSn());
                device.setChildren(child);
            });
        }
-                })
+        if (DeviceDomainEnum.DRONE == device.getDomain() && !StringUtils.hasText(device.getParentSn())) {
-                .collect(Collectors.toList());
+            List<DeviceDTO> parents = this.getDevicesByParams(
-        return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
+                    DeviceQueryParam.builder().childSn(device.getDeviceSn()).build());
+            if (!parents.isEmpty()) {
+                device.setParentSn(parents.get(0).getDeviceSn());
+            }
+        }
    }
    @Override
@@ -692,19 +706,7 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
        Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize), wrapper );
        List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
-                .peek(device -> {
+                .peek(this::enrichDeviceGatewayRelation)
-                    if (StringUtils.hasText(device.getDeviceSn())) {
-                        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
-                    }
-                    if (StringUtils.hasText(device.getChildDeviceSn())) {
-                        Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
-                        childOpt.ifPresent(child -> {
-                            child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
-                            child.setWorkspaceName(device.getWorkspaceName());
-                            device.setChildren(child);
-                        });
-                    }
-                })
                .collect(Collectors.toList());
        return new PaginationData<>(devicesList, new Pagination(pagination.getCurrent(), pagination.getSize(), pagination.getTotal()));
    }
@@ -783,19 +785,7 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
        List<DeviceEntity> deviceEntityList = this.list(wrapper);
        List<DeviceDTO> devicesList = deviceEntityList.stream().map(this::deviceEntityConvertToDTO)
-                .peek(device -> {
+                .peek(this::enrichDeviceGatewayRelation)
-                    if (StringUtils.hasText(device.getDeviceSn())) {
-                        device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
-                    }
-                    if (StringUtils.hasText(device.getChildDeviceSn())) {
-                        Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
-                        childOpt.ifPresent(child -> {
-                            child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
-                            child.setWorkspaceName(device.getWorkspaceName());
-                            device.setChildren(child);
-                        });
-                    }
-                })
                .collect(Collectors.toList());
        return devicesList;
    }
@@ -1037,8 +1027,13 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
    @Override
    public DroneModeCodeEnum getDeviceMode(String deviceSn) {
-        return deviceRedisService.getDeviceOsd(deviceSn, OsdDockDrone.class)
+        Optional<OsdDockDrone> dockDrone = deviceRedisService.getDeviceOsd(deviceSn, OsdDockDrone.class);
-                .map(OsdDockDrone::getModeCode).orElse(DroneModeCodeEnum.DISCONNECTED);
+        if (dockDrone.isPresent() && dockDrone.get().getModeCode() != null) {
+            return dockDrone.get().getModeCode();
+        }
+        return deviceRedisService.getDeviceOsd(deviceSn, OsdRcDrone.class)
+                .map(OsdRcDrone::getModeCode)
+                .orElse(DroneModeCodeEnum.DISCONNECTED);
    }
    @Override
@@ -1084,6 +1079,12 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
            return true;
        }
+        // Pilot RC：无 OsdDock.drc_state，用 Redis 记录是否已进入 DRC
+        Optional<DeviceDTO> gatewayOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (gatewayOpt.isPresent() && DeviceDomainEnum.REMOTER_CONTROL == gatewayOpt.get().getDomain()) {
+            return RedisOpsUtils.checkExist(RedisConst.DRC_PREFIX + dockSn);
+        }
        return deviceRedisService.getDeviceOsd(dockSn, OsdDock.class)
                .map(OsdDock::getDrcState)
                .orElse(DrcStateEnum.DISCONNECTED) != DrcStateEnum.DISCONNECTED;
@@ -1091,11 +1092,14 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
    @Override
    public Boolean checkAuthorityFlight(String gatewaySn) {
-        return deviceRedisService.getDeviceOnline(gatewaySn).flatMap(gateway ->
+        return deviceRedisService.getDeviceOnline(gatewaySn).map(gateway -> {
-                Optional.of((DeviceDomainEnum.DOCK == gateway.getDomain()
+            // Pilot RC：controlSource 表示遥控器本控 A/B，不能当作云端已获飞控权
-                        || DeviceDomainEnum.REMOTER_CONTROL == gateway.getDomain())
+            if (DeviceDomainEnum.REMOTER_CONTROL == gateway.getDomain()) {
-                    && ControlSourceEnum.A == gateway.getControlSource()))
+                return false;
-                .orElse(true);
+            }
+            return DeviceDomainEnum.DOCK == gateway.getDomain()
+                    && ControlSourceEnum.A == gateway.getControlSource();
+        }).orElse(false);
    }
    @Override

--- a/sample/src/main/java/com/dji/sample/manage/service/impl/SDKAirsenseService.java
+++ b/sample/src/main/java/com/dji/sample/manage/service/impl/SDKAirsenseService.java
+package com.dji.sample.manage.service.impl;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
+import com.dji.sample.component.websocket.service.IWebSocketMessageService;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.dto.TelemetryDTO;
+import com.dji.sample.manage.service.IDeviceRedisService;
+import com.dji.sdk.cloudapi.airsense.AirsenseWarning;
+import com.dji.sdk.cloudapi.airsense.api.AbstractAirsenseService;
+import com.dji.sdk.mqtt.MqttReply;
+import com.dji.sdk.mqtt.events.TopicEventsRequest;
+import com.dji.sdk.mqtt.events.TopicEventsResponse;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.messaging.MessageHeaders;
+import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
+import java.util.Collections;
+import java.util.List;
+import java.util.Optional;
+/**
+ * 注册 {@code inboundEventsAirsenseWarning} channel，并处理机场/飞行器 AirSense 告警。
+ * Demo 未提供实现时，events 路由会因 channel 缺失刷 ERROR。
+ */
+@Slf4j
+@Service
+public class SDKAirsenseService extends AbstractAirsenseService {
+    @Autowired
+    private IDeviceRedisService deviceRedisService;
+    @Autowired
+    private IWebSocketMessageService webSocketMessageService;
+    @Override
+    public TopicEventsResponse<MqttReply> airsenseWarning(
+            TopicEventsRequest<List<AirsenseWarning>> request, MessageHeaders headers) {
+        String gatewaySn = request.getGateway();
+        List<AirsenseWarning> warnings = request.getData() == null
+                ? Collections.emptyList() : request.getData();
+        log.debug("AirSense warning from {}: count={}", gatewaySn, warnings.size());
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(gatewaySn);
+        if (deviceOpt.isPresent() && StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
+            webSocketMessageService.sendBatch(
+                    deviceOpt.get().getWorkspaceId(),
+                    BizCodeEnum.AIRSENSE_WARNING.getCode(),
+                    TelemetryDTO.<List<AirsenseWarning>>builder()
+                            .sn(gatewaySn)
+                            .host(warnings)
+                            .build());
+        }
+        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
+    }
+}
--- a/sample/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java
+++ b/sample/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java
@@ -4,6 +4,8 @@ import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.NumberUtil;
 import cn.hutool.core.util.RandomUtil;
 import cn.hutool.json.JSONUtil;
+import com.dji.sample.component.redis.RedisConst;
+import com.dji.sample.component.redis.RedisOpsUtils;
 import com.dji.sample.component.websocket.model.BizCodeEnum;
 import com.dji.sample.component.websocket.service.IWebSocketMessageService;
 import com.dji.sample.manage.model.dto.DeviceDTO;
@@ -22,6 +24,7 @@ import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.MqttReply;
 import com.dji.sdk.mqtt.osd.TopicOsdRequest;
 import com.dji.sdk.mqtt.state.TopicStateRequest;
+import com.dji.sdk.mqtt.state.TopicStateResponse;
 import com.dji.sdk.mqtt.status.TopicStatusRequest;
 import com.dji.sdk.mqtt.status.TopicStatusResponse;
 import lombok.extern.slf4j.Slf4j;
@@ -387,6 +390,101 @@ public class SDKDeviceService extends AbstractDeviceService {
                                .build()).collect(Collectors.toList()));
    }
+    /**
+     * Dock/drone live_status state property. Demo 默认抛异常；此处仅落日志并推送给前端，避免刷 ERROR。
+     */
+    @Override
+    public void dockLiveStatusUpdate(TopicStateRequest<DockLiveStatus> request, MessageHeaders headers) {
+        String from = request.getFrom();
+        DockLiveStatus liveStatus = request.getData();
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+        if (deviceOpt.isEmpty()) {
+            log.debug("Ignore dock live_status, device offline. SN: {}", from);
+            return;
+        }
+        DeviceDTO device = deviceOpt.get();
+        if (!StringUtils.hasText(device.getWorkspaceId())) {
+            log.debug("Ignore dock live_status, device unbound. SN: {}", from);
+            return;
+        }
+        log.debug("Dock live_status from {}: {}", from, liveStatus);
+        deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DOCK_LIVE_STATUS, from, liveStatus);
+    }
+    /**
+     * RC/drone live_status state property.
+     */
+    @Override
+    public void rcLiveStatusUpdate(TopicStateRequest<RcLiveStatus> request, MessageHeaders headers) {
+        String from = request.getFrom();
+        RcLiveStatus liveStatus = request.getData();
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+        if (deviceOpt.isEmpty()) {
+            log.debug("Ignore rc live_status, device offline. SN: {}", from);
+            return;
+        }
+        DeviceDTO device = deviceOpt.get();
+        if (!StringUtils.hasText(device.getWorkspaceId())) {
+            log.debug("Ignore rc live_status, device unbound. SN: {}", from);
+            return;
+        }
+        log.debug("RC live_status from {}: {}", from, liveStatus);
+        deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.RC_LIVE_STATUS, from, liveStatus);
+    }
+    /**
+     * 机场 / RC / 飞行器上报的 4G Dongle 信息；暂仅落日志，避免 demo 空实现抛异常。
+     */
+    @Override
+    public TopicStateResponse<MqttReply> dongleInfos(TopicStateRequest<DongleInfos> request, MessageHeaders headers) {
+        log.debug("dongle_infos from {}: {}", request.getFrom(), request.getData());
+        return new TopicStateResponse<MqttReply>().setData(MqttReply.success());
+    }
+    /**
+     * 飞行器 WPMZ（航线任务库）版本：缓存到 Redis，并推给前端。
+     */
+    @Override
+    public void dockWpmzVersionUpdate(TopicStateRequest<DockDroneWpmzVersion> request, MessageHeaders headers) {
+        String sn = request.getFrom();
+        String version = request.getData() == null ? null : request.getData().getWpmzVersion();
+        if (!StringUtils.hasText(version)) {
+            return;
+        }
+        RedisOpsUtils.setWithExpire(RedisConst.WPMZ_VERSION_PREFIX + sn, version, RedisConst.DEVICE_ALIVE_SECOND);
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+        if (deviceOpt.isEmpty()) {
+            deviceOpt = deviceService.getDeviceBySn(sn);
+        }
+        deviceOpt.filter(d -> StringUtils.hasText(d.getWorkspaceId())).ifPresent(device ->
+                deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.WPMZ_VERSION, sn, request.getData()));
+        log.info("Updated wpmz_version. SN: {}, version: {}", sn, version);
+    }
+    /**
+     * 飞行器进入当前状态的原因（mode_code_reason）：缓存并推送，供前端展示返航/降落等原因。
+     */
+    @Override
+    public TopicStateResponse<MqttReply> dockDroneModeCodeReason(
+            TopicStateRequest<DockDroneModeCodeReason> request, MessageHeaders headers) {
+        String sn = request.getFrom();
+        DockDroneModeCodeReason data = request.getData();
+        if (data != null && data.getModeCodeReason() != null) {
+            RedisOpsUtils.setWithExpire(
+                    RedisConst.MODE_CODE_REASON_PREFIX + sn,
+                    data.getModeCodeReason().getReason(),
+                    RedisConst.DEVICE_ALIVE_SECOND);
+            Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+            if (deviceOpt.isEmpty()) {
+                deviceOpt = deviceService.getDeviceBySn(sn);
+            }
+            deviceOpt.filter(d -> StringUtils.hasText(d.getWorkspaceId())).ifPresent(device ->
+                    deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.MODE_CODE_REASON, sn, data));
+            log.debug("Updated mode_code_reason. SN: {}, reason: {}", sn, data.getModeCodeReason());
+        }
+        return new TopicStateResponse<MqttReply>().setData(MqttReply.success());
+    }
    @Override
    public void rcControlSourceUpdate(TopicStateRequest<RcDroneControlSource> request, MessageHeaders headers) {
        // If the control source is empty, it will not be processed.

--- a/sample/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java
+++ b/sample/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java
@@ -31,6 +31,8 @@ import com.dji.sdk.cloudapi.wayline.api.AbstractWaylineService;
 import com.dji.sdk.common.BaseModel;
 import com.dji.sdk.common.HttpResultResponse;
 import com.dji.sdk.common.SDKManager;
+import com.dji.sdk.exception.CloudSDKErrorEnum;
+import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.MqttReply;
 import com.dji.sdk.mqtt.events.TopicEventsRequest;
 import com.dji.sdk.mqtt.events.TopicEventsResponse;
@@ -363,17 +365,80 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
        }
    }
-    public HttpResultResponse publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
+    /**
+     * 校验网关可下发航线：机场走 Dock mode_code；Pilot RC「模拟机场」仅要求 RC 与子机在线。
-        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
+     */
-        if (!isOnline) {
+    private void assertGatewayReadyForWayline(String gatewaySn) {
-            throw new RuntimeException("Dock is offline.");
+        Optional<DeviceDTO> gatewayOpt = deviceRedisService.getDeviceOnline(gatewaySn);
+        if (gatewayOpt.isEmpty()) {
+            throw new RuntimeException("Gateway is offline.");
+        }
+        DeviceDTO gateway = gatewayOpt.get();
+        if (DeviceDomainEnum.REMOTER_CONTROL == gateway.getDomain()) {
+            String childSn = gateway.getChildDeviceSn();
+            if (!StringUtils.hasText(childSn) || !deviceRedisService.checkDeviceOnline(childSn)) {
+                throw new RuntimeException("Aircraft under RC is offline.");
            }
-        DockModeCodeEnum dockModeCodeEnum = deviceRedisService.getDeviceOsd(waylineJob.getDockSn(), OsdDock.class)
+            return;
+        }
+        DockModeCodeEnum dockModeCodeEnum = deviceRedisService.getDeviceOsd(gatewaySn, OsdDock.class)
                .map(OsdDock::getModeCode).orElse(null);
        if (dockModeCodeEnum == null || dockModeCodeEnum == DockModeCodeEnum.REMOTE_DEBUGGING) {
            throw new RuntimeException("Dock is remote_debugging state, does not support flight task.");
        }
+    }
+    private boolean isRemoterControlGateway(String gatewaySn) {
+        return deviceRedisService.getDeviceOnline(gatewaySn)
+                .map(d -> DeviceDomainEnum.REMOTER_CONTROL == d.getDomain())
+                .orElse(false);
+    }
+    private boolean isMqttNoReply(CloudSDKException e) {
+        return e.getErrorInfo() != null
+                && Objects.equals(CloudSDKErrorEnum.MQTT_PUBLISH_ABNORMAL.getCode(), e.getErrorInfo().getCode());
+    }
+    private String mqttNoReplyHint(String gatewaySn, String method) {
+        if (isRemoterControlGateway(gatewaySn)) {
+            return "Pilot 遥控器未应答 " + method + "（211001）。"
+                    + "官方 Pilot 航线管理为 HTTPS 文件库；向 RC 下发的 flighttask_* 需固件支持。"
+                    + "请确认 dock_sn 为遥控器 SN，并用 MQTT 抓包核对 thing/product/{rc_sn}/services 与 services_reply。";
+        }
+        return "设备未应答 " + method + "（211001）。请确认网关在线且已订阅 services，检查 MQTT 连通与 SDKManager 注册。";
+    }
+    private void markJobMqttFailed(WaylineJobDTO waylineJob, CloudSDKException e) {
+        waylineJobService.updateJob(WaylineJobDTO.builder()
+                .workspaceId(waylineJob.getWorkspaceId())
+                .jobId(waylineJob.getJobId())
+                .executeTime(LocalDateTime.now())
+                .status(WaylineJobStatusEnum.FAILED.getVal())
+                .completedTime(LocalDateTime.now())
+                .code(e.getErrorInfo() != null ? e.getErrorInfo().getCode() : CloudSDKErrorEnum.MQTT_PUBLISH_ABNORMAL.getCode())
+                .build());
+    }
+    public HttpResultResponse publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
+        // 实测：当前 Pilot 固件对 flighttask_* 不回 services_reply（211001）。
+        // 官方 Pilot 航线为 HTTPS 文件库（App 内 Mission），勿空等 MQTT 超时。
+        if (isRemoterControlGateway(waylineJob.getDockSn())) {
+            String msg = "Pilot 上云暂不支持 Web 端 MQTT 航线任务下发（flighttask_prepare）。"
+                    + "请在 DJI Pilot 2 航线库中执行航线，或改用机场设备创建任务。";
+            log.warn("Reject wayline job {} for Pilot RC {}: {}", waylineJob.getJobId(), waylineJob.getDockSn(), msg);
+            waylineJobService.updateJob(WaylineJobDTO.builder()
+                    .workspaceId(waylineJob.getWorkspaceId())
+                    .jobId(waylineJob.getJobId())
+                    .executeTime(LocalDateTime.now())
+                    .status(WaylineJobStatusEnum.FAILED.getVal())
+                    .completedTime(LocalDateTime.now())
+                    .code(CloudSDKErrorEnum.MQTT_PUBLISH_ABNORMAL.getCode())
+                    .build());
+            return HttpResultResponse.error(msg);
+        }
+        assertGatewayReadyForWayline(waylineJob.getDockSn());
        boolean isSuccess = this.prepareFlightTask(waylineJob);
        if (isSuccess) {
@@ -462,8 +527,14 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
            flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
        }
-        TopicServicesResponse<ServicesReplyData> serviceReply = abstractWaylineService.flighttaskPrepare(
+        TopicServicesResponse<ServicesReplyData> serviceReply;
+        try {
+            serviceReply = abstractWaylineService.flighttaskPrepare(
                    SDKManager.getDeviceSDK(waylineJob.getDockSn()), flightTask);
+        } catch (CloudSDKException e) {
+            markJobMqttFailed(waylineJob, e);
+            throw new RuntimeException(mqttNoReplyHint(waylineJob.getDockSn(), "flighttask_prepare"), e);
+        }
        if (!serviceReply.getData().getResult().isSuccess()) {
            log.info("Prepare task ====> Error code: {}", serviceReply.getData().getResult());
            waylineJobService.updateJob(WaylineJobDTO.builder()
@@ -494,8 +565,13 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
        WaylineJobDTO job = waylineJob.get();
-        TopicServicesResponse<ServicesReplyData> serviceReply = abstractWaylineService.flighttaskExecute(
+        TopicServicesResponse<ServicesReplyData> serviceReply;
+        try {
+            serviceReply = abstractWaylineService.flighttaskExecute(
                    SDKManager.getDeviceSDK(job.getDockSn()), new FlighttaskExecuteRequest().setFlightId(jobId));
+        } catch (CloudSDKException e) {
+            throw new RuntimeException(mqttNoReplyHint(job.getDockSn(), "flighttask_execute"), e);
+        }
        if (!serviceReply.getData().getResult().isSuccess()) {
            log.info("Execute job ====> Error: {}", serviceReply.getData().getResult());
            waylineJobService.updateJob(WaylineJobDTO.builder()
@@ -546,12 +622,25 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
            throw new RuntimeException("Dock is offline.");
        }
-        TopicServicesResponse<ServicesReplyData> serviceReply = abstractWaylineService.flighttaskUndo(SDKManager.getDeviceSDK(dockSn),
+        boolean mqttOk = false;
+        try {
+            TopicServicesResponse<ServicesReplyData> serviceReply = abstractWaylineService.flighttaskUndo(
+                    SDKManager.getDeviceSDK(dockSn),
                    new FlighttaskUndoRequest().setFlightIds(jobIds));
            if (!serviceReply.getData().getResult().isSuccess()) {
                log.info("Cancel job ====> Error: {}", serviceReply.getData().getResult());
                throw new RuntimeException("Failed to cancel the wayline job of " + dockSn);
            }
+            mqttOk = true;
+        } catch (CloudSDKException e) {
+            // Pilot RC：PENDING 任务常因设备从不应答 flighttask_*；允许仅落库取消，避免删任务卡死
+            if (isMqttNoReply(e) && isRemoterControlGateway(dockSn)) {
+                log.warn("flighttask_undo no reply from Pilot RC {}, soft-cancel jobs {} in DB only. {}",
+                        dockSn, jobIds, e.getMessage());
+            } else {
+                throw new RuntimeException(mqttNoReplyHint(dockSn, "flighttask_undo"), e);
+            }
+        }
        for (String jobId : jobIds) {
            waylineJobService.updateJob(WaylineJobDTO.builder()
@@ -562,6 +651,9 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
                    .build());
            RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, workspaceId + RedisConst.DELIMITER + dockSn + RedisConst.DELIMITER + jobId);
        }
+        if (!mqttOk) {
+            log.info("Soft-cancelled {} job(s) for Pilot RC {} without device undo ack", jobIds.size(), dockSn);
+        }
    }
@@ -772,15 +864,7 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
    public HttpResultResponse publishOneInFlightFlightTask(WaylineJobDTO waylineJob) throws SQLException {
-        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
+        assertGatewayReadyForWayline(waylineJob.getDockSn());
-        if (!isOnline) {
-            throw new RuntimeException("Dock is offline.");
-        }
-        DockModeCodeEnum dockModeCodeEnum = deviceRedisService.getDeviceOsd(waylineJob.getDockSn(), OsdDock.class)
-                .map(OsdDock::getModeCode).orElse(null);
-        if (dockModeCodeEnum == null || dockModeCodeEnum == DockModeCodeEnum.REMOTE_DEBUGGING) {
-            throw new RuntimeException("Dock is remote_debugging state, does not support flight task.");
-        }
        boolean isSuccess = this.prepareInFlightTask(waylineJob);
        if (!isSuccess) {

--- a/sample/src/main/java/com/dji/sample/wayline/service/impl/SDKWaylineService.java
+++ b/sample/src/main/java/com/dji/sample/wayline/service/impl/SDKWaylineService.java
@@ -72,7 +72,17 @@ public class SDKWaylineService extends AbstractWaylineService {
    @Override
    public TopicEventsResponse<MqttReply> deviceExitHomingNotify(TopicEventsRequest<DeviceExitHomingNotify> request, MessageHeaders headers) {
-        return super.deviceExitHomingNotify(request, headers);
+        log.debug("device_exit_homing_notify from {}: {}", request.getGateway(), request.getData());
+        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
+    }
+    @Override
+    public TopicEventsResponse<MqttReply> returnHomeInfo(TopicEventsRequest<ReturnHomeInfo> request, MessageHeaders headers) {
+        log.debug("return_home_info from {}: flightId={}, lastPointType={}",
+                request.getGateway(),
+                request.getData() == null ? null : request.getData().getFlightId(),
+                request.getData() == null ? null : request.getData().getLastPointType());
+        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
    }
    @Override

--- a/sample/src/main/resources/application-dev.yml
+++ b/sample/src/main/resources/application-dev.yml
@@ -95,16 +95,13 @@ mqtt:
    protocol: WSS
    host: geofly.geotwin.cn
    port: 443
-#    protocol: WSS # @see com.dji.sample.component.mqtt.model.MqttProtocolEnum
-    # host: emqx-broker
-    # host: 192.168.32.90
-    # port: 8083
-    # host: geofly-dev.geotwin.cc
-#    host: geofly.geotwin.cc
-#    port: 443
    path: /mqtt
    username: JavaServer
    password: 123456
+    # 下发给机场/Pilot：54418 明文 MQTT → enable-tls=false；MQTTS 8883 则改为 true
+    device-host: geofly.geotwin.cn
+    device-port: 54418
+    device-enable-tls: false
 cloud-sdk:
  mqtt:

--- a/sample/src/main/resources/application-liuxin.yml
+++ b/sample/src/main/resources/application-liuxin.yml
+server:
+  port: 6789
+my:
+  file:
+    base-path: /app/filePath
+spring:
+  main:
+    allow-bean-definition-overriding: true
+  application:
+    # name: cloud-api-sample
+    name: geoair-api
+  datasource:
+    druid:
+      type: com.alibaba.druid.pool.DruidDataSource
+      driver-class-name: com.mysql.cj.jdbc.Driver
+      url: jdbc:mysql://10.0.8.80:3306/cloud_sample?useSSL=false&allowPublicKeyRetrieval=true&serverTimezone=Asia/Shanghai
+      #      url: jdbc:mysql://localhost:3306/cloud_sample?useSSL=false&allowPublicKeyRetrieval=true&serverTimezone=Asia/Shanghai
+      username: root
+      password: root
+      initial-size: 10
+      min-idle: 10
+      max-active: 20
+      max-wait: 60000
+  redis:
+    # host: geoair_redis
+    # host: cloud_api_sample_redis
+    # 深圳
+    host: 10.0.8.80
+    port: 6379
+    database: 0
+    username: # if you enable
+    password:
+    lettuce:
+      pool:
+        max-active: 8
+        max-idle: 8
+        min-idle: 0
+  servlet:
+    multipart:
+      max-file-size: 2GB
+      max-request-size: 2GB
+  # 邮箱
+  mail:
+    host: smtpdm.aliyun.com      #阿里云发送服务器地址
+    port: 25                      #端口号
+    username: geofly@stmp-geofly.geotwin.cc         #发送人地址
+    # password: ENC(Grg2n2TYzgJv9zpwufsf37ndTe+M1cYk)   #密码
+    password: GeoSys2326   #密码
+jwt:
+  issuer: DJI
+  subject: CloudApiSample
+  secret: CloudApiSample
+  age: 86400
+mqtt:
+  # @see com.dji.sample.component.mqtt.model.MqttUseEnum
+  # BASIC parameters are required.
+  NET:
+    #    protocol: MQTT # @see com.dji.sample.component.mqtt.model.MqttProtocolEnum
+    #    host: 183.11.236.162
+    #    port: 54418
+    #    username: JavaServer
+    #    password: 123456
+    #    client-id: 123456
+    protocol: WSS
+    host: geofly.geotwin.cn
+    port: 443
+    path: /mqtt
+    username: JavaServer
+    password: 123456
+  BASIC:
+    protocol: MQTT # @see com.dji.sample.component.mqtt.model.MqttProtocolEnum
+    # 深圳
+    # host: 183.11.236.162
+    # port: 54418
+    # host: 203.186.109.106
+    # host: emqx-broker
+    # host: 192.168.32.90
+    # port: 44418
+    #    host: 203.186.109.106
+    #    port: 54941
+    host: 10.0.8.80
+    port: 1883
+    username: JavaServer
+    password: 123456
+    client-id: 123456
+    # If the protocol is ws/wss, this value is required.
+    path:
+  DRC:
+    # 深圳
+    protocol: WSS
+    host: geofly.geotwin.cn
+    port: 443
+    path: /mqtt
+    username: JavaServer
+    password: 123456
+    # 下发给机场/Pilot：54418 明文 MQTT → enable-tls=false；MQTTS 8883 则改为 true
+    device-host: geofly.geotwin.cn
+    device-port: 54418
+    device-enable-tls: false
+cloud-sdk:
+  mqtt:
+    # Topics that need to be subscribed when initially connecting to mqtt, multiple topics are divided by ",".
+    inbound-topic: sys/product/+/status,thing/product/+/requests,thing/product/+/osd,/ai_info
+url:
+  manage:
+    prefix: manage
+    version: /api/v1
+  map:
+    prefix: map
+    version: /api/v1
+  media:
+    prefix: media
+    version: /api/v1
+  wayline:
+    prefix: wayline
+    version: /api/v1
+  storage:
+    prefix: storage
+    version: /api/v1
+  control:
+    prefix: control
+    version: /api/v1
+  psdk:
+    prefix: psdk
+    version: /api/v1
+# Tutorial: https://www.alibabacloud.com/help/en/object-storage-service/latest/use-a-temporary-credential-provided-by-sts-to-access-oss
+#oss:
+#  enable: false
+#  provider: ALIYUN # @see com.dji.sample.component.OssConfiguration.model.enums.OssTypeEnum
+#  endpoint: https://oss-cn-hangzhou.aliyuncs.com
+#  access-key: Please enter your access key.
+#  secret-key: Please enter your secret key.
+#  expire: 3600
+#  region: Please enter your oss region. # cn-hangzhou
+#  role-session-name: cloudApi
+#  role-arn: Please enter your role arn. # acs:ram::123456789:role/stsrole
+#  bucket: Please enter your bucket name.
+#  object-dir-prefix: Please enter a folder name.
+#oss:
+#  enable: true
+#  provider: aws
+#  endpoint: https://s3.us-east-1.amazonaws.com
+#  access-key:
+#  secret-key:
+#  expire: 3600
+#  region: us-east-1
+#  role-session-name: cloudApi
+#  role-arn:
+#  bucket: cloudapi-bucket
+#  object-dir-prefix: wayline
+# VersityGW：provider=versitygw（OssTypeEnum.VERSITYGW）。下发给 Pilot/机场时会映射为 minio。
+# sts-mode=temp：Admin API 创建短期用户（需开启 VersityGW 多租户 IAM）；static：直接下发长期 AK/SK。
+# 若仍用 MinIO，改为 provider: minio 即可。
+oss:
+  enable: true
+  provider: versitygw
+  # 香港
+  # endpoint: https://gt7-oss.geotwin.cc
+  # 深圳 / VersityGW
+  endpoint: https://gt-oss-dev.geotwin.cn
+  access-key: minioadmin
+  secret-key: minioadmin
+  bucket: gtfly
+  expire: 86400  # 24 * 3600 24小时
+  region: us-east-1 # us-east-1
+  object-dir-prefix: wayline
+  sts-mode: temp
+  sts-user-role: admin
+logging:
+  level:
+    com.dji: info
+  file:
+    name: logs/cloud-api-sample.log
+ntp:
+  server:
+    host: Google.mzr.me
+# To create a license for an application: https://developer.dji.com/user/apps/#all
+cloud-api:
+  app:
+    id: 163614
+    key: 09e2fc9ac2ade8607d07826b3c1a822
+    license: fvwK+dVYFBUwxGUxXS3EglmsuTbyFA6400LGuqLrmebHmnhLL9U5DPTI0l4Wu49Xc6fdmNjP6e7ZzHqEhhwloVvhSn4tKMc9wAIsTLlHz1r/j7YbHo5xDX2LHLJOss1e8ud8Gl2lC3gfo9Dsc+qZiCfBX/uIeeZUgk/rR8m1erE=
+    # 旧配置
+    # id: 158488
+    # key: 15e3972c29ef16b9eda5e3415d943d7
+    # license: el2GS5tHPIEjXazwGZC1LkIEQ3B43U7uQ9x30ateJAACX1miOSOdjKLn0clBJTLKO3Fd/EnrlNnVwoPOmYvn9K6skalfLgY3bBv5I6sJq0nzaIGpdCHelNA/81GCvb9j1sWdN3adRIk/v5GtmSswauqElmgBGN/r37yp7pi5b5E=
+#    id: 158487
+#    key: 11de4b6e406e51bf78c75c4cabefe09
+#    license: MQzV5RtcqtuZuPlP6MAq0/1xF7gD2ujuN+0tmh+rDzOb7xECeIcRoyGItLcicTGWu3OkunX4XB8/7RcUp5yjyZhyvjHuqhkRDxSwfToidln8mRJ9UvltcSgKRCYCYnR/Oa6u3u0bs2azz20t6zCKmfdAIY0GzHI7YqgmOHowBXU=
+livestream:
+  url:
+    # It is recommended to use a program to create Token. https://github.com/AgoraIO/Tools/blob/master/DynamicKey/AgoraDynamicKey/java/src/main/java/io/agora/media/RtcTokenBuilder2.java
+    agora:
+      channel: Please enter the agora channel.
+      token: Please enter the agora temporary token.
+      uid:  654321
+    # RTMP  Note: This IP is the address of the streaming server. If you want to see livestream on web page, you need to convert the RTMP stream to WebRTC stream.
+    rtmp:
+      # url: rtmp://203.186.109.106:44424/live/  # Example: 'rtmp://192.168.1.1/live/'
+      # 深圳
+      # url: rtmp://183.11.236.162:54424/live/  # Example: 'rtmp://192.168.1.1/live/'
+      url: rtmp://183.11.236.162:54460/live/  # Example: 'rtmp://192.168.1.1/live/'
+    rtsp:
+      username: Please enter the username.
+      password: Please enter the password.
+      port: 8554
+    # GB28181 Note:If you don't know what these parameters mean, you can go to Pilot2 and select the GB28181 page in the cloud platform. Where the parameters same as these parameters.
+    gb28181:
+      serverIP: Please enter the server ip.
+      serverPort: 0
+      serverID: Please enter the server id.
+      agentID: Please enter the agent id.
+      agentPassword: Please enter the agent password.
+      localPort: 0
+      channel: Please enter the channel.
+    # Webrtc: Only supports using whip standard
+    whip:
+      url: Please enter the rtmp access address. #  Example：http://192.168.1.1:1985/rtc/v1/whip/?app=live&stream=
+uom:
+  # 数据源 Integer
+  # 1：无人机系统直报的数据
+  # 2：无人机制造商自建的无人机运行服务系统代报的数据
+  # 3：无人机机体上加装的单独数据模块代报的数据
+  # 4：采集设备采集代报的广播数据
+  source: 2
+  # 识别信息报送平台
+  # 报送平台的名称，如“DJI FLY”
+  platform: "GEO FLY"
+  # 报送程序版本
+  # 程序版本号，以第一次完成报送对接记为“version1.0”，每次升级报送程序累加版本号后缀
+  programVersion: "version1.0"
+  # 上报平台 API 地址 https://uom.receive.caacic.cn/addFlightRoute
+  # url: https://218.189.32.212:8080/addFlightRoute
+  url: https://220.232.168.7:8080/addFlightRoute
+  appID: GEOSYS
+  appKey: geosys_uas
--- a/sample/src/main/resources/application.yml
+++ b/sample/src/main/resources/application.yml
@@ -98,16 +98,13 @@ mqtt:
    protocol: WSS
    host: geofly.geotwin.cn
    port: 443
-    #    protocol: WSS # @see com.dji.sample.component.mqtt.model.MqttProtocolEnum
-    # host: emqx-broker
-    # host: 192.168.32.90
-    # port: 8083
-    # host: geofly-dev.geotwin.cc
-    #    host: geofly.geotwin.cc
-    #    port: 443
    path: /mqtt
    username: JavaServer
    password: 123456
+    # 下发给机场/Pilot：54418 明文 MQTT → enable-tls=false；MQTTS 8883 则改为 true
+    device-host: geofly.geotwin.cn
+    device-port: 54418
+    device-enable-tls: false
 cloud-sdk:
  mqtt:
@@ -185,7 +182,7 @@ oss:
 logging:
  level:
-    com.dji: debug
+    com.dji: info
  file:
    name: logs/cloud-api-sample.log