diff --git a/infer_camera_direct.py b/infer_camera_direct.py
index 6cf9fd0..98463ca 100644
--- a/infer_camera_direct.py
+++ b/infer_camera_direct.py
@@ -9,7 +9,7 @@ from ais_bench.infer.interface import InferSession
 
 # ==================== 配置区域 ======================
 MODEL_PATH = "./om/yolo26n-balloon.om"          # YOLO26 模型路径
-INPUT_VIDEO = "./test_video.mp4"                # 输入的测试视频（或 0 代表摄像头）
+INPUT_VIDEO = 0                                 # 摄像头编号
 CONF_THRESHOLD = 0.25                           # 置信度阈值
 
 # -------------- 无线图传网络配置 --------------
diff --git a/infer_video.py b/infer_video.py
deleted file mode 100644
index 5ab173f..0000000
--- a/infer_video.py
+++ /dev/null
@@ -1,155 +0,0 @@
-import os
-import cv2
-import numpy as np
-import time
-from ais_bench.infer.interface import InferSession
-
-# ==================== 配置区域 ====================
-MODEL_PATH = "./om/yolo26n-balloon.om"  # 你的 YOLO26 模型路径
-INPUT_VIDEO = "./test_video.mp4"  # 输入的 24 帧测试视频
-OUTPUT_VIDEO = "./output_result.mp4"  # 检测完成后保存的新视频路径
-CONF_THRESHOLD = 0.25  # 置信度阈值
-
-
-# ==================================================
-
-class YOLO26UAVInfer:
-    def __init__(self, model_path, device_id=0):
-        if not os.path.exists(model_path):
-            raise FileNotFoundError(f"找不到模型文件: {model_path}")
-        self.session = InferSession(device_id, model_path)
-        self.input_width = 640
-        self.input_height = 640
-
-    def letterbox(self, img, new_shape=(640, 640), color=(114, 114, 114)):
-        shape = img.shape[:2]
-        r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])
-        new_unpad = (int(round(shape[1] * r)), int(round(shape[0] * r)))
-        dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1]
-        left, top = dw // 2, dh // 2
-        right, bottom = dw - left, dh - top
-        if shape[::-1] != new_unpad:
-            img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR)
-        img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color)
-        return img, r, (left, top)
-
-    def preprocess_frame(self, img_bgr):
-        self.original_height, self.original_width = img_bgr.shape[:2]
-        img_rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
-        img_resized, self.ratio, (self.pad_left, self.pad_top) = self.letterbox(
-            img_rgb, (self.input_width, self.input_height)
-        )
-        img_input = (img_resized.astype(np.float32) / 255.0).astype(np.float32)
-        img_input = np.ascontiguousarray(np.transpose(img_input, (2, 0, 1))[np.newaxis, :, :, :])
-        return img_input
-
-    def infer(self, img_input):
-        return self.session.infer([img_input])
-
-    def postprocess(self, infer_result, conf_threshold):
-        detections = []
-        output = infer_result[0] if isinstance(infer_result, (list, tuple)) else infer_result
-        if output.ndim == 3: output = output[0]
-        for det in output:
-            confidence = det[4]
-            if confidence < conf_threshold: continue
-            x1_scale, y1_scale, x2_scale, y2_scale = det[0], det[1], det[2], det[3]
-            cls_id = int(det[5])
-            x1 = max(0, min((x1_scale - self.pad_left) / self.ratio, self.original_width))
-            y1 = max(0, min((y1_scale - self.pad_top) / self.ratio, self.original_height))
-            x2 = max(0, min((x2_scale - self.pad_left) / self.ratio, self.original_width))
-            y2 = max(0, min((y2_scale - self.pad_top) / self.ratio, self.original_height))
-            detections.append([x1, y1, x2, y2, confidence, cls_id])
-        return detections
-
-
-def draw_boxes(image, detections):
-    for det in detections:
-        x1, y1, x2, y2, conf, cls_id = det
-        x1, y1, x2, y2 = int(x1), int(y1), int(x2), int(y2)
-        # 画绿色的目标检测框
-        cv2.rectangle(image, (x1, y1), (x2, y2), (0, 255, 0), 2)
-        cv2.putText(image, f"Target:{cls_id} {conf:.2f}", (x1, y1 - 5),
-                    cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
-    return image
-
-
-if __name__ == "__main__":
-    yolo_infer = YOLO26UAVInfer(MODEL_PATH)
-
-    # 1. 打开输入视频
-    cap = cv2.VideoCapture(INPUT_VIDEO)
-    if not cap.isOpened():
-        print(f"错误：无法打开输入视频 {INPUT_VIDEO}")
-        exit()
-
-    # 读取输入视频的各种属性，用于配置保存视频的写入器
-    frame_w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
-    frame_h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
-    video_fps = cap.get(cv2.CAP_PROP_FPS)
-    img_center_x, img_center_y = frame_w / 2, frame_h / 2
-
-    # 2. 【核心点】初始化视频保存器 (VideoWriter)
-    # mp4v 是最通用、在 Linux 下不需要额外配置库的编码格式
-    fourcc = cv2.VideoWriter_fourcc(*'mp4v')
-    video_writer = cv2.VideoWriter(OUTPUT_VIDEO, fourcc, video_fps, (frame_w, frame_h))
-
-    print(f"开始处理视频并渲染可视化结果...")
-    print(f"原视频属性: {frame_w}x{frame_h} @ {video_fps:.2f} FPS")
-    print(f"处理后的视频将实时保存到: {OUTPUT_VIDEO}")
-
-    fps_start_time = time.time()
-    frame_count = 0
-
-    while True:
-        ret, frame = cap.read()
-        if not ret:
-            break
-
-        frame_count += 1
-
-        # NPU 执行推理
-        input_tensor = yolo_infer.preprocess_frame(frame)
-        raw_result = yolo_infer.infer(input_tensor)
-        detections = yolo_infer.postprocess(raw_result, conf_threshold=CONF_THRESHOLD)
-
-        # 如果检测到目标，计算偏差并画可视化指示线
-        if len(detections) > 0:
-            best_det = max(detections, key=lambda x: x[4])
-            x1, y1, x2, y2, conf, cls_id = best_det
-            target_x = (x1 + x2) / 2
-            target_y = (y1 + y2) / 2
-
-            err_x = (target_x - img_center_x) / img_center_x
-            err_y = (target_y - img_center_y) / img_center_y
-
-            # 画一条从画面中心指向目标中心的蓝色对准线，直观展示控制走向
-            cv2.line(frame, (int(img_center_x), int(img_center_y)),
-                     (int(target_x), int(target_y)), (255, 0, 0), 2)
-
-            # 把计算好的、原本要发给飞控的误差值实时写在视频上
-            cv2.putText(frame, f"MAVLink Out -> Err_X: {err_x:+.3f} Err_Y: {err_y:+.3f}",
-                        (20, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 0), 2)
-        else:
-            cv2.putText(frame, "MAVLink Out -> Target LOST (HOVER)",
-                        (20, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2)
-
-        # 渲染框和实时运行 FPS
-        frame = draw_boxes(frame, detections)
-
-        end_time = time.time()
-        curr_fps = 1 / (end_time - fps_start_time) if (end_time - fps_start_time) > 0 else video_fps
-        fps_start_time = end_time
-        cv2.putText(frame, f"NPU Process-FPS: {curr_fps:.1f}", (20, 30),
-                    cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)
-
-        # 3. 【核心点】把这一帧画好的画面写入新视频文件
-        video_writer.write(frame)
-
-        if frame_count % 24 == 0:
-            print(f"已处理并写入 {frame_count} 帧...")
-
-    # 4. 释放资源，这一步至关重要！不 release 视频文件会损坏打不开
-    cap.release()
-    video_writer.release()
-    print(f"🎉 处理完毕！完整的检测结果视频已成功保存至: {OUTPUT_VIDEO}")
\ No newline at end of file
diff --git a/infer_video_direct.py b/infer_video_direct.py
new file mode 100644
index 0000000..e420f04
--- /dev/null
+++ b/infer_video_direct.py
@@ -0,0 +1,191 @@
+import os
+import cv2
+import numpy as np
+import time
+import threading
+import queue
+import socket
+from ais_bench.infer.interface import InferSession
+
+# ==================== 配置区域 ======================
+MODEL_PATH = "./om/yolo26n-balloon.om"          # YOLO26 模型路径
+INPUT_VIDEO = "./test_video.mp4"                # 输入的测试视频
+CONF_THRESHOLD = 0.25                           # 置信度阈值
+
+# -------------- 无线图传网络配置 --------------
+GROUND_STATION_IP = "192.168.31.239"            # 地面站的局域网 IP
+UDP_PORT = 9999
+JPEG_QUALITY = 75                               # JPEG 压缩质量 (0-100)
+# ==================================================
+
+# 限制队列大小，发不完就直接丢帧，保证飞控算法实时性
+tx_queue = queue.Queue(maxsize=2)
+
+
+def udp_stream_sender_thread():
+    """ 📡 后台图传专用线程 """
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    server_address = (GROUND_STATION_IP, UDP_PORT)
+    print(f"📡 图传后台线程已启动...")
+
+    while True:
+        try:
+            frame_to_send = tx_queue.get()
+            if frame_to_send is None:
+                break
+
+            # 压缩为 JPEG 字节流
+            result, img_encode = cv2.imencode('.jpg', frame_to_send, [cv2.IMWRITE_JPEG_QUALITY, JPEG_QUALITY])
+            if not result:
+                continue
+
+            data = img_encode.tobytes()
+            if len(data) > 65000:  # 严格防丢包/报错限制
+                continue
+
+            sock.sendto(data, server_address)
+        except Exception as e:
+            print(f"❌ 图传线程异常: {e}")
+            time.sleep(0.1)
+
+    sock.close()
+
+
+class YOLO26UAVInfer:
+    def __init__(self, model_path, device_id=0):
+        if not os.path.exists(model_path):
+            raise FileNotFoundError(f"找不到模型文件: {model_path}")
+        self.session = InferSession(device_id, model_path)
+        self.input_width = 640
+        self.input_height = 640
+
+    def letterbox(self, img, new_shape=(640, 640), color=(114, 114, 114)):
+        shape = img.shape[:2]  # 原始图的高宽 [height, width]
+        r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])
+        new_unpad = (int(round(shape[1] * r)), int(round(shape[0] * r)))
+        dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1]
+        dw /= 2
+        dh /= 2
+        if shape[::-1] != new_unpad:
+            img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR)
+        top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))
+        left, right = int(round(dw - 0.1)), int(round(dw + 0.1))
+        img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color)
+        return img, r, (dw, dh)
+
+    def postprocess(self, outputs, ratio, dwdh, orig_shape):
+        out = outputs[0]
+        detections = []
+        for i in range(out.shape[1]):
+            box = out[0, i, :4]
+            conf = out[0, i, 4]
+            cls_id = int(out[0, i, 5])
+            if conf > CONF_THRESHOLD:
+                x1, y1, x2, y2 = box
+                # 严格基于原图比例还原坐标
+                x1 = (x1 - dwdh[0]) / ratio
+                y1 = (y1 - dwdh[1]) / ratio
+                x2 = (x2 - dwdh[0]) / ratio
+                y2 = (y2 - dwdh[1]) / ratio
+                x1 = max(0, min(x1, orig_shape[1]))
+                y1 = max(0, min(y1, orig_shape[0]))
+                x2 = max(0, min(x2, orig_shape[1]))
+                y2 = max(0, min(y2, orig_shape[0]))
+                detections.append([x1, y1, x2, y2, conf, cls_id])
+        return detections
+
+
+def draw_boxes(img, detections):
+    for det in detections:
+        x1, y1, x2, y2, conf, cls_id = det
+        cv2.rectangle(img, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 2)
+        label = f"Target: {conf:.2f}"
+        cv2.putText(img, label, (int(x1), int(y1) - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+    return img
+
+
+def main():
+    detector = YOLO26UAVInfer(MODEL_PATH)
+    cap = cv2.VideoCapture(INPUT_VIDEO)
+    from control import UAVController
+
+    uav = UAVController()
+
+    if not cap.isOpened():
+        print("❌ 无法打开视频源")
+        return
+
+    # 启动后台无线电图传线程
+    sender_thread = threading.Thread(target=udp_stream_sender_thread, daemon=True)
+    sender_thread.start()
+
+    print("🚀 NPU 精准推理主循环启动...")
+    while cap.isOpened():
+        ret, frame = cap.read()
+        if not ret:
+            break
+
+        # 完全保留读取到的原图大小
+        orig_shape = frame.shape[:2]
+        img_center_x = orig_shape[1] / 2
+        img_center_y = orig_shape[0] / 2
+
+        # 1. 严格使用原图进行标准无畸变 letterbox 图像预处理
+        input_tensor, ratio, dwdh = detector.letterbox(frame)
+        input_tensor = input_tensor.astype(np.float32) / 255.0
+        input_tensor = np.transpose(input_tensor, (2, 0, 1))
+        input_tensor = np.expand_dims(input_tensor, axis=0)
+        input_tensor = np.ascontiguousarray(input_tensor)
+
+        t_start = time.time()
+        # 2. NPU 硬件推理
+        outputs = detector.session.infer([input_tensor])
+        # 3. 坐标反求（恢复到大图的分辨率，保证百分之百精准）
+        detections = detector.postprocess(outputs, ratio, dwdh, orig_shape)
+        t_end = time.time()
+
+        fps_pure = 1.0 / (t_end - t_start)
+
+        # 4. 寻找置信度最高的目标并计算 MAVLink 飞控误差
+        if len(detections) > 0:
+            best_det = max(detections, key=lambda x: x[4])
+            x1, y1, x2, y2, conf, cls_id = best_det
+            target_x = (x1 + x2) / 2
+            target_y = (y1 + y2) / 2
+
+            err_x = (target_x - img_center_x) / img_center_x
+            err_y = (target_y - img_center_y) / img_center_y
+
+            # 画中心对准线
+            cv2.line(frame, (int(img_center_x), int(img_center_y)), (int(target_x), int(target_y)), (255, 0, 0), 2)
+            cv2.putText(frame, f"MAVLink Out -> Err_X: {err_x:+.3f} Err_Y: {err_y:+.3f}", (20, 70),cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 0), 2)
+            # ================ MAVLink 动作调用 =================
+            uav.update_control(has_target=True, err_x=err_x, err_y=err_y)
+            # =================================================
+        else:
+            cv2.putText(frame, "MAVLink Out -> Target LOST (HOVER)", (20, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.6,
+                        (0, 0, 255), 2)
+            # ================ MAVLink 丢失保护 =================
+            uav.update_control(has_target=False)
+            # =================================================
+
+        # 5. 在原始分辨率大图上，渲染精准目标框
+        frame = draw_boxes(frame, detections)
+        cv2.putText(frame, f"NPU Pure FPS: {fps_pure:.1f}", (20, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2)
+
+        # 只有在进入发送队列的前一秒，才将画好完美框的图 resize 为轻量化分辨率
+        send_frame = cv2.resize(frame, (640, 480))
+
+        # 6. 非阻塞式尝试推入图传队列
+        try:
+            tx_queue.put_nowait(send_frame)
+        except queue.Full:
+            pass  # 队列满则丢弃该帧，绝不积压延迟
+
+    cap.release()
+    tx_queue.put(None)
+    print("程序运行结束。")
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/mav-test.py b/mav-test.py
deleted file mode 100644
index 0795ed7..0000000
--- a/mav-test.py
+++ /dev/null
@@ -1,175 +0,0 @@
-import cv2
-import math
-import time
-import serial
-import numpy as np
-from ais_bench.infer.interface import InferSession
-from pymavlink import mavutil
-
-
-class DroneDetector:
-    def __init__(self, model_path, serial_port='/dev/ttyAMA0', baudrate=57600):
-        self.session = InferSession(0, model_path)
-        self.input_size = 640
-        # 串口/MAVLink
-        self.serial_port = serial_port
-        self.baudrate = baudrate
-        self.mav = None
-        self.init_serial()
-
-    def init_serial(self):
-        """初始化串口（如果用于自定义协议）或 MAVLink 连接"""
-        try:
-            self.mav = mavutil.mavlink_connection(self.serial_port, baud=self.baudrate)
-            print(f"MAVLink 已连接到 {self.serial_port} 波特率 {self.baudrate}")
-        except Exception as e:
-            print(f"串口打开失败: {e}")
-            self.mav = None
-
-    def letterbox(self, img, color=(114, 114, 114)):
-        shape = img.shape[:2]
-        r = min(self.input_size / shape[0], self.input_size / shape[1])
-        new_unpad = (int(round(shape[1] * r)), int(round(shape[0] * r)))
-        dw = self.input_size - new_unpad[0]
-        dh = self.input_size - new_unpad[1]
-        left = dw // 2
-        right = dw - left
-        top = dh // 2
-        bottom = dh - top
-        img = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR)
-        img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color)
-        return img, r, (left, top)
-
-    def preprocess(self, img):
-        img_rgb = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
-        img_resized, self.ratio, (self.pad_left, self.pad_top) = self.letterbox(img_rgb)
-        img_input = img_resized.astype(np.float32) / 255.0
-        img_input = np.ascontiguousarray(np.transpose(img_input, (2, 0, 1))[np.newaxis, ...])
-        return img_input
-
-    def postprocess(self, output, conf_thresh=0.5):
-        detections = []
-        if output.ndim == 3:
-            output = output[0]
-        for det in output:
-            raw_conf = det[4]
-            conf = 1.0 / (1.0 + math.exp(-raw_conf))
-            if conf < conf_thresh:
-                continue
-            x1, y1, x2, y2 = det[0], det[1], det[2], det[3]
-            # 映射回原图坐标
-            x1 = (x1 - self.pad_left) / self.ratio
-            y1 = (y1 - self.pad_top) / self.ratio
-            x2 = (x2 - self.pad_left) / self.ratio
-            y2 = (y2 - self.pad_top) / self.ratio
-            cls_id = int(det[5])
-            detections.append({
-                'bbox': (x1, y1, x2, y2),
-                'confidence': conf,
-                'class': cls_id,
-                'center': ((x1 + x2) / 2, (y1 + y2) / 2)
-            })
-        return detections
-
-    def send_mavlink_obstacle(self, angle_deg, distance_m):
-        """发送 DISTANCE_SENSOR 消息，表示目标方向与距离"""
-        if not self.mav:
-            return
-        self.mav.mav.distance_sensor_send(
-            0,  # time_boot_ms
-            0,  # min_distance cm
-            10000,  # max_distance cm
-            int(distance_m * 100),  # current_distance cm
-            0,  # type (0=laser)
-            0,  # id
-            int(angle_deg / 360.0 * 65535),  # orientation (0~360° -> 0~65535)
-            0  # covariance
-        )
-
-    def send_custom_serial(self, detections):
-        """通过串口发送自定义格式的数据（例如 JSON）"""
-        if not self.serial or not self.serial.is_open:
-            return
-        import json
-        data = {
-            'timestamp': time.time(),
-            'detections': detections
-        }
-        self.serial.write((json.dumps(data) + '\n').encode())
-
-    def detect_and_send(self, frame, send_method='mavlink', conf_thresh=0.5):
-        """对单帧图像进行检测，并发送结果"""
-        input_tensor = self.preprocess(frame)
-        outputs = self.session.infer([input_tensor])
-        detections = self.postprocess(outputs[0], conf_thresh)
-        if not detections:
-            return detections
-        # 假设只发送置信度最高的那个目标
-        best = detections[0]
-        if send_method == 'mavlink':
-            # 计算角度和距离（需要根据相机参数和实际尺寸估算）
-            # 这里简单示例：根据目标在图像中的偏移量估算角度
-            cx = best['center'][0]
-            img_w = frame.shape[1]
-            angle = (cx - img_w / 2) / (img_w / 2) * 45  # 水平视场角90°，偏移量映射为±45°
-            # 距离估算：根据目标在图像中的高度（假设目标实际高度1m）
-            # 需要相机焦距等，简化：使用固定值10米
-            distance = 10.0
-            self.send_mavlink_obstacle(angle, distance)
-        elif send_method == 'custom':
-            self.send_custom_serial(detections)
-        return detections
-
-    def run_on_camera(self, camera_id=0, conf_thresh=0.5, send_method='mavlink'):
-        cap = cv2.VideoCapture(camera_id)
-        if not cap.isOpened():
-            print("摄像头打开失败")
-            return
-        print("开始检测，按 q 退出")
-        while True:
-            ret, frame = cap.read()
-            if not ret:
-                break
-            detections = self.detect_and_send(frame, send_method, conf_thresh)
-            # 绘制检测框（调试）
-            for det in detections:
-                x1, y1, x2, y2 = map(int, det['bbox'])
-                cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 255, 0), 2)
-                cv2.putText(frame, f"{det['class']}:{det['confidence']:.2f}", (x1, y1 - 5),
-                            cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
-            cv2.imshow("Detection", frame)
-            if cv2.waitKey(1) & 0xFF == ord('q'):
-                break
-        cap.release()
-        cv2.destroyAllWindows()
-
-    def run_on_image(self, image_path, conf_thresh=0.5, send_method='mavlink'):
-        frame = cv2.imread(image_path)
-        if frame is None:
-            print("图片读取失败")
-            return
-        detections = self.detect_and_send(frame, send_method, conf_thresh)
-        print(f"检测到 {len(detections)} 个目标")
-        for d in detections:
-            print(d)
-        # 显示结果
-        for det in detections:
-            x1, y1, x2, y2 = map(int, det['bbox'])
-            cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 255, 0), 2)
-            cv2.putText(frame, f"{det['class']}:{det['confidence']:.2f}", (x1, y1 - 5),
-                        cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
-        cv2.imshow("Detection", frame)
-        cv2.waitKey(0)
-        cv2.destroyAllWindows()
-
-
-if __name__ == "__main__":
-    MODEL_PATH = "./om/yolo26n-drone.om"
-    SERIAL_PORT = "/dev/ttyAMA0"  # 根据实际修改
-    BAUD = 57600
-
-    detector = DroneDetector(MODEL_PATH, SERIAL_PORT, BAUD)
-
-    # 选择模式：摄像头或单张图片
-    # detector.run_on_camera(camera_id=0, conf_thresh=0.5, send_method='mavlink')
-    detector.run_on_image("test.jpg", conf_thresh=0.5, send_method='mavlink')
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