diff --git a/drone_controller/mission_manager.py b/drone_controller/mission_manager.py
index 7150324..c0c9938 100644
--- a/drone_controller/mission_manager.py
+++ b/drone_controller/mission_manager.py
@@ -118,6 +118,25 @@ class MissionManager:
     OFFBOARD_TIMEOUT = 5.0
     ARM_TIMEOUT = 5.0
 
+    # ================================================================
+    #  状态切换日志（property 拦截所有 self.state = X 赋值）
+    # ================================================================
+
+    @property
+    def state(self):
+        return self._state
+
+    @state.setter
+    def state(self, new_state):
+        old_state = getattr(self, '_state', None)
+        if old_state is not new_state:
+            logger.info("🔄 [状态切换] %s → %s",
+                         old_state.name if old_state is not None else "∅",
+                         new_state.name)
+        self._state = new_state
+
+    # ================================================================
+
     def __init__(self, proxy, waypoints, target_altitude=1.5,
                  arrival_radius=0.3, hold_duration=5.0,
                  return_to_home=True, target_lost_timeout=None,
@@ -139,6 +158,9 @@ class MissionManager:
         # ---- 依赖注入 ----
         self.proxy = proxy
 
+        # ---- 状态初始值（property 用 _state，须在任何 self.state = 前初始化） ----
+        self._state = None
+
         # ---- 任务参数 ----
         # 航点列表（经纬度协议 v2：[{lat, lon, alt, yaw, command}, ...]）
         self.waypoints = list(waypoints) if waypoints else []
diff --git a/run_mission.py b/run_mission.py
index a495b2d..13f9921 100644
--- a/run_mission.py
+++ b/run_mission.py
@@ -46,8 +46,6 @@ import threading
 import time
 import socket
 import cv2
-import queue
-import csv
 
 from drone_controller.mission_manager import (
     MissionManager,
@@ -61,6 +59,8 @@ from drone_controller.router_proxy import RouterProxy
 # run_mission.py 在外部协调其控制线程的启停。
 from infer_camera_modular import UAVControlLoop, VideoStreaming, YOLO26UAVInfer
 # 注：coord.latlon_to_ned 不再需要 — 航点直接存储原始经纬度
+# ---- 飞行日志 ----
+from utils.flight_logger import FlightLogger
 # ---- 光流模块 ----
 from drone_controller.optical_flow_controller import OpticalFlowObstacleDetector
 
@@ -97,16 +97,7 @@ class MissionOrchestrator:
         # csv飞行日志参数
         # ================================================================
         log_cfg = cfg.get("log", {})
-        self.flight_log_enabled = log_cfg.get("enable_flight_log", True)
-        self.flight_log_interval = log_cfg.get("flight_log_interval", 20)  # 20帧 ≈ 1秒
-        self.log_dir = log_cfg.get("log_dir", "./log")
-        self._log_queue = queue.Queue(maxsize=500)  # 最多缓存500条，防止内存泄漏
-        self._log_thread = None
-        self._log_running = False
-        self._log_frame_counter = 0
-        self._log_file_path = None
-        self._log_worker_started = False
-
+        self.flight_logger = FlightLogger(log_cfg)
         self._latest_detections = None
 
         # ================================================================
@@ -168,141 +159,6 @@ class MissionOrchestrator:
         self.logger.info("MissionOrchestrator 初始化完成")
 
     # ================================================================
-    # 📝 飞行日志相关
-    # ================================================================
-    def _start_flight_logger(self):
-        """启动异步日志后台线程"""
-        if not self.flight_log_enabled:
-            self.logger.info("📝 飞行日志已禁用（config 中 enable_flight_log=false）")
-            return
-
-        if self._log_worker_started:
-            return
-
-        # 确保日志目录存在
-        os.makedirs(self.log_dir, exist_ok=True)
-
-        # 生成日志文件名（按时间命名）
-        timestamp = time.strftime("%Y%m%d_%H%M%S")
-        self._log_file_path = os.path.join(self.log_dir, f"flight_{timestamp}.csv")
-
-        # 写入 CSV 表头（如果文件不存在）
-        with open(self._log_file_path, 'w', newline='') as f:
-            writer = csv.writer(f)
-            writer.writerow([
-                'timestamp_unix',
-                'alt_rel_m',
-                'ground_speed_mps',
-                'vx', 'vy', 'vz',
-                'battery_percent',
-                'state',
-                'wp_index',
-                'detect_count',
-                'tracking_active'
-            ])
-
-        self._log_running = True
-        self._log_thread = threading.Thread(
-            target=self._flight_log_worker,
-            daemon=True,
-            name="flight-log-writer"
-        )
-        self._log_thread.start()
-        self._log_worker_started = True
-        self.logger.info(f"📝 异步飞行日志已启动 -> {self._log_file_path} (降采样: 每{self.flight_log_interval}帧写1次)")
-
-    def _flight_log_worker(self):
-        """后台线程：从队列取数据，批量写入 CSV"""
-        buffer = []
-        BATCH_SIZE = 10  # 攒够 10 条一次性写入，减少 I/O
-
-        while self._log_running:
-            try:
-                # 阻塞等待 1 秒，有数据则取，超时则检查是否退出
-                item = self._log_queue.get(timeout=1.0)
-                if item is None:  # 停止信号
-                    break
-                buffer.append(item)
-
-                # 攒够一批或队列为空且需要退出时写入
-                if len(buffer) >= BATCH_SIZE:
-                    self._flush_log_buffer(buffer)
-                    buffer = []
-
-            except queue.Empty:
-                # 超时无数据，检查是否还有残留
-                if not self._log_running and not self._log_queue.empty():
-                    # 收尾：把剩余的数据写完
-                    while not self._log_queue.empty():
-                        try:
-                            buffer.append(self._log_queue.get_nowait())
-                        except queue.Empty:
-                            break
-                    if buffer:
-                        self._flush_log_buffer(buffer)
-                continue
-            except Exception as e:
-                self.logger.error(f"飞行日志线程异常: {e}")
-                time.sleep(0.1)
-
-        # 最终收尾：清空缓冲区
-        if buffer:
-            self._flush_log_buffer(buffer)
-        self.logger.info("📝 飞行日志线程已停止")
-
-    def _flush_log_buffer(self, buffer):
-        """将缓冲区数据写入 CSV 文件（由后台线程调用）"""
-        if not buffer or not self._log_file_path:
-            return
-        try:
-            with open(self._log_file_path, 'a', newline='') as f:
-                writer = csv.writer(f)
-                writer.writerows(buffer)
-        except Exception as e:
-            self.logger.error(f"写入飞行日志失败: {e}")
-
-    # run_mission.py — MissionOrchestrator 类中新增
-
-    def _collect_and_enqueue_log(self):
-        """采集当前飞行状态，推入日志队列（主线程执行，极轻量）"""
-        try:
-            state = self.proxy.get_latest_state()
-            if state is None:
-                return
-
-            drone = state.get("drone", {})
-            # 当前状态机的状态
-            current_state = self.mission.state.name if self.mission else "UNKNOWN"
-            wp_idx = self.mission.current_wp_index if self.mission else 0
-            # 追踪线程是否激活（来自控制权协调标志）
-            tracking_active = 1 if self._control_active else 0
-
-            # 组装日志行（顺序要与 CSV 表头一致）
-            row = (
-                time.time(),  # timestamp_unix
-                drone.get("alt_rel", 0.0),  # alt_rel_m
-                drone.get("ground_speed", 0.0),  # ground_speed_mps
-                drone.get("vx", 0.0),  # vx
-                drone.get("vy", 0.0),  # vy
-                drone.get("vz", 0.0),  # vz
-                drone.get("battery", 0.0),  # battery_percent
-                current_state,  # state (string)
-                wp_idx,  # wp_index
-                len(self._latest_detections) if self._latest_detections is not None else 0,  # detect_count
-                tracking_active  # tracking_active
-            )
-
-            # 非阻塞推入队列（如果队列满了，丢弃旧数据，防止内存爆炸）
-            try:
-                self._log_queue.put_nowait(row)
-            except queue.Full:
-                # 队列满了说明写入线程跟不上，丢掉这条数据，记录警告（但不要经常触发）
-                pass
-
-        except Exception as e:
-            # 日志采集失败不影响主循环
-            pass
-    # ================================================================
     # 📥 QGC 航点回调（由 RouterProxy 的 SUB 线程触发）
     # ================================================================
 
@@ -506,8 +362,7 @@ class MissionOrchestrator:
         if cmd_cfg.get("enabled", True):
             self._start_tcp_command_server()
 
-        # ---- 启动异步飞行日志 ----
-        self._start_flight_logger()
+        # ---- 飞行日志由 FlightLogger 在构造时自动启动 ----
 
         self.running = True
         self.logger.info("🚀 所有子系统就绪，主循环启动")
@@ -587,10 +442,14 @@ class MissionOrchestrator:
                 self.streamer.push_to_stream(frame)
 
                 # ---- 采集飞行日志 ----
-                if self.flight_log_enabled and self._log_worker_started:
-                    self._log_frame_counter += 1
-                    if self._log_frame_counter % self.flight_log_interval == 0:
-                        self._collect_and_enqueue_log()
+                if self.flight_logger.enabled and self.flight_logger.should_collect():
+                    self.flight_logger.collect(
+                        state=self.proxy.get_latest_state(),
+                        mission_state_name=self.mission.state.name,
+                        wp_index=self.mission.current_wp_index,
+                        detect_count=len(self._latest_detections) if self._latest_detections is not None else 0,
+                        tracking_active=1 if self._control_active else 0,
+                    )
 
                 # ---- 频率控制 ----
                 elapsed = time.time() - loop_start
@@ -751,17 +610,7 @@ class MissionOrchestrator:
         self._stop_control_thread()
 
         # ---- 停止飞行日志线程 ----
-        if self._log_running:
-            self._log_running = False
-            # 给队列发送停止信号
-            try:
-                self._log_queue.put_nowait(None)
-            except queue.Full:
-                pass
-
-            if self._log_thread and self._log_thread.is_alive():
-                self._log_thread.join(timeout=2.0)
-                self.logger.info("✔ 飞行日志线程已停止")
+        self.flight_logger.stop()
 
         # 2. 关闭共享 ZMQ 代理（MissionManager + UAVControlLoop 共用）
         #    注意：UAVControlLoop 不拥有 proxy 生命周期（_owns_proxy=False），
diff --git a/utils/flight_logger.py b/utils/flight_logger.py
new file mode 100644
index 0000000..c434737
--- /dev/null
+++ b/utils/flight_logger.py
@@ -0,0 +1,216 @@
+"""
+flight_logger.py — 异步飞行日志记录器
+
+将飞行状态数据异步写入 CSV 文件，不影响主循环性能。
+
+用法：
+    logger = FlightLogger(log_config)
+
+    # 在主循环中（按间隔调用）
+    logger.collect(state, mission_state_name, wp_index, detect_count, tracking_active)
+
+    # 退出时
+    logger.stop()
+"""
+
+import os
+import time
+import csv
+import queue
+import threading
+import logging
+
+logger = logging.getLogger(__name__)
+
+
+class FlightLogger:
+    """
+    异步飞行日志记录器
+
+    后台线程负责批量写入 CSV，主线程仅做轻量级入队操作。
+    """
+
+    def __init__(self, log_config=None):
+        """
+        Args:
+            log_config: 日志配置字典，支持字段：
+                enable_flight_log (bool):   是否启用（默认 True）
+                flight_log_interval (int):  写入间隔（帧数，默认 20）
+                log_dir (str):              日志目录（默认 "./log"）
+        """
+        if log_config is None:
+            log_config = {}
+
+        self.enabled = log_config.get("enable_flight_log", True)
+        self.log_interval = log_config.get("flight_log_interval", 20)
+        self.log_dir = log_config.get("log_dir", "./log")
+
+        self._queue = queue.Queue(maxsize=500)
+        self._thread = None
+        self._running = False
+        self._file_path = None
+        self._started = False
+        self._frame_counter = 0
+
+        if self.enabled:
+            self._start()
+
+    # ================================================================
+    #  内部方法
+    # ================================================================
+
+    def _start(self):
+        """启动后台日志线程"""
+        os.makedirs(self.log_dir, exist_ok=True)
+
+        timestamp = time.strftime("%Y%m%d_%H%M%S")
+        self._file_path = os.path.join(self.log_dir, f"flight_{timestamp}.csv")
+
+        # 写入 CSV 表头
+        with open(self._file_path, 'w', newline='') as f:
+            writer = csv.writer(f)
+            writer.writerow([
+                'timestamp_unix',
+                'alt_rel_m',
+                'ground_speed_mps',
+                'vx', 'vy', 'vz',
+                'battery_percent',
+                'state',
+                'wp_index',
+                'detect_count',
+                'tracking_active'
+            ])
+
+        self._running = True
+        self._thread = threading.Thread(
+            target=self._worker,
+            daemon=True,
+            name="flight-log-writer"
+        )
+        self._thread.start()
+        self._started = True
+        logger.info("📝 异步飞行日志已启动 -> %s (降采样: 每%d帧写1次)",
+                     self._file_path, self.log_interval)
+
+    def _worker(self):
+        """后台线程：从队列取数据，批量写入 CSV"""
+        buffer = []
+        BATCH_SIZE = 10  # 攒够 10 条一次性写入，减少 I/O
+
+        while self._running:
+            try:
+                item = self._queue.get(timeout=1.0)
+                if item is None:  # 停止信号
+                    break
+                buffer.append(item)
+
+                if len(buffer) >= BATCH_SIZE:
+                    self._flush(buffer)
+                    buffer = []
+
+            except queue.Empty:
+                # 超时无数据，检查是否还有残留
+                if not self._running and not self._queue.empty():
+                    while not self._queue.empty():
+                        try:
+                            buffer.append(self._queue.get_nowait())
+                        except queue.Empty:
+                            break
+                    if buffer:
+                        self._flush(buffer)
+                continue
+            except Exception as e:
+                logger.error("飞行日志线程异常: %s", e)
+                time.sleep(0.1)
+
+        # 最终收尾：清空缓冲区
+        if buffer:
+            self._flush(buffer)
+        logger.info("📝 飞行日志线程已停止")
+
+    def _flush(self, buffer):
+        """将缓冲区数据写入 CSV 文件"""
+        if not buffer or not self._file_path:
+            return
+        try:
+            with open(self._file_path, 'a', newline='') as f:
+                writer = csv.writer(f)
+                writer.writerows(buffer)
+        except Exception as e:
+            logger.error("写入飞行日志失败: %s", e)
+
+    # ================================================================
+    #  公开接口
+    # ================================================================
+
+    def should_collect(self):
+        """
+        判断当前帧是否需要采集（基于帧数间隔降采样）
+
+        Returns:
+            bool: 当前帧是否应采集
+
+        用法：
+            if flight_logger.should_collect():
+                flight_logger.collect(...)
+        """
+        if not self._started:
+            return False
+        self._frame_counter += 1
+        return self._frame_counter % self.log_interval == 0
+
+    def collect(self, state, mission_state_name, wp_index,
+                detect_count, tracking_active):
+        """
+        采集当前飞行状态，推入写入队列（主线程调用，极轻量）
+
+        Args:
+            state:               proxy.get_latest_state() 的返回值
+            mission_state_name:  状态机当前状态名 (str)，如 "NAVIGATING"
+            wp_index:            当前航点索引
+            detect_count:        当前帧检测到的目标数
+            tracking_active:     追踪线程是否激活（1 激活 / 0 未激活）
+        """
+        if not self._started or state is None:
+            return
+
+        try:
+            drone = state.get("drone", {})
+            row = (
+                time.time(),                       # timestamp_unix
+                drone.get("alt_rel", 0.0),         # alt_rel_m
+                drone.get("ground_speed", 0.0),    # ground_speed_mps
+                drone.get("vx", 0.0),              # vx
+                drone.get("vy", 0.0),              # vy
+                drone.get("vz", 0.0),              # vz
+                drone.get("battery", 0.0),         # battery_percent
+                mission_state_name,                # state
+                wp_index,                          # wp_index
+                detect_count,                      # detect_count
+                tracking_active,                   # tracking_active
+            )
+
+            # 非阻塞入队，满则丢弃
+            try:
+                self._queue.put_nowait(row)
+            except queue.Full:
+                pass
+
+        except Exception:
+            pass  # 日志采集失败不影响主循环
+
+    def stop(self):
+        """停止后台日志线程"""
+        if not self._started:
+            return
+
+        self._running = False
+        # 发送停止信号
+        try:
+            self._queue.put_nowait(None)
+        except queue.Full:
+            pass
+
+        if self._thread and self._thread.is_alive():
+            self._thread.join(timeout=2.0)
+            logger.info("✔ 飞行日志线程已停止")