diff --git a/PayloadAPP.pro b/PayloadAPP.pro
index b898e74..cd6288f 100644
--- a/PayloadAPP.pro
+++ b/PayloadAPP.pro
@@ -14,7 +14,7 @@ QMAKE_PROJECT_DEPTH = 0
 # QMAKE_LFLAGS += /MANIFESTUAC:\"level=\'requireAdministrator\' uiAccess=\'false\'\"
 
 #程序版本
-VERSION = 1.0.0.1014
+VERSION = 1.0.2.1
 #程序版本
 QMAKE_TARGET_COMPANY = "HTSDFP"
 
diff --git a/Src/GDDC/gddcSet.cpp b/Src/GDDC/gddcSet.cpp
index baa9473..08f73ae 100644
--- a/Src/GDDC/gddcSet.cpp
+++ b/Src/GDDC/gddcSet.cpp
@@ -50,7 +50,8 @@ void GDDCSet::initParam() {
   ui->comboBox_streamSource->addItem("载荷端");
   ui->comboBox_streamSource->setCurrentIndex(0);
 
-  ui->lineEdit_pushURL->setText(QStringLiteral("-1"));
+  ui->comboBox_pushURL->addItem(QStringLiteral("-1"));
+  ui->comboBox_pushURL->addItem(QStringLiteral("-1"));
 
   ui->radioButton_NetCtrlUDP->setChecked(true);
   ui->radioButton_NetCtrlTCP->setChecked(false);
@@ -222,7 +223,7 @@ void GDDCSet::saveDataToLocalIni() {
   // inBuf,
   //                              strSysIniName);
 
-  m_pushURL = ui->lineEdit_pushURL->text();
+  m_pushURL = ui->comboBox_pushURL->currentText();
   ba = m_pushURL.toLocal8Bit();
   inBuf = ba.data();
   ::WritePrivateProfileStringA("光电吊舱-推流", "推流URL", inBuf,
@@ -295,7 +296,10 @@ void GDDCSet::on_uavIDSpinBox_valueChanged(int arg1) {
     if ("地面端" == streamSource) {
       QString pushURL =
           generatePushURL(uavID, QString::fromStdString(iter->second));
-      ui->lineEdit_pushURL->setText(pushURL);
+      QString pushURL2 =
+          generatePushURL2(uavID, QString::fromStdString(iter->second));
+      ui->comboBox_pushURL->setItemText(0, pushURL);
+      ui->comboBox_pushURL->setItemText(1, pushURL2);
     } else {
       QString pullURL =
           generatePullURL(uavID, QString::fromStdString(iter->second));
diff --git a/Src/GDDC/gddcSet.ui b/Src/GDDC/gddcSet.ui
index 90c0ca6..06b2d4e 100644
--- a/Src/GDDC/gddcSet.ui
+++ b/Src/GDDC/gddcSet.ui
@@ -174,19 +174,6 @@
      <string>推流地址：</string>
     </property>
    </widget>
-   <widget class="QLineEdit" name="lineEdit_pushURL">
-    <property name="geometry">
-     <rect>
-      <x>80</x>
-      <y>100</y>
-      <width>421</width>
-      <height>23</height>
-     </rect>
-    </property>
-    <property name="readOnly">
-     <bool>true</bool>
-    </property>
-   </widget>
    <widget class="QPushButton" name="pushButton_pushURL">
     <property name="geometry">
      <rect>
@@ -255,6 +242,16 @@
      </rect>
     </property>
    </widget>
+   <widget class="QComboBox" name="comboBox_pushURL">
+    <property name="geometry">
+     <rect>
+      <x>80</x>
+      <y>100</y>
+      <width>421</width>
+      <height>23</height>
+     </rect>
+    </property>
+   </widget>
   </widget>
   <widget class="QGroupBox" name="groupBox_2">
    <property name="geometry">
diff --git a/Src/ModelCamera/modelcameradlg.ui b/Src/ModelCamera/modelcameradlg.ui
index b7dba3d..88dde32 100644
--- a/Src/ModelCamera/modelcameradlg.ui
+++ b/Src/ModelCamera/modelcameradlg.ui
@@ -23,7 +23,7 @@
       </sizepolicy>
      </property>
      <property name="frameShape">
-      <enum>QFrame::Shape::NoFrame</enum>
+      <enum>QFrame::NoFrame</enum>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,1,1,1,2,1">
       <property name="spacing">
@@ -44,7 +44,7 @@
       <item>
        <spacer name="horizontalSpacer">
         <property name="orientation">
-         <enum>Qt::Orientation::Horizontal</enum>
+         <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
@@ -67,7 +67,7 @@
           <number>4</number>
          </property>
          <property name="topMargin">
-          <number>4</number>
+          <number>12</number>
          </property>
          <property name="rightMargin">
           <number>4</number>
@@ -192,7 +192,7 @@
          <item>
           <spacer name="verticalSpacer">
            <property name="orientation">
-            <enum>Qt::Orientation::Vertical</enum>
+            <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
@@ -221,7 +221,7 @@
           <number>4</number>
          </property>
          <property name="topMargin">
-          <number>4</number>
+          <number>12</number>
          </property>
          <property name="rightMargin">
           <number>4</number>
@@ -400,7 +400,7 @@
               </size>
              </property>
              <property name="buttonSymbols">
-              <enum>QAbstractSpinBox::ButtonSymbols::NoButtons</enum>
+              <enum>QAbstractSpinBox::NoButtons</enum>
              </property>
              <property name="decimals">
               <number>1</number>
@@ -412,7 +412,7 @@
               <double>25.000000000000000</double>
              </property>
              <property name="stepType">
-              <enum>QAbstractSpinBox::StepType::DefaultStepType</enum>
+              <enum>QAbstractSpinBox::DefaultStepType</enum>
              </property>
             </widget>
            </item>
@@ -434,7 +434,7 @@
           <number>4</number>
          </property>
          <property name="topMargin">
-          <number>4</number>
+          <number>12</number>
          </property>
          <property name="rightMargin">
           <number>4</number>
@@ -620,7 +620,7 @@
           <number>4</number>
          </property>
          <property name="topMargin">
-          <number>4</number>
+          <number>12</number>
          </property>
          <property name="rightMargin">
           <number>4</number>
@@ -631,7 +631,7 @@
          <item>
           <layout class="QGridLayout" name="gridLayout" columnstretch="2,3,2,3">
            <property name="sizeConstraint">
-            <enum>QLayout::SizeConstraint::SetDefaultConstraint</enum>
+            <enum>QLayout::SetDefaultConstraint</enum>
            </property>
            <property name="leftMargin">
             <number>5</number>
@@ -941,7 +941,7 @@
               <string>ISO：</string>
              </property>
              <property name="alignment">
-              <set>Qt::AlignmentFlag::AlignLeading|Qt::AlignmentFlag::AlignLeft|Qt::AlignmentFlag::AlignVCenter</set>
+              <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
              </property>
              <property name="wordWrap">
               <bool>false</bool>
@@ -1276,7 +1276,7 @@
       <item>
        <spacer name="horizontalSpacer_2">
         <property name="orientation">
-         <enum>Qt::Orientation::Horizontal</enum>
+         <enum>Qt::Horizontal</enum>
         </property>
         <property name="sizeHint" stdset="0">
          <size>
@@ -1304,7 +1304,7 @@
 }</string>
      </property>
      <property name="frameShape">
-      <enum>QFrame::Shape::Box</enum>
+      <enum>QFrame::Box</enum>
      </property>
      <layout class="QGridLayout" name="gridLayout_5">
       <property name="leftMargin">
diff --git a/Src/Video/cffmpeg_decode.cpp b/Src/Video/cffmpeg_decode.cpp
index 484bc70..fcef312 100644
--- a/Src/Video/cffmpeg_decode.cpp
+++ b/Src/Video/cffmpeg_decode.cpp
@@ -83,10 +83,11 @@ bool Cffmpeg_decode::open_input_file() {
   av_dict_set(&avdic, "buffer_size", "4096000", 0);
   // 设置超时断开连接时间，单位微秒//listen_timeout
   // av_dict_set(&avdic, "listen_timeout", "200000", 0);
+  // 在尝试连接到一个流或网络资源时，等待的最长时间。如果在这个时间内无法建立连接，就会返回超时错误
   av_dict_set(&avdic, "stimeout", "5000000", 0); // 设置超时5秒
-  // av_dict_set(&avdic, "max_delay", "300000", 0); // 设置最大时延300ms
+  av_dict_set(&avdic, "max_delay", "300000", 0); // 设置最大时延300ms
   av_dict_set(&avdic, "tune", "zerolatency", 0); // 实时编码
-  av_dict_set(&avdic, "preset", "faster", 0);    // ultrafast
+  av_dict_set(&avdic, "preset", "ultrafast", 0); //   faster
   av_dict_set(&avdic, "threads", "auto", 0);     // 自动开启线程数
   // 设置最大重试时间为1s,解决avformat_open_input打开空流时间过长问题
   av_dict_set(&avdic, "max_interleave_delta", "1000000", 0);
@@ -94,9 +95,10 @@ bool Cffmpeg_decode::open_input_file() {
   // av_dict_set(&avdic, "reconnect", "1", 0); // 开启自动重连
   // av_dict_set(&avdic, "reconnect_streamed", "1", 0); // 对于流媒体自动重连
   av_dict_set(&avdic, "reconnect_delay_max", "5",
-              0); // 最大重连延时 5 秒f'f'f'f'f'f'f'f'f'f'f
+              0); // 最大重连延时 5 秒
   // av_dict_set(&avdic, "rtsp_flags", "prefer_tcp", 0); // 保持TCP连接
-  // av_dict_set(&avdic, "timeout", "500000", 0);     // 超时时间设置为500ms
+  // av_dict_set(&avdic, "timeout", "8000000",
+  //             0); // 超时时间（包括连接和数据传输的时间）设置为5s
   // av_dict_set(&avdic, "probesize", "50000000", 0); // 增加探针大小，1MB
   // av_dict_set(&avdic, "analyzeduration", "5000000", 0); //
   // av_dict_set(&avdic, "keepalive", "1", 0);
@@ -323,10 +325,11 @@ void Cffmpeg_decode::run() {
             double elapsed_system_time = av_gettime() - first_frame_system_time;
             // 计算需要等待的时间(us)
             double wait_time = elapsed_pts_time - elapsed_system_time;
-            // qDebug() << "pull stream sleep time:"
-            //          << QString::number(wait_time / 1000.0);
-            if (wait_time > 0) {
-              // av_usleep(wait_time); // 延时以同步 PTS
+            qDebug() << "pull stream sleep time:"
+                     << QString::number(wait_time / 1000.0);
+            if (wait_time > 0 && bPushStreamFlag) {
+              av_usleep(wait_time); // 延时以同步 PTS
+              // sleepMsec(wait_time);
             }
             // 更新 previous_pts_time 为当前帧的 PTS
             previous_pts_time = pts_time;
diff --git a/Src/Video/cffmpeg_decode.h b/Src/Video/cffmpeg_decode.h
index 6391a2b..caf3b91 100644
--- a/Src/Video/cffmpeg_decode.h
+++ b/Src/Video/cffmpeg_decode.h
@@ -2,6 +2,7 @@
 #define CFFMPEG_DECODE_H
 
 #include "ffmpeginclude.h"
+#include "global.h"
 #include <QCoreApplication>
 #include <QDateTime>
 #include <QDebug>
diff --git a/Src/Video/ffmpegpushstream.cpp b/Src/Video/ffmpegpushstream.cpp
index 6d08075..f750042 100644
--- a/Src/Video/ffmpegpushstream.cpp
+++ b/Src/Video/ffmpegpushstream.cpp
@@ -144,10 +144,15 @@ int FFmpegPushStream::pushStream(AVPacket *pkt, int frm_cnt, int64_t startTime,
   int64_t streamTime = pts_time - firstDts; // 计算帧的相对时间
   auto now_time = av_gettime() - startTime; // 获取差值
   int64_t delay = streamTime - now_time;
-  if (delay > 0) {
-    qDebug() << "****************PushStream sleep time:"
-             << QString::number(delay / 1000);
+  delay = delay < MAXDELAY ? delay : MAXDELAY;
+  if (delay >= 0) {
+    // qDebug() << "****************PushStream sleep time:"
+    //          << QString::number(delay / 1000);
     av_usleep(delay);
+    // sleepMsec(delay);
+  } else {
+    // av_packet_unref(pkt);
+    // return 1;
   }
 
   // 计算延时后，重新指定时间戳
@@ -175,9 +180,9 @@ int FFmpegPushStream::pushStream(AVPacket *pkt, int frm_cnt, int64_t startTime,
   pkt->stream_index = 0;
   int ret = av_interleaved_write_frame(outputFormatCtx, pkt);
   if (ret < 0) {
-    // if (ret == -10053) {
-    //   qDebug() << "网络不稳定";
-    // }
+    if (ret == -10053) {
+      qDebug() << "网络不稳定";
+    }
     // if (ret == AVERROR(EPIPE) || ret == AVERROR(ECONNRESET)) {
     //   qDebug() << "网络不稳定1";
     // }
diff --git a/Src/Video/ffmpegpushstream.h b/Src/Video/ffmpegpushstream.h
index b06610b..0326e9e 100644
--- a/Src/Video/ffmpegpushstream.h
+++ b/Src/Video/ffmpegpushstream.h
@@ -2,6 +2,7 @@
 #define FFMPEGPUSHSTREAM_H
 
 #include "ffmpeginclude.h"
+#include "global.h"
 #include <QDebug>
 #include <QObject>
 
@@ -24,6 +25,7 @@ private:
   bool mInitStatus = false;
   int64_t startTime;
   int MAXCONNECT = 12;
+  int MAXDELAY = 40000; // 最大休眠时间40ms
 public slots:
   int pushStream(AVPacket *pkt, int frm_cnt, int64_t startTime,
                  int64_t firstDts);
diff --git a/Src/Video/ffmpegvideodlg.h b/Src/Video/ffmpegvideodlg.h
index 60c22a2..ffcf880 100644
--- a/Src/Video/ffmpegvideodlg.h
+++ b/Src/Video/ffmpegvideodlg.h
@@ -4,6 +4,7 @@
 #include "cffmpeg_decode.h"
 #include "ffmpeginclude.h"
 #include "ffmpegpushstream.h"
+#include "global.h"
 #include <QCoreApplication>
 #include <QDebug>
 #include <QDir>
diff --git a/global.cpp b/global.cpp
index 01fad35..196ab29 100644
--- a/global.cpp
+++ b/global.cpp
@@ -2,7 +2,7 @@
 
 global::global() {}
 
-QString g_SoftwareVersion = "版本号：V1.0.2.1024";
+QString g_SoftwareVersion = "版本号：V1.0.2.1_20241106";
 
 QColor g_themeColor(51, 51, 51);
 QString g_PushBtnStyle = /**正常情况下样式**/
@@ -240,3 +240,38 @@ QString generatePullURL(int uavID, QString appName, QString uavName,
   }
   return rtmpUrl;
 }
+
+/**
+ * @brief      非阻塞延时
+ * @param msec 延时毫秒
+ */
+void sleepMsec(int msec) {
+  if (msec <= 0)
+    return;
+  QEventLoop loop; // 定义一个新的事件循环
+  QTimer::singleShot(
+      msec, &loop, SLOT(quit())); // 创建单次定时器，槽函数为事件循环的退出函数
+  loop.exec(); // 事件循环开始执行，程序会卡在这里，直到定时时间到，本循环被退出
+}
+
+/**
+ * @brief 生成公司推流平台地址
+ * @param uavID:飞控ID
+ * @param appName:
+ * @param uavName:飞机型号，默认981cs
+ * @return
+ */
+QString generatePushURL2(int uavID, QString appName, QString uavName,
+                         int clientID, QString pushDomain) {
+  QString rtmpUrl = "";
+  QString clientName = "";
+  if (0 == clientID) {
+    clientName = "gcs"; // 地面端
+  } else {
+    clientName = "uav"; // 载荷端
+  }
+  QString streamName =
+      uavName + "_" + QString::number(uavID) + "_" + clientName;
+  rtmpUrl = "rtmp://" + pushDomain + "/" + appName + "/" + streamName;
+  return rtmpUrl;
+}
diff --git a/global.h b/global.h
index 0c60843..3c92f37 100644
--- a/global.h
+++ b/global.h
@@ -4,6 +4,8 @@
 #include <QColor>
 #include <QCryptographicHash>
 #include <QDateTime>
+#include <QEventLoop>
+#include <QTimer>
 #include <map>
 
 extern QString g_SoftwareVersion; // 软件版本号
@@ -48,6 +50,19 @@ extern QString generatePushURL(int uavID, QString appName = "nmyj",
                                long expireTime = 6 * 3600,
                                QString pushKey = "ZRjGVcPYGhKib0rdgH");
 
+/**
+ * @brief 生成公司推流平台地址
+ * @param uavID:飞控ID
+ * @param clientID: 客户端ID，0为地面端，1为载荷端。
+ * @param appName:
+ * @param uavName:飞机型号，默认981cs
+ * @param pushDomain: 推流地址
+ * @return
+ */
+extern QString generatePushURL2(int uavID, QString appName = "nmyj",
+                                QString uavName = "981cs", int clientID = 0,
+                                QString pushDomain = "182.92.130.23");
+
 /**
  * @brief 生成拉流地址
  * @param uavID: 飞控ID
@@ -60,13 +75,19 @@ extern QString generatePushURL(int uavID, QString appName = "nmyj",
  * @return 返回拉流地址
  */
 extern QString generatePullURL(int uavID, QString appName = "nmyj",
-                               QString uavName = "981cs", int clientID = 1,
+                               QString uavName = "981cs", int clientID = 0,
                                QString pullDomain = "play.uavideo.cn",
                                long expireTime = 6 * 3600,
                                QString pullKey = "HDaMVkLnIcr0mGhV8d");
 
 extern std::map<int, std::string> g_mapAppName;
 
+/**
+ * @brief      非阻塞延时
+ * @param msec 延时毫秒
+ */
+void sleepMsec(int msec);
+
 class global {
 public:
   global();