diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000..9577b7b
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diff --git a/PROJECT.md b/PROJECT.md
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index 0000000..6237e1a
--- /dev/null
+++ b/PROJECT.md
@@ -0,0 +1,96 @@
+2. 技术方案书
+以下是为您规划的 《DJI Cloud API 设备模拟器技术实施方案》。
+
+2.1 系统架构设计
+系统采用 C/S 架构 或 B/S 架构 均可。考虑到您要求“简单的图形化界面”且需要模拟硬件底层通信，Python + Qt (PySide6) 是开发成本最低且性能最好的选择（也可选 Electron + Node.js）。
+
+模拟器端 (Device Simulator): 扮演“网关”角色，模拟 Aircraft (无人机) 和 Dock (机场) 的行为。
+
+通信层: 封装 MQTT Client，负责与您的云平台 Broker 建立长连接。
+
+业务层: 包含设备状态机、航线执行引擎、媒体上报模块。
+
+2.2 功能模块规划
+我们将模拟器分为四个核心模块：
+
+1. 连接与鉴权模块 (Connection Manager)
+
+功能: 输入设备SN、Secret、云平台地址（IP/Port），实现MQTT登录。
+
+模拟对象: 支持配置为“直连设备”（如M30/M3E系列通过遥控器上云）或“网关子设备”（如Dock 2 + M3D无人机）。
+
+心跳机制: 自动发送 Ping 包，维持在线状态。
+
+2. 物模型引擎 (Thing Model Engine) 这是模拟器的核心，用于生成符合文档的数据：
+
+OSD 发生器 (1Hz):
+
+模拟经纬度（支持在地图上画点或加载GPX路径让飞机“动”起来）。
+
+模拟姿态角（Pitch/Roll/Yaw）。
+
+模拟电池信息（电量随飞行时间线性递减）。
+
+State 上报 (事件驱动):
+
+当设备状态变化时（如从 Idle -> TakingOff），立即推送 State Topic。
+
+模拟 Dock 2 的舱盖状态、急停按钮状态、雨量传感器报警等。
+
+3. 指令响应系统 (Service Handler) 完全模拟真实设备的指令闭环：
+
+航线下发: 接收云端 flighttask_prepare 指令，校验参数，回复 result: 0 (成功)。
+
+任务执行: 收到 flighttask_execute 后，开启内部定时器，按航线坐标更新 OSD 位置，模拟飞行过程。
+
+云台控制: 接收 live_control 指令，改变模拟摄像头的朝向数据。
+
+4. 媒体交互模拟 (Media Mock)
+
+功能: 模拟无人机拍摄照片/视频并上传。
+
+流程:
+
+接收云端“媒体上传”指令或航线结束自动触发。
+
+模拟器读取本地一张静态图片（如一张风景图）。
+
+请求云端获取对象存储（OSS/S3）的临时凭证（STS）。
+
+通过 HTTPS PUT 方法将图片上传到云平台指定的 URL。
+
+向云端汇报“上传完成”。
+
+2.3 界面设计 (GUI Mockup)
+界面应包含三个主要区域：
+
+左侧：设备列表与配置
+
+显示当前模拟的 Dock 2 和 无人机 SN。
+
+连接状态指示灯（在线/离线）。
+
+配置面板：输入 MQTT 地址、AppID、AppKey。
+
+中间：状态可视化与地图
+
+地图组件: 显示无人机当前位置图标、模拟的飞行轨迹。
+
+仪表盘: 显示高度、速度、电量、卫星数。
+
+Dock状态: 图形化显示舱盖（开/关）、推杆位置、充电状态。
+
+右侧：调试与日志
+
+控制面板: 提供滑块手动调节“电量”、“信号强度”；提供按钮触发“任务结束”、“返航”、“遭遇障碍物”等事件。
+
+通信日志: 实时滚动显示发送和接收的 MQTT JSON 报文（方便您调试平台端解析逻辑）。
+
+2.4 技术栈推荐
+编程语言: Python 3.10+ (开发效率高，适合处理JSON和网络IO)。
+
+GUI 框架: PySide6 (Qt for Python) - 界面美观，支持多线程（防界面卡顿）。
+
+网络库: paho-mqtt (处理MQTT 5.0), requests (处理HTTPS上传)。
+
+地图组件: PyQtWebEngine 加载 Leaflet 或 高德地图 Web API。
\ No newline at end of file
diff --git a/dji_simulator b/dji_simulator
new file mode 160000
index 0000000..2b5b3cd
--- /dev/null
+++ b/dji_simulator
@@ -0,0 +1 @@
+Subproject commit 2b5b3cd7b617196ada0cf6f80473b4361e5fe556
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..efc59ed
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,5 @@
+PySide6
+paho-mqtt
+requests
+pytest
+pytest-qt
diff --git a/src/__init__.py b/src/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/core/__init__.py b/src/core/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/core/connection_manager.py b/src/core/connection_manager.py
new file mode 100644
index 0000000..e09e2a4
--- /dev/null
+++ b/src/core/connection_manager.py
@@ -0,0 +1,117 @@
+import paho.mqtt.client as mqtt
+import logging
+import time
+from threading import Thread, Event
+
+logger = logging.getLogger(__name__)
+
+class ConnectionManager:
+    def __init__(self):
+        self.client = None
+        self.connected = False
+        self._stop_event = Event()
+        self._heartbeat_thread = None
+        self._message_handler = None
+
+    def set_message_handler(self, handler):
+        self._message_handler = handler
+
+    def connect(self, broker_ip: str, client_id: str, port: int = 1883, username: str = None, password: str = None):
+        """
+        Connects to the MQTT Broker.
+        """
+        if self.client:
+            self.disconnect()
+
+        # Create a new MQTT Client instance
+        # Protocol V5 is recommended for modern deployments, but V3.1.1 is standard. 
+        # Using default (usually 3.1.1 or 5.0 depending on paho version/negotiation).
+        self.client = mqtt.Client(client_id=client_id, protocol=mqtt.MQTTv311)
+        
+        if username and password:
+            self.client.username_pw_set(username, password)
+
+        # Set callbacks
+        self.client.on_connect = self._on_connect
+        self.client.on_disconnect = self._on_disconnect
+        self.client.on_message = self._on_message
+        self.client.on_publish = self._on_publish
+
+        logger.info(f"Connecting to {broker_ip}:{port} as {client_id}...")
+        try:
+            self.client.connect(broker_ip, port, keepalive=60)
+            self.client.loop_start() # Start the network loop in a background thread
+        except Exception as e:
+            logger.error(f"Failed to connect: {e}")
+            raise
+
+    def disconnect(self):
+        """
+        Disconnects from the broker.
+        """
+        self._stop_heartbeat()
+        if self.client:
+            self.client.loop_stop()
+            self.client.disconnect()
+            self.client = None
+            self.connected = False
+            logger.info("Disconnected.")
+
+    def _on_connect(self, client, userdata, flags, rc):
+        if rc == 0:
+            self.connected = True
+            logger.info("Connected successfully.")
+            self._start_heartbeat()
+            # Subscribe to services if needed, but usually caller handles subscription 
+            # or we do it here if we know the topic.
+            # For now, we rely on caller or hardcoded.
+            # Let's subscribe to everything for this simulator or specific service topic
+            # client.subscribe("#") 
+            # Ideally, we should let the ServiceHandler subscribe.
+        else:
+            self.connected = False
+            logger.error(f"Connection failed with result code {rc}")
+
+    def _on_disconnect(self, client, userdata, rc):
+        self.connected = False
+        self._stop_heartbeat()
+        if rc != 0:
+            logger.warning("Unexpected disconnection.")
+        else:
+            logger.info("Disconnected gracefully.")
+
+    def _on_message(self, client, userdata, msg):
+        logger.debug(f"Received message on {msg.topic}: {msg.payload}")
+        if self._message_handler:
+            self._message_handler(msg.topic, msg.payload)
+
+    def _on_publish(self, client, userdata, mid):
+        pass
+
+    def _start_heartbeat(self):
+        self._stop_event.clear()
+        self._heartbeat_thread = Thread(target=self._heartbeat_loop, daemon=True)
+        self._heartbeat_thread.start()
+
+    def _stop_heartbeat(self):
+        self._stop_event.set()
+        if self._heartbeat_thread:
+            self._heartbeat_thread.join(timeout=1.0)
+            self._heartbeat_thread = None
+
+    def _heartbeat_loop(self):
+        logger.info("Heartbeat loop started.")
+        while not self._stop_event.is_set():
+            if self.client and self.connected:
+                # Actual topic/payload depends on DJI API specs. 
+                # For now, we simulate a ping or minimal publish.
+                # Usually MQTT keepalive handles PINGREQ/PINGRESP automatically.
+                # But sometimes application-level heartbeat is needed.
+                # We will rely on Paho's built-in keepalive for network ping, 
+                # but if an app-level heartbeat is needed (e.g. reporting state), we do it here.
+                # For now, let's just log or sleep. 
+                pass 
+            time.sleep(5)
+
+    def is_connected(self):
+        return self.connected
diff --git a/src/core/media_uploader.py b/src/core/media_uploader.py
new file mode 100644
index 0000000..395178b
--- /dev/null
+++ b/src/core/media_uploader.py
@@ -0,0 +1,31 @@
+import requests
+import logging
+import os
+
+logger = logging.getLogger(__name__)
+
+class MediaUploader:
+    def upload_file(self, upload_url, file_path):
+        """
+        Uploads a file to the specified URL using HTTP PUT.
+        """
+        if not os.path.exists(file_path):
+            logger.error(f"File not found: {file_path}")
+            return False
+
+        logger.info(f"Starting upload of {file_path} to {upload_url}")
+        
+        try:
+            with open(file_path, 'rb') as f:
+                # DJI Cloud API usually uses PUT for OSS upload
+                response = requests.put(upload_url, data=f)
+                
+            if response.status_code in [200, 201]:
+                logger.info("Upload successful.")
+                return True
+            else:
+                logger.error(f"Upload failed: {response.status_code} - {response.text}")
+                return False
+        except Exception as e:
+            logger.error(f"Upload error: {e}")
+            return False
diff --git a/src/core/osd_generator.py b/src/core/osd_generator.py
new file mode 100644
index 0000000..9217d12
--- /dev/null
+++ b/src/core/osd_generator.py
@@ -0,0 +1,70 @@
+import time
+import random
+
+class OsdGenerator:
+    def __init__(self, start_lat=22.5431, start_lon=113.957, start_alt=0.0):
+        # Default to DJI HQ coordinates approx
+        self.latitude = start_lat
+        self.longitude = start_lon
+        self.altitude = start_alt
+        
+        self.battery = 100.0
+        self.pitch = 0.0
+        self.roll = 0.0
+        self.yaw = 0.0
+        
+        self.speed_h = 0.0
+        self.speed_v = 0.0
+        
+        # State
+        self.is_flying = False
+
+    def update(self, dt=1.0):
+        """
+        Update state by delta time (seconds).
+        """
+        if self.is_flying:
+            # Simulate battery drain (e.g., 1% every 30 seconds)
+            drain_rate = 1.0 / 30.0 
+            self.battery = max(0.0, self.battery - (drain_rate * dt))
+            
+            # Simulate slight hover drift or movement if we had velocity
+            # For now, just drift altitude slightly
+            self.altitude += random.uniform(-0.1, 0.1)
+            if self.altitude < 0: self.altitude = 0
+            
+            # Simulate slight attitude noise
+            self.pitch = random.uniform(-1.0, 1.0)
+            self.roll = random.uniform(-1.0, 1.0)
+        else:
+            # On ground charging or idle
+            if self.battery < 100:
+                self.battery += 0.5 * dt # Charge
+                if self.battery > 100: self.battery = 100.0
+            
+            self.altitude = 0.0
+            self.pitch = 0.0
+            self.roll = 0.0
+
+    def get_osd_data(self):
+        """
+        Return a dict compatible with DJI Cloud API OSD format (simplified).
+        """
+        return {
+            "latitude": self.latitude,
+            "longitude": self.longitude,
+            "height": self.altitude,
+            "battery_percent": int(self.battery),
+            "attitude_pitch": round(self.pitch, 2),
+            "attitude_roll": round(self.roll, 2),
+            "attitude_yaw": round(self.yaw, 2),
+            "horizontal_speed": self.speed_h,
+            "vertical_speed": self.speed_v
+        }
+
+    def start_fly(self):
+        self.is_flying = True
+        self.altitude = 5.0 # Takeoff to 5m
+
+    def land(self):
+        self.is_flying = False
diff --git a/src/core/service_handler.py b/src/core/service_handler.py
new file mode 100644
index 0000000..e424276
--- /dev/null
+++ b/src/core/service_handler.py
@@ -0,0 +1,61 @@
+import json
+import logging
+
+logger = logging.getLogger(__name__)
+
+class ServiceHandler:
+    def __init__(self, connection_manager, sn):
+        self.connection_manager = connection_manager
+        self.sn = sn
+
+    def handle_message(self, topic, payload):
+        """
+        Handle incoming MQTT messages.
+        """
+        try:
+            data = json.loads(payload)
+            logger.debug(f"Received service message: {data}")
+            
+            # Simple dispatch based on 'method' field (common in DJI API)
+            method = data.get("method")
+            if method == "flighttask_prepare":
+                self.handle_flighttask_prepare(data)
+            elif method == "flighttask_execute":
+                self.handle_flighttask_execute(data)
+            elif method == "live_start":
+                self.handle_live_start(data)
+            else:
+                logger.warning(f"Unknown method: {method}")
+                
+        except json.JSONDecodeError:
+            logger.error("Failed to decode JSON payload")
+
+    def handle_flighttask_prepare(self, data):
+        logger.info("Handling flighttask_prepare...")
+        # Reply with success
+        reply_topic = f"sys/product/{self.sn}/services_reply" # Hypothetical reply topic
+        # Or if it's a request/response pattern, check 'tid' (transaction id)
+        
+        tid = data.get("tid")
+        bid = data.get("bid")
+        
+        reply = {
+            "tid": tid,
+            "bid": bid,
+            "method": "flighttask_prepare",
+            "data": {
+                "result": 0
+            }
+        }
+        
+        self.connection_manager.client.publish(reply_topic, json.dumps(reply))
+        logger.info(f"Replied to flighttask_prepare on {reply_topic}")
+
+    def handle_flighttask_execute(self, data):
+        logger.info("Handling flighttask_execute... (Not implemented yet)")
+        # Start flight logic here
+        pass
+
+    def handle_live_start(self, data):
+        logger.info("Handling live_start... (Not implemented yet)")
+        pass
diff --git a/src/main.py b/src/main.py
new file mode 100644
index 0000000..4eb3851
--- /dev/null
+++ b/src/main.py
@@ -0,0 +1,12 @@
+import sys
+from PySide6.QtWidgets import QApplication
+from src.ui.main_window import MainWindow
+
+def main():
+    app = QApplication(sys.argv)
+    window = MainWindow()
+    window.show()
+    sys.exit(app.exec())
+
+if __name__ == "__main__":
+    main()
diff --git a/src/ui/__init__.py b/src/ui/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/ui/main_window.py b/src/ui/main_window.py
new file mode 100644
index 0000000..c4b9bc0
--- /dev/null
+++ b/src/ui/main_window.py
@@ -0,0 +1,239 @@
+from PySide6.QtWidgets import (QMainWindow, QWidget, QHBoxLayout, QVBoxLayout, 
+                               QFrame, QLabel, QPushButton, QLineEdit, QGroupBox, QFormLayout)
+from PySide6.QtCore import Qt, QTimer
+from src.core.osd_generator import OsdGenerator
+from src.core.connection_manager import ConnectionManager
+from src.core.service_handler import ServiceHandler
+from src.core.media_uploader import MediaUploader
+from src.ui.map_widget import MapWidget
+import json
+import os
+import tempfile
+
+class MainWindow(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle("DJI Cloud API Simulator")
+        self.resize(1200, 800)
+        
+        # Logic
+        self.osd_gen = OsdGenerator()
+        self.connection_manager = ConnectionManager()
+        self.service_handler = None
+        self.media_uploader = MediaUploader()
+        
+        # Central Widget
+        central_widget = QWidget()
+        self.setCentralWidget(central_widget)
+        
+        # Main Layout (Horizontal)
+        main_layout = QHBoxLayout(central_widget)
+        main_layout.setContentsMargins(10, 10, 10, 10)
+        main_layout.setSpacing(10)
+        
+        # --- Left Panel: Configuration ---
+        self.left_panel = QFrame()
+        self.left_panel.setFrameShape(QFrame.StyledPanel)
+        self.left_panel.setFixedWidth(300)
+        self._init_left_panel()
+        
+        # --- Middle Panel: Map & Status ---
+        self.middle_panel = QFrame()
+        self.middle_panel.setFrameShape(QFrame.StyledPanel)
+        self.middle_panel.setSizePolicy(
+            self.middle_panel.sizePolicy().horizontalPolicy(),
+            self.middle_panel.sizePolicy().verticalPolicy()
+        )
+        self._init_middle_panel()
+
+        # --- Right Panel: Logs & Debug ---
+        self.right_panel = QFrame()
+        self.right_panel.setFrameShape(QFrame.StyledPanel)
+        self.right_panel.setFixedWidth(300)
+        self._init_right_panel()
+
+        # Add to layout
+        main_layout.addWidget(self.left_panel)
+        main_layout.addWidget(self.middle_panel, stretch=1) # Middle panel takes remaining space
+        main_layout.addWidget(self.right_panel)
+
+        # Timer
+        self.timer = QTimer()
+        self.timer.timeout.connect(self._on_tick)
+        self.timer.start(1000) # 1Hz
+
+    def _init_left_panel(self):
+        layout = QVBoxLayout(self.left_panel)
+        
+        # Device Config Group
+        config_group = QGroupBox("Device Configuration")
+        config_layout = QVBoxLayout()
+        
+        config_layout.addWidget(QLabel("Broker IP:"))
+        self.input_broker_ip = QLineEdit("127.0.0.1")
+        config_layout.addWidget(self.input_broker_ip)
+        
+        config_layout.addWidget(QLabel("Device SN:"))
+        self.input_sn = QLineEdit("1581F4BM12345")
+        config_layout.addWidget(self.input_sn)
+        
+        config_layout.addWidget(QLabel("App ID:"))
+        self.input_app_id = QLineEdit()
+        config_layout.addWidget(self.input_app_id)
+        
+        config_layout.addWidget(QLabel("App Key:"))
+        self.input_app_key = QLineEdit()
+        config_layout.addWidget(self.input_app_key)
+        
+        self.btn_connect = QPushButton("Connect")
+        self.btn_connect.clicked.connect(self._on_connect_clicked)
+        config_layout.addWidget(self.btn_connect)
+        
+        config_group.setLayout(config_layout)
+        
+        layout.addWidget(config_group)
+        
+        # Control Group
+        control_group = QGroupBox("Simulation Control")
+        control_layout = QVBoxLayout()
+        
+        self.btn_takeoff = QPushButton("Take Off")
+        self.btn_takeoff.clicked.connect(self.osd_gen.start_fly)
+        control_layout.addWidget(self.btn_takeoff)
+        
+        self.btn_land = QPushButton("Land")
+        self.btn_land.clicked.connect(self.osd_gen.land)
+        control_layout.addWidget(self.btn_land)
+        
+        self.btn_upload = QPushButton("Simulate Media Upload")
+        self.btn_upload.clicked.connect(self._on_upload_clicked)
+        control_layout.addWidget(self.btn_upload)
+        
+        control_group.setLayout(control_layout)
+        layout.addWidget(control_group)
+        
+        layout.addStretch()
+
+    def _init_middle_panel(self):
+        layout = QVBoxLayout(self.middle_panel)
+        
+        # Map Widget
+        self.map_widget = MapWidget()
+        self.map_widget.setSizePolicy(
+            self.map_widget.sizePolicy().horizontalPolicy(),
+            self.map_widget.sizePolicy().verticalPolicy()
+        )
+        
+        layout.addWidget(self.map_widget, stretch=2)
+        
+        # Dashboard Group
+        dashboard_group = QGroupBox("Status Dashboard")
+        dashboard_layout = QFormLayout()
+        
+        self.lbl_latitude = QLabel("0.0")
+        self.lbl_longitude = QLabel("0.0")
+        self.lbl_altitude = QLabel("0.0 m")
+        self.lbl_battery = QLabel("100 %")
+        self.lbl_attitude = QLabel("P: 0 R: 0 Y: 0")
+        
+        dashboard_layout.addRow("Latitude:", self.lbl_latitude)
+        dashboard_layout.addRow("Longitude:", self.lbl_longitude)
+        dashboard_layout.addRow("Altitude:", self.lbl_altitude)
+        dashboard_layout.addRow("Battery:", self.lbl_battery)
+        dashboard_layout.addRow("Attitude:", self.lbl_attitude)
+        
+        dashboard_group.setLayout(dashboard_layout)
+        
+        layout.addWidget(dashboard_group, stretch=1)
+
+    def _init_right_panel(self):
+        layout = QVBoxLayout(self.right_panel)
+        
+        log_label = QLabel("Communication Logs")
+        layout.addWidget(log_label)
+        
+        # Placeholder for logs (e.g., QTextEdit later)
+        self.log_area = QLabel("Log Output...")
+        self.log_area.setAlignment(Qt.AlignTop | Qt.AlignLeft)
+        self.log_area.setStyleSheet("background-color: #fff; border: 1px solid #999;")
+        self.log_area.setWordWrap(True)
+        
+        layout.addWidget(self.log_area, stretch=1)
+        
+        self.btn_clear_logs = QPushButton("Clear Logs")
+        self.btn_clear_logs.clicked.connect(lambda: self.log_area.setText(""))
+        layout.addWidget(self.btn_clear_logs)
+
+    def _on_connect_clicked(self):
+        if not self.connection_manager.is_connected():
+            ip = self.input_broker_ip.text()
+            sn = self.input_sn.text()
+            
+            # Init Service Handler
+            self.service_handler = ServiceHandler(self.connection_manager, sn)
+            self.connection_manager.set_message_handler(self.service_handler.handle_message)
+            
+            # For now, minimal auth
+            try:
+                self.connection_manager.connect(ip, sn)
+                
+                # Subscribe to services
+                
+                service_topic = f"thing/product/{sn}/services"
+                self.connection_manager.client.subscribe(service_topic)
+                
+                self.btn_connect.setText("Disconnect")
+                self.log_area.setText(f"Connected to {ip}\nSubscribed to {service_topic}")
+            except Exception as e:
+                self.log_area.setText(f"Connection Failed: {e}")
+        else:
+            self.connection_manager.disconnect()
+            self.service_handler = None
+            self.btn_connect.setText("Connect")
+            self.log_area.setText("Disconnected")
+
+    def _on_tick(self):
+        self.osd_gen.update()
+        data = self.osd_gen.get_osd_data()
+        
+        self.lbl_latitude.setText(str(data["latitude"]))
+        self.lbl_longitude.setText(str(data["longitude"]))
+        self.lbl_altitude.setText(f"{data['height']:.2f} m")
+        self.lbl_battery.setText(f"{data['battery_percent']} %")
+        self.lbl_attitude.setText(f"P: {data['attitude_pitch']} R: {data['attitude_roll']} Y: {data['attitude_yaw']}")
+        
+        # Update Map
+        self.map_widget.update_position(data["latitude"], data["longitude"])
+        
+        if self.connection_manager.is_connected():
+            sn = self.input_sn.text()
+            topic = f"sys/product/{sn}/osd"
+            payload = json.dumps(data)
+            self.connection_manager.client.publish(topic, payload)
+            # Optional: Log to UI (truncated)
+            # self.log_area.setText(f"Published to {topic}:\n{payload}") 
+
+    def _on_upload_clicked(self):
+        # Create a dummy file
+        with tempfile.NamedTemporaryFile(delete=False, suffix=".jpg") as tmp:
+            tmp.write(b"Mock Image Data")
+            tmp_path = tmp.name
+        
+        # Mock URL
+        url = "http://example.com/upload-mock" # This will fail in reality, but logs will show attempt
+        
+        self.log_area.setText(f"Uploading {tmp_path} to {url}...")
+        
+        # Run in thread? For now, blocking is okay for simulator demo, but better async.
+        # Just calling it directly for simplicity.
+        success = self.media_uploader.upload_file(url, tmp_path)
+        
+        if success:
+            self.log_area.setText(self.log_area.text() + "\nUpload Success!")
+        else:
+            self.log_area.setText(self.log_area.text() + "\nUpload Failed (Expected if no server).")
+        
+        os.remove(tmp_path)
+
+
+
diff --git a/src/ui/map.html b/src/ui/map.html
new file mode 100644
index 0000000..da6dbac
--- /dev/null
+++ b/src/ui/map.html
@@ -0,0 +1,43 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <title>Map</title>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css"
+     integrity="sha256-p4NxAoJBhIIN+hmNHrzRCf9tD/miZyoHS5obTRR9BMY="
+     crossorigin=""/>
+    <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"
+     integrity="sha256-20nQCchB9co0qIjJZRGuk2/Z9VM+kNiyxNV1lvTlZBo="
+     crossorigin=""></script>
+    <style>
+        body { padding: 0; margin: 0; }
+        html, body, #map { height: 100%; width: 100%; }
+    </style>
+</head>
+<body>
+    <div id="map"></div>
+    <script>
+        var map = L.map('map').setView([22.5431, 113.957], 13);
+        L.tileLayer('https://tile.openstreetmap.org/{z}/{x}/{y}.png', {
+            maxZoom: 19,
+            attribution: '&copy; <a href="http://www.openstreetmap.org/copyright">OpenStreetMap</a>'
+        }).addTo(map);
+
+        var droneIcon = L.icon({
+            iconUrl: 'https://unpkg.com/leaflet@1.9.4/dist/images/marker-icon.png',
+            iconSize: [25, 41],
+            iconAnchor: [12, 41],
+            popupAnchor: [1, -34],
+        });
+
+        var droneMarker = L.marker([22.5431, 113.957], {icon: droneIcon}).addTo(map);
+
+        function updateDronePosition(lat, lon) {
+            var newLatLng = new L.LatLng(lat, lon);
+            droneMarker.setLatLng(newLatLng);
+            map.panTo(newLatLng);
+        }
+    </script>
+</body>
+</html>
diff --git a/src/ui/map_widget.py b/src/ui/map_widget.py
new file mode 100644
index 0000000..2baf8a9
--- /dev/null
+++ b/src/ui/map_widget.py
@@ -0,0 +1,24 @@
+import os
+from PySide6.QtWidgets import QWidget, QVBoxLayout
+from PySide6.QtWebEngineWidgets import QWebEngineView
+from PySide6.QtCore import QUrl
+
+class MapWidget(QWidget):
+    def __init__(self):
+        super().__init__()
+        self.layout = QVBoxLayout(self)
+        self.layout.setContentsMargins(0, 0, 0, 0)
+        
+        self.web_view = QWebEngineView()
+        self.layout.addWidget(self.web_view)
+        
+        # Load local HTML
+        current_dir = os.path.dirname(os.path.abspath(__file__))
+        html_path = os.path.join(current_dir, "map.html")
+        self.web_view.setUrl(QUrl.fromLocalFile(html_path))
+
+    def update_position(self, lat, lon):
+        # Call JS function
+        # Ensure lat/lon are floats
+        script = f"updateDronePosition({lat}, {lon});"
+        self.web_view.page().runJavaScript(script)
diff --git a/src/utils/__init__.py b/src/utils/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/test_main_window.py b/tests/test_main_window.py
new file mode 100644
index 0000000..d786c86
--- /dev/null
+++ b/tests/test_main_window.py
@@ -0,0 +1,27 @@
+import pytest
+from PySide6.QtWidgets import QMainWindow, QLineEdit, QPushButton
+from src.ui.main_window import MainWindow
+
+def test_main_window_initialization(qtbot):
+    """
+    Test if the main window initializes correctly with the expected title and widgets.
+    """
+    window = MainWindow()
+    qtbot.addWidget(window)
+    
+    # Check title
+    assert window.windowTitle() == "DJI Cloud API Simulator"
+    
+    # Check if key widgets are present (using object traversal or just knowing they were created)
+    # Since we didn't assign object names or make all of them public attributes, 
+    # we can check the public ones we did create in _init_left_panel
+    
+    assert isinstance(window.input_broker_ip, QLineEdit)
+    assert window.input_broker_ip.text() == "127.0.0.1"
+    
+    assert isinstance(window.btn_connect, QPushButton)
+    assert window.btn_connect.text() == "Connect"
+    
+    # Check geometry/visibility (optional, but good sanity check)
+    assert window.width() >= 800
+    assert window.height() >= 600
diff --git a/tests/test_main_window_integration.py b/tests/test_main_window_integration.py
new file mode 100644
index 0000000..7dfa07c
--- /dev/null
+++ b/tests/test_main_window_integration.py
@@ -0,0 +1,55 @@
+import pytest
+from unittest.mock import MagicMock, patch
+from src.ui.main_window import MainWindow
+
+def test_on_tick_updates_ui_and_publishes(qtbot):
+    with patch("src.ui.main_window.ConnectionManager") as mock_conn_mgr_cls, \
+         patch("src.ui.main_window.OsdGenerator") as mock_osd_cls:
+        
+        # Setup mocks
+        mock_conn_instance = mock_conn_mgr_cls.return_value
+        mock_conn_instance.is_connected.return_value = True
+        
+        mock_osd_instance = mock_osd_cls.return_value
+        mock_osd_instance.get_osd_data.return_value = {
+            "latitude": 22.0, "longitude": 113.0, "height": 10.0,
+            "battery_percent": 90, "attitude_pitch": 1.0, 
+            "attitude_roll": 2.0, "attitude_yaw": 3.0,
+             "horizontal_speed": 0, "vertical_speed": 0
+        }
+        
+        window = MainWindow()
+        qtbot.addWidget(window)
+        
+        # Force a tick
+        window._on_tick()
+        
+        # Check UI updates
+        assert window.lbl_latitude.text() == "22.0"
+        assert window.lbl_altitude.text() == "10.00 m"
+        
+        # Check Publish
+        mock_conn_instance.client.publish.assert_called()
+        args = mock_conn_instance.client.publish.call_args
+        # Topic should contain SN (default 1581F4BM12345)
+        assert "sys/product/1581F4BM12345/osd" in args[0][0]
+        # Payload should contain json data
+        assert "22.0" in args[0][1]
+
+def test_connect_button_toggle(qtbot):
+    with patch("src.ui.main_window.ConnectionManager") as mock_conn_mgr_cls:
+        mock_conn_instance = mock_conn_mgr_cls.return_value
+        mock_conn_instance.is_connected.side_effect = [False, True] # First call False, then True
+        
+        window = MainWindow()
+        qtbot.addWidget(window)
+        
+        # Initial state
+        assert window.btn_connect.text() == "Connect"
+        
+        # Click connect
+        window.btn_connect.click()
+        
+        # Should call connect
+        mock_conn_instance.connect.assert_called()
+        assert window.btn_connect.text() == "Disconnect"
diff --git a/tests/test_media_mock.py b/tests/test_media_mock.py
new file mode 100644
index 0000000..8294393
--- /dev/null
+++ b/tests/test_media_mock.py
@@ -0,0 +1,32 @@
+import pytest
+from unittest.mock import patch, MagicMock
+from src.core.media_uploader import MediaUploader
+import os
+
+def test_upload_success(tmp_path):
+    # Create dummy file
+    f = tmp_path / "test.jpg"
+    f.write_text("dummy image data")
+    
+    uploader = MediaUploader()
+    
+    with patch("src.core.media_uploader.requests.put") as mock_put:
+        mock_put.return_value.status_code = 200
+        
+        result = uploader.upload_file("http://mock-upload-url.com", str(f))
+        
+        assert result is True
+        mock_put.assert_called_once()
+
+def test_upload_failure(tmp_path):
+    f = tmp_path / "test.jpg"
+    f.write_text("dummy")
+    
+    uploader = MediaUploader()
+    
+    with patch("src.core.media_uploader.requests.put") as mock_put:
+        mock_put.return_value.status_code = 403
+        
+        result = uploader.upload_file("http://mock-upload-url.com", str(f))
+        
+        assert result is False
diff --git a/tests/test_mqtt_client.py b/tests/test_mqtt_client.py
new file mode 100644
index 0000000..25efc7e
--- /dev/null
+++ b/tests/test_mqtt_client.py
@@ -0,0 +1,49 @@
+import pytest
+from unittest.mock import MagicMock, patch
+from src.core.connection_manager import ConnectionManager
+
+@pytest.fixture
+def connection_manager():
+    return ConnectionManager()
+
+def test_connect_calls_client_connect(connection_manager):
+    with patch("src.core.connection_manager.mqtt.Client") as mock_client_cls:
+        mock_client_instance = mock_client_cls.return_value
+        
+        connection_manager.connect("127.0.0.1", "test_client")
+        
+        mock_client_cls.assert_called_with(client_id="test_client", protocol=4) # protocol=4 is MQTTv311 usually, check paho constants if strict
+        mock_client_instance.connect.assert_called_with("127.0.0.1", 1883, keepalive=60)
+        mock_client_instance.loop_start.assert_called_once()
+
+def test_disconnect_calls_client_disconnect(connection_manager):
+    with patch("src.core.connection_manager.mqtt.Client") as mock_client_cls:
+        mock_client_instance = mock_client_cls.return_value
+        connection_manager.connect("127.0.0.1", "test_client")
+        
+        connection_manager.disconnect()
+        
+        mock_client_instance.loop_stop.assert_called_once()
+        mock_client_instance.disconnect.assert_called_once()
+        assert connection_manager.client is None
+        assert connection_manager.connected is False
+
+def test_on_connect_callback(connection_manager):
+    with patch("src.core.connection_manager.mqtt.Client") as mock_client_cls:
+        # We don't need to mock the instance methods deeply, just the flow.
+        connection_manager.connect("127.0.0.1", "test_client")
+        
+        # Simulate successful connection callback
+        # on_connect signature: client, userdata, flags, rc
+        connection_manager._on_connect(None, None, None, 0)
+        
+        assert connection_manager.connected is True
+
+def test_on_connect_callback_failure(connection_manager):
+    with patch("src.core.connection_manager.mqtt.Client") as mock_client_cls:
+        connection_manager.connect("127.0.0.1", "test_client")
+        
+        # Simulate failed connection callback (rc != 0)
+        connection_manager._on_connect(None, None, None, 5)
+        
+        assert connection_manager.connected is False
diff --git a/tests/test_osd_generator.py b/tests/test_osd_generator.py
new file mode 100644
index 0000000..5bb8147
--- /dev/null
+++ b/tests/test_osd_generator.py
@@ -0,0 +1,31 @@
+import pytest
+from src.core.osd_generator import OsdGenerator
+
+def test_initial_state():
+    gen = OsdGenerator()
+    data = gen.get_osd_data()
+    assert data["battery_percent"] == 100
+    assert data["height"] == 0.0
+    assert not gen.is_flying
+
+def test_flight_update():
+    gen = OsdGenerator()
+    gen.start_fly()
+    assert gen.is_flying
+    assert gen.altitude > 0
+    
+    # Update for 30 seconds
+    gen.update(dt=30.0)
+    
+    data = gen.get_osd_data()
+    # Battery should have dropped approx 1%
+    assert data["battery_percent"] <= 99
+    
+def test_charging_on_ground():
+    gen = OsdGenerator()
+    gen.battery = 50.0
+    gen.is_flying = False
+    
+    gen.update(dt=10.0)
+    
+    assert gen.battery > 50.0
diff --git a/tests/test_service_handler.py b/tests/test_service_handler.py
new file mode 100644
index 0000000..8a816f5
--- /dev/null
+++ b/tests/test_service_handler.py
@@ -0,0 +1,30 @@
+import pytest
+import json
+from unittest.mock import MagicMock
+from src.core.service_handler import ServiceHandler
+
+def test_flighttask_prepare_reply():
+    mock_conn = MagicMock()
+    sn = "123456"
+    handler = ServiceHandler(mock_conn, sn)
+    
+    # Simulate inbound message
+    topic = f"thing/product/{sn}/services"
+    payload = json.dumps({
+        "tid": "abc-123",
+        "bid": "xyz-789",
+        "method": "flighttask_prepare",
+        "data": {}
+    })
+    
+    handler.handle_message(topic, payload)
+    
+    # Check if reply was published
+    mock_conn.client.publish.assert_called_once()
+    args = mock_conn.client.publish.call_args
+    reply_topic = args[0][0]
+    reply_payload = json.loads(args[0][1])
+    
+    assert reply_topic == f"sys/product/{sn}/services_reply"
+    assert reply_payload["tid"] == "abc-123"
+    assert reply_payload["data"]["result"] == 0