diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttClient.java b/src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttClient.java
index 4a790c3..af24265 100644
--- a/src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttClient.java
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttClient.java
@@ -1,14 +1,35 @@
 package com.ruoyi.device.domain.impl.machine.mqtt;
 
+import com.ruoyi.device.domain.impl.tuohengmqtt.manager.TuohengMqttClientManager;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
 /**
  * MQTT客户端
  */
+@Slf4j
 @Component
 public class MqttClient {
 
-    public void sendMessage(String topic, String message) {
+    @Autowired
+    private TuohengMqttClientManager tuohengMqttClientManager;
 
+    public void sendMessage(String topic, String message) {
+        try {
+            log.info("发送MQTT消息: topic={}, message={}", topic, message);
+
+            // 使用拓恒MQTT客户端发送消息
+            if (tuohengMqttClientManager != null && tuohengMqttClientManager.isConnected()) {
+                tuohengMqttClientManager.getClient().publish(topic, message);
+                log.info("MQTT消息发送成功");
+            } else {
+                log.error("MQTT客户端未连接，无法发送消息");
+                throw new RuntimeException("MQTT客户端未连接");
+            }
+        } catch (Exception e) {
+            log.error("发送MQTT消息失败: topic={}, message={}", topic, message, e);
+            throw new RuntimeException("发送MQTT消息失败: " + e.getMessage(), e);
+        }
     }
 }
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java
index e100abe..db39b9f 100644
--- a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java
@@ -21,7 +21,6 @@ public class TuohengPowerOnInstruction extends AbstractInstruction {
     public void executeRemoteCall(InstructionContext context) throws Exception {
         String sn = context.getSn();
         log.info("发送拓恒无人机开机指令: sn={}", sn);
-
         // 构建MQTT消息
         JSONObject payload = new JSONObject();
         payload.put("messageID", System.currentTimeMillis());
diff --git a/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/handler/TuohengMqttMessageHandler.java b/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/handler/TuohengMqttMessageHandler.java
index 24846b5..f288735 100644
--- a/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/handler/TuohengMqttMessageHandler.java
+++ b/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/handler/TuohengMqttMessageHandler.java
@@ -1,6 +1,7 @@
 package com.ruoyi.device.domain.impl.tuohengmqtt.handler;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.ruoyi.device.domain.impl.machine.mqtt.MqttCallbackRegistry;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IDroneRealTimeCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IRealTimeBasicCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.ITuohengEventsCallback;
@@ -23,6 +24,7 @@ import java.util.regex.Pattern;
 public class TuohengMqttMessageHandler {
 
     private final ObjectMapper objectMapper = new ObjectMapper();
+    private MqttCallbackRegistry mqttCallbackRegistry;
 
     private final List<ITuohengRealTimeDataCallback> realTimeDataCallbacks = new ArrayList<>();
     private final List<ITuohengOsdCallback> osdCallbacks = new ArrayList<>();
@@ -32,6 +34,14 @@ public class TuohengMqttMessageHandler {
 
     private static final Pattern TUOHENG_SN_PATTERN = Pattern.compile("^TH[0-9A-Z]+");
 
+    /**
+     * 设置 MQTT 回调注册中心
+     */
+    public void setMqttCallbackRegistry(MqttCallbackRegistry mqttCallbackRegistry) {
+        this.mqttCallbackRegistry = mqttCallbackRegistry;
+        log.info("设置 MqttCallbackRegistry 成功");
+    }
+
     public void registerRealTimeDataCallback(ITuohengRealTimeDataCallback callback) {
         if (callback != null && !realTimeDataCallbacks.contains(callback)) {
             realTimeDataCallbacks.add(callback);
@@ -71,6 +81,17 @@ public class TuohengMqttMessageHandler {
         try {
             log.debug("收到MQTT消息 - Topic: {}", topic);
 
+            // 通知 MqttCallbackRegistry 处理回调（用于指令回调）
+            if (mqttCallbackRegistry != null) {
+                try {
+                    // 将 payload 解析为 JSON 对象传递给回调注册中心
+                    Object messageBody = objectMapper.readValue(payload, Object.class);
+                    mqttCallbackRegistry.handleMessage(topic, messageBody);
+                } catch (Exception e) {
+                    log.debug("通知回调注册中心失败: {}", e.getMessage());
+                }
+            }
+
             String deviceSn = extractDeviceSnFromTopic(topic);
 
             if (deviceSn == null) {
diff --git a/src/main/java/com/ruoyi/device/service/impl/TuohengService.java b/src/main/java/com/ruoyi/device/service/impl/TuohengService.java
index 5113887..9a51fc4 100644
--- a/src/main/java/com/ruoyi/device/service/impl/TuohengService.java
+++ b/src/main/java/com/ruoyi/device/service/impl/TuohengService.java
@@ -5,6 +5,7 @@ import com.ruoyi.device.domain.api.IDockAircraftDomain;
 import com.ruoyi.device.domain.api.IDockDomain;
 import com.ruoyi.device.domain.api.IAircraftDomain;
 import com.ruoyi.device.domain.api.IDeviceDomain;
+import com.ruoyi.device.domain.impl.machine.mqtt.MqttCallbackRegistry;
 import com.ruoyi.device.domain.impl.machine.state.DroneState;
 import com.ruoyi.device.domain.impl.machine.state.AirportState;
 import com.ruoyi.device.domain.impl.machine.state.MachineStates;
@@ -59,6 +60,9 @@ public class TuohengService {
     @Autowired
     private MachineStateManager stateManager;
 
+    @Autowired
+    private MqttCallbackRegistry mqttCallbackRegistry;
+
     private final ObjectMapper objectMapper = new ObjectMapper();
 
     /**
@@ -91,6 +95,9 @@ public class TuohengService {
 
         TuohengMqttMessageHandler handler = clientManager.getHandler();
 
+        // 设置 MqttCallbackRegistry 到 handler（用于指令回调）
+        handler.setMqttCallbackRegistry(mqttCallbackRegistry);
+
         Map<String, String> mapping = loadAirportDroneMapping();
 
         handler.registerRealTimeDataCallback(new ITuohengRealTimeDataCallback() {