diff --git a/src/rtsp_manager.cpp b/src/rtsp_manager.cpp
index 802eaac..6bfa55b 100644
--- a/src/rtsp_manager.cpp
+++ b/src/rtsp_manager.cpp
@@ -82,7 +82,7 @@ void RTSPManager::init()
 
 GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
 {
-    // --- 设置一次 V4L2 格式 ---
+    // 启动前把 v4l2 格式设成我们想要的
     set_v4l2_format(cam.device, cam.width, cam.height);
 
     int w = cam.width;
@@ -95,26 +95,19 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
         ",height=" + std::to_string(h) +
         ",framerate=" + std::to_string(cam.fps) + "/1";
 
-    // --------------------------
-    // ★★★ 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）
-    // --------------------------
+    // 注意几点：
+    // 1) 给 mpph264enc 起一个名字 name=enc，方便后面在 on_media_created 里拿到
+    // 2) option-force-idr / option-idr-interval 依然在这里设置一遍，保证周期 IDR
+    // 3) config-interval=1 一定要写在 rtph264pay 上
     std::string launch_str =
         "( v4l2src device=" + cam.device +
         " io-mode=2 is-live=true do-timestamp=true"
         " ! " +
         caps +
         " ! queue leaky=downstream max-size-time=0 max-size-bytes=0 max-size-buffers=0"
-        " ! mpph264enc rc-mode=cbr bps=" +
+        " ! mpph264enc name=enc"
+        " rc-mode=cbr"
+        " bps=" +
         std::to_string(cam.bitrate) +
         " gop=" + std::to_string(cam.fps) +
         " option-force-idr=true"
@@ -124,24 +117,23 @@ GstRTSPMediaFactory *RTSPManager::create_media_factory(const Camera &cam)
         " ! h264parse"
         " ! rtph264pay name=pay0 pt=96 config-interval=1 )";
 
-    LOG_INFO("[RTSP] Launch: " + launch_str);
+    LOG_INFO("[RTSP] Launch for " + cam.name + ": " + launch_str);
 
     GstRTSPMediaFactory *factory = gst_rtsp_media_factory_new();
     gst_rtsp_media_factory_set_launch(factory, launch_str.c_str());
 
-    // shared=TRUE 依然能用，因为我们让编码器永远产帧
+    // 先保持 shared=TRUE，节省资源
     gst_rtsp_media_factory_set_shared(factory, TRUE);
 
-    // 不要在客户端断开时 RESET 管线（防止 maxim4c 重启）
+    // 客户端断开时不重置 pipeline，防止反复 s_stream(0/1)
     gst_rtsp_media_factory_set_suspend_mode(factory, GST_RTSP_SUSPEND_MODE_NONE);
 
-    // 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));
+                          (GConnectFlags)0);
 
     return factory;
 }
@@ -205,9 +197,8 @@ void RTSPManager::on_media_created(GstRTSPMediaFactory *, GstRTSPMedia *media, g
 
     LOG_INFO(std::string("[RTSP] media-configure for camera: ") + cam_name);
 
-    // media 自身加引用，存入 map
+    // 把 media 保存起来，方便后面 unmount
     g_object_ref(media);
-
     {
         std::lock_guard<std::mutex> lock(media_map_mutex);
         media_map[cam_name].push_back(media);
@@ -221,27 +212,44 @@ void RTSPManager::on_media_created(GstRTSPMediaFactory *, GstRTSPMedia *media, g
         (GClosureNotify)g_free,
         (GConnectFlags)0);
 
-    // 强制 pipeline 进入 PLAYING，避免 preroll 阶段卡死在 PAUSED
+    // 获取底层 pipeline
     GstElement *pipeline = gst_rtsp_media_get_element(media);
-    if (pipeline)
+    if (!pipeline)
     {
-        GstStateChangeReturn ret = gst_element_set_state(pipeline, GST_STATE_PLAYING);
-        if (ret == GST_STATE_CHANGE_FAILURE)
-        {
-            LOG_ERROR(std::string("[RTSP] Failed to set pipeline PLAYING for camera: ") + cam_name);
-        }
-        else
-        {
-            LOG_INFO(std::string("[RTSP] Force pipeline PLAYING for camera: ") + cam_name);
-        }
+        LOG_ERROR(std::string("[RTSP] Pipeline is NULL for camera: ") + cam_name);
+        return;
+    }
 
-        // ⚠️ 这里一定要 unref，一次 get_element 一次 unref
-        gst_object_unref(pipeline);
+    // ★★★ 关键：拿到 encoder 元素，强制打一发 IDR，保证 VLC 第一次连接就能拿到关键帧
+    GstElement *enc = gst_bin_get_by_name(GST_BIN(pipeline), "enc");
+    if (enc)
+    {
+        LOG_INFO(std::string("[RTSP] Forcing IDR for camera: ") + cam_name);
+        // 这里用和 launch 里同名的属性，确保 Rockchip mpph264enc 能识别
+        g_object_set(enc, "option-force-idr", TRUE, NULL);
+        // 如果你想更狠一点，也可以顺便再 set 一次 idr-interval
+        // g_object_set(enc, "option-idr-interval", cam.fps, NULL); // 这里需要你把 fps 传进来才行
+
+        gst_object_unref(enc);
     }
     else
     {
-        LOG_ERROR(std::string("[RTSP] Pipeline is NULL for camera: ") + cam_name);
+        LOG_WARN(std::string("[RTSP] Encoder 'enc' not found in pipeline for camera: ") + cam_name);
     }
+
+    // 强制 pipeline 进入 PLAYING，避免停在 PAUSED/preroll
+    GstStateChangeReturn ret = gst_element_set_state(pipeline, GST_STATE_PLAYING);
+    if (ret == GST_STATE_CHANGE_FAILURE)
+    {
+        LOG_ERROR(std::string("[RTSP] Failed to set pipeline PLAYING for camera: ") + cam_name);
+    }
+    else
+    {
+        LOG_INFO(std::string("[RTSP] Force pipeline PLAYING for camera: ") + cam_name);
+    }
+
+    // gst_rtsp_media_get_element() 返回的是加过 ref 的对象，需要 unref 一次
+    gst_object_unref(pipeline);
 }
 
 void RTSPManager::on_media_unprepared(GstRTSPMedia *media, gpointer user_data)