diff --git a/src/rtsp_manager.cpp b/src/rtsp_manager.cpp
index fd6c13a..795381b 100644
--- a/src/rtsp_manager.cpp
+++ b/src/rtsp_manager.cpp
@@ -82,56 +82,64 @@ void RTSPManager::init()
 
 GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
 {
-    // 程序启动时设置一次 v4l2 格式
-    if (!set_v4l2_format(cam.device, cam.width, cam.height))
-    {
-        LOG_ERROR("[RTSP] Failed to set V4L2 format for " + cam.name);
-    }
+    // --- 设置一次 V4L2 格式 ---
+    set_v4l2_format(cam.device, cam.width, cam.height);
 
-    int out_width = cam.width;
-    int out_height = cam.height;
+    int w = cam.width;
+    int h = cam.height;
 
     std::string caps =
         "video/x-raw,format=NV12,"
         "width=" +
-        std::to_string(out_width) +
-        ",height=" + std::to_string(out_height) +
+        std::to_string(w) +
+        ",height=" + std::to_string(h) +
         ",framerate=" + std::to_string(cam.fps) + "/1";
 
-    // 注意：
-    // 1) config-interval 放到 rtph264pay 上
-    // 2) mpph264enc 加 gop / rc-mode / bps
-    // 3) is-live + do-timestamp 避免 preroll 卡死
+    // --------------------------
+    // ★★★ 稳定管线（重点全在这里）★★★
+    //
+    // 1) v4l2src is-live=true do-timestamp=true      → 防止 preroll 卡死
+    // 2) queue max-size=0                             → 避免首帧丢失
+    // 3) mpph264enc
+    //      rc-mode=cbr bps=xxx                        → 保持稳定码率
+    //      gop=fps                                    → 1s 一个 I 帧
+    //      option-force-idr=true                      → 强制 IDR 输出
+    //      option-idr-interval=fps                    → VLC 必需
+    // 4) h264parse                                    → 整理 NAL
+    // 5) rtph264pay config-interval=1                 → 每秒 SPS+PPS（最关键）
+    // --------------------------
     std::string launch_str =
         "( v4l2src device=" + cam.device +
         " io-mode=2 is-live=true do-timestamp=true"
         " ! " +
         caps +
-        " ! queue leaky=downstream max-size-buffers=0 max-size-bytes=0 max-size-time=0"
+        " ! queue leaky=downstream max-size-time=0 max-size-bytes=0 max-size-buffers=0"
         " ! mpph264enc rc-mode=cbr bps=" +
         std::to_string(cam.bitrate) +
         " gop=" + std::to_string(cam.fps) +
+        " option-force-idr=true"
+        " option-idr-interval=" +
+        std::to_string(cam.fps) +
         " header-mode=1"
         " ! h264parse"
         " ! rtph264pay name=pay0 pt=96 config-interval=1 )";
 
-    LOG_INFO("[RTSP] Launch pipeline for " + cam.name + ": " + launch_str);
+    LOG_INFO("[RTSP] Launch: " + launch_str);
 
     GstRTSPMediaFactory *factory = gst_rtsp_media_factory_new();
     gst_rtsp_media_factory_set_launch(factory, launch_str.c_str());
 
-    // 多客户端共享同一条 pipeline
+    // shared=TRUE 依然能用，因为我们让编码器永远产帧
     gst_rtsp_media_factory_set_shared(factory, TRUE);
 
-    // 不在客户端断开时 RESET pipeline，避免频繁 s_stream(0/1)
+    // 不要在客户端断开时 RESET 管线（防止 maxim4c 重启）
     gst_rtsp_media_factory_set_suspend_mode(factory, GST_RTSP_SUSPEND_MODE_NONE);
 
-    g_signal_connect_data(factory,
-                          "media-configure",
+    // 绑定事件
+    g_signal_connect_data(factory, "media-configure",
                           G_CALLBACK(on_media_created),
                           g_strdup(cam.name.c_str()),
-                          (GClosureNotify)g_free,
-                          (GConnectFlags)0);
+                          (GClosureNotify)g_free, 0);
 
     return factory;
 }