diff --git a/backend_service/src/__pycache__/py_tree_generator.cpython-313.pyc b/backend_service/src/__pycache__/py_tree_generator.cpython-313.pyc
index cd04417b..30f461e7 100644
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diff --git a/backend_service/src/llm/__pycache__/gateway.cpython-313.pyc b/backend_service/src/llm/__pycache__/gateway.cpython-313.pyc
index 63adc292..d162c3d7 100644
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diff --git a/backend_service/src/llm/__pycache__/tool_runtime.cpython-313.pyc b/backend_service/src/llm/__pycache__/tool_runtime.cpython-313.pyc
index 80ea7918..a8490f78 100644
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diff --git a/backend_service/src/llm/gateway.py b/backend_service/src/llm/gateway.py
index 4b11d073..304d3773 100644
--- a/backend_service/src/llm/gateway.py
+++ b/backend_service/src/llm/gateway.py
@@ -15,14 +15,17 @@ class LLMGateway:
         self.generator = generator
         self.stage1_enable_thinking = os.getenv("STAGE1_ENABLE_THINKING", "true").lower() in ("1", "true", "yes")
 
-    def classify_scene(self, user_prompt: str) -> str:
+    def classify_scene(self, user_prompt: str, drone_state: str = "on_ground") -> str:
         scene_mode = "scene1"
         try:
+            user_content = user_prompt
+            if drone_state and drone_state in ("on_ground", "in_air"):
+                user_content = f"无人机当前状态：{drone_state}\n\n用户指令：{user_prompt}"
             classifier_resp = self.generator.classifier_client.chat.completions.create(
                 model=self.generator.classifier_model,
                 messages=[
                     {"role": "system", "content": self.generator.scene_classifier_prompt or "你是一个分类器，只输出JSON。"},
-                    {"role": "user", "content": user_prompt},
+                    {"role": "user", "content": user_content},
                 ],
                 temperature=0.0,
                 response_format={"type": "json_object"},
diff --git a/backend_service/src/pipeline/__pycache__/orchestrator.cpython-313.pyc b/backend_service/src/pipeline/__pycache__/orchestrator.cpython-313.pyc
index c51df30c..8b7c4f03 100644
Binary files a/backend_service/src/pipeline/__pycache__/orchestrator.cpython-313.pyc and b/backend_service/src/pipeline/__pycache__/orchestrator.cpython-313.pyc differ
diff --git a/backend_service/src/pipeline/__pycache__/stages.cpython-313.pyc b/backend_service/src/pipeline/__pycache__/stages.cpython-313.pyc
index 4b2361fd..66da9f3f 100644
Binary files a/backend_service/src/pipeline/__pycache__/stages.cpython-313.pyc and b/backend_service/src/pipeline/__pycache__/stages.cpython-313.pyc differ
diff --git a/backend_service/src/pipeline/orchestrator.py b/backend_service/src/pipeline/orchestrator.py
index aabe266d..5b82cb0b 100644
--- a/backend_service/src/pipeline/orchestrator.py
+++ b/backend_service/src/pipeline/orchestrator.py
@@ -9,8 +9,8 @@ class GenerationOrchestrator:
     def __init__(self, generator: Any):
         self.stages = PipelineStages(generator)
 
-    async def generate(self, user_prompt: str) -> Dict:
-        understanding = self.stages.stage1_task_understanding(user_prompt)
+    async def generate(self, user_prompt: str, drone_state: str = "on_ground") -> Dict:
+        understanding = self.stages.stage1_task_understanding(user_prompt, drone_state=drone_state)
         context = self.stages.stage2_context_binding(user_prompt, understanding)
         
         if understanding.scene_mode == "simple":
diff --git a/backend_service/src/pipeline/stages.py b/backend_service/src/pipeline/stages.py
index 055dd4ac..ca53d3b0 100644
--- a/backend_service/src/pipeline/stages.py
+++ b/backend_service/src/pipeline/stages.py
@@ -71,18 +71,15 @@ class PipelineStages:
     def __init__(self, generator: Any):
         self.generator = generator
 
-    def stage1_task_understanding(self, user_prompt: str) -> TaskUnderstanding:
+    def stage1_task_understanding(self, user_prompt: str, drone_state: str = "on_ground") -> TaskUnderstanding:
         logging.info("========== [Stage 1] Task Understanding ==========")
-        scene_mode = self.generator.llm_gateway.classify_scene(user_prompt)
+        if drone_state not in ("on_ground", "in_air"):
+            drone_state = "on_ground"
+        scene_mode = self.generator.llm_gateway.classify_scene(user_prompt, drone_state=drone_state)
         intent_type = _infer_intent_type(user_prompt, scene_mode)
         risk_flags = _extract_risk_flags(user_prompt)
         requires_relative = "relative_reference_detected" in risk_flags
-        
-        # 简单提取状态
-        drone_state: DroneState = "on_ground"
-        if "在空中" in user_prompt or "已起飞" in user_prompt:
-            drone_state = "in_air"
-            
+
         entities = {"raw_prompt": user_prompt}
         
         logging.info(f"Task Understanding Results: mode={scene_mode}, state={drone_state}, intent={intent_type}, risks={risk_flags}")
diff --git a/backend_service/src/prompts/scene_classifier_prompt.txt b/backend_service/src/prompts/scene_classifier_prompt.txt
index cde48caf..0a84ac4c 100644
--- a/backend_service/src/prompts/scene_classifier_prompt.txt
+++ b/backend_service/src/prompts/scene_classifier_prompt.txt
@@ -1,9 +1,12 @@
-你是指令分类器。只输出一个JSON，无其它内容。
-输入：无人机状态{on_ground/in_air}+指令。
+你是指令分类器，仅输出JSON对象，无任何多余内容。
+输入：无人机状态(on_ground/in_air)+指令。
 输出仅三选一：{"mode":"simple"}、{"mode":"scene1"}、{"mode":"scene4"}。
 
-规则：
-1. 指令含“面前”→scene1
-2. 状态=in_air，指令是：飞到某地/飞到某地+方位距离/往某方向飞X米/降落/旋转/悬停 →simple
-3. 状态=on_ground，指令含去/飞到/回到某地 →非simple
-4. 多动作/序列任务→scene4
\ No newline at end of file
+规则（必须严格执行）：
+1. 指令包含“面前”→输出{"mode":"scene1"}；
+2. 无人机状态=in_air且指令包含“飞到”→输出{"mode":"simple"}；
+3. 无人机状态=in_air且指令包含“往某方向飞”或“降落”或“旋转”或“悬停”→输出{"mode":"simple"}；
+4. 无人机状态=on_ground且指令包含“起飞”或“旋转”或“悬停”→输出{"mode":"simple"}；
+5. 无人机状态=on_ground且指令包含“飞到”或“去”或“回到”→输出{"mode":"scene4"}；
+6. 指令包含“先”或“再”或“搜索”或“监控”或“拍照”或“返航”或“确认”→输出{"mode":"scene4"}；
+7. 其他所有情况→输出{"mode":"scene4"}。
\ No newline at end of file
diff --git a/backend_service/src/py_tree_generator.py b/backend_service/src/py_tree_generator.py
index 6a971778..87ef1343 100644
--- a/backend_service/src/py_tree_generator.py
+++ b/backend_service/src/py_tree_generator.py
@@ -790,9 +790,89 @@ class PyTreeGenerator:
         except Exception as e:
             logging.warning(f"保存推理链Markdown失败: {e}")
 
-    async def generate(self, user_prompt: str) -> Dict[str, Any]:
-        logging.info(f"接收到用户请求: {user_prompt}")
-        return await self.orchestrator.generate(user_prompt)
+    async def generate(self, user_prompt: str, drone_state: str = "on_ground") -> Dict[str, Any]:
+        logging.info(f"接收到用户请求: {user_prompt}, drone_state={drone_state}")
+        return await self.orchestrator.generate(user_prompt, drone_state=drone_state)
+
+    def run_debug_stage(
+        self, user_prompt: str, drone_state: str = "on_ground", target_stage: int = 1
+    ) -> Dict[str, Any]:
+        """
+        分阶段调试：运行到指定 stage 并返回该 stage 的输出。
+        当 target_stage >= 2 时，响应中附带 upstream（前一 stage 的 output）。
+        当 target_stage >= 3 时，响应中附带 stage1 与 stage2 的 output。
+        以此类推，便于追溯完整流水线。
+        """
+        if target_stage < 1 or target_stage > 6:
+            return {"error": f"target_stage 必须在 1-6 之间，当前为 {target_stage}"}
+
+        upstream: Dict[str, Any] = {}
+
+        understanding = self.orchestrator.stages.stage1_task_understanding(
+            user_prompt, drone_state=drone_state
+        )
+        if target_stage == 1:
+            return {
+                "target_stage": 1,
+                "stage_name": "TaskUnderstanding",
+                "output": understanding.model_dump(),
+                "upstream": upstream,
+            }
+
+        upstream["stage1"] = understanding.model_dump()
+        context = self.orchestrator.stages.stage2_context_binding(user_prompt, understanding)
+        if target_stage == 2:
+            return {
+                "target_stage": 2,
+                "stage_name": "ContextBinding",
+                "output": context.model_dump(),
+                "upstream": upstream,
+            }
+
+        upstream["stage2"] = context.model_dump()
+        draft = self.orchestrator.stages.stage3_macro_planning(
+            user_prompt, understanding, context
+        )
+        if target_stage == 3:
+            return {
+                "target_stage": 3,
+                "stage_name": "BTDraft",
+                "output": draft.model_dump(),
+                "upstream": upstream,
+            }
+
+        upstream["stage3"] = draft.model_dump()
+        resolved_data = self.orchestrator.stages.stage4_middleware_resolution(draft)
+        if target_stage == 4:
+            return {
+                "target_stage": 4,
+                "stage_name": "MiddlewareResolution",
+                "output": {"resolved_data": resolved_data},
+                "upstream": upstream,
+            }
+
+        upstream["stage4"] = {"resolved_data": resolved_data}
+        final_tree = self.orchestrator.stages.stage5_micro_filling(
+            draft, resolved_data, understanding
+        )
+        if target_stage == 5:
+            return {
+                "target_stage": 5,
+                "stage_name": "MicroFilling",
+                "output": {"final_tree": final_tree},
+                "upstream": upstream,
+            }
+
+        upstream["stage5"] = {"final_tree": final_tree}
+        payload = self.orchestrator.stages.stage6_validate_and_postprocess(
+            user_prompt, understanding, context, draft, final_tree
+        )
+        return {
+            "target_stage": 6,
+            "stage_name": "ValidateAndPostprocess",
+            "output": payload,
+            "upstream": upstream,
+        }
 
 # Create a single instance for the application
 py_tree_generator = PyTreeGenerator()
diff --git a/tools/test_validate/modules/__pycache__/stage_debugger.cpython-313.pyc b/tools/test_validate/modules/__pycache__/stage_debugger.cpython-313.pyc
index 0659022f..9d0d4d3d 100644
Binary files a/tools/test_validate/modules/__pycache__/stage_debugger.cpython-313.pyc and b/tools/test_validate/modules/__pycache__/stage_debugger.cpython-313.pyc differ
diff --git a/tools/test_validate/modules/stage_debugger.py b/tools/test_validate/modules/stage_debugger.py
index f9fe6f05..c41c4246 100644
--- a/tools/test_validate/modules/stage_debugger.py
+++ b/tools/test_validate/modules/stage_debugger.py
@@ -39,6 +39,52 @@ def _select_stage():
         print("❌ 请输入 1-6 之间的数字")
 
 
+def _summarize_system_prompt_origin(obj: dict, upstream: dict) -> str:
+    """
+    根据上游 stage1 推断 system_prompt 的拼接顺序，仅展示文件名，不输出全文。
+    """
+    stage1 = upstream.get("stage1") or {}
+    scene_mode = stage1.get("scene_mode", "scene4")
+    drone_state = stage1.get("drone_state", "on_ground")
+    intent_type = stage1.get("intent_type", "generic_mission")
+
+    if scene_mode == "simple":
+        return "【system_prompt 来源】simple_mode_prompt.txt"
+
+    parts = [
+        "macro_header.txt",
+        "core_nodes.json (裁剪后)",
+        f"template_{'ground' if drone_state == 'on_ground' else 'air'}.txt",
+        "common_rules.txt",
+    ]
+    if intent_type == "generic_mission":
+        parts.append("[可选] system_extra_examples.txt")
+    parts.append("任务意图标签 (代码生成)")
+    return "【system_prompt 来源】" + " → ".join(parts)
+
+
+def _summarize_output_for_display(obj: dict, upstream: dict) -> dict:
+    """将 output/upstream 中的 system_prompt、final_prompt 替换为简要说明，便于终端查看"""
+    if not isinstance(obj, dict):
+        return obj
+    out = {}
+    for k, v in obj.items():
+        if k == "system_prompt" and isinstance(v, str) and len(v) > 200:
+            out[k] = _summarize_system_prompt_origin(obj, upstream) + f"\n(全文约 {len(v)} 字符，已保存至 response.json)"
+        elif k == "final_prompt" and isinstance(v, str) and len(v) > 200:
+            out[k] = f"【final_prompt】= system_prompt + user_prompt (全文约 {len(v)} 字符，已保存至 response.json)"
+        elif isinstance(v, dict):
+            out[k] = _summarize_output_for_display(v, upstream)
+        elif isinstance(v, list):
+            out[k] = [
+                _summarize_output_for_display(item, upstream) if isinstance(item, dict) else item
+                for item in v
+            ]
+        else:
+            out[k] = v
+    return out
+
+
 def _infer_drone_state_from_prompt(prompt: str) -> str:
     """从指令中简单推断 drone_state（批量模式下若未单独指定则用此）"""
     if "在空中" in prompt or "已起飞" in prompt:
@@ -75,8 +121,23 @@ def run_stage_debug_single():
                 print(f"✅ 请求成功 (耗时: {result['latency']:.2f}s)")
                 data = result["data"]
                 output = data.get("output", data)
+                upstream = data.get("upstream") or {}
+                target_stage = data.get("target_stage", 0)
+                if target_stage >= 2 and not upstream:
+                    print("\n⚠️  未获取到上游 Stage 输出。请重启后端服务 (如 start_all.sh) 后重试。")
+                elif upstream:
+                    print("\n" + "=" * 60)
+                    print("【上游 Stage 输出】")
+                    print("=" * 60)
+                    for k, v in sorted(upstream.items()):
+                        print(f"\n--- {k} ---")
+                        summarized = _summarize_output_for_display(v, upstream)
+                        print(json.dumps(summarized, ensure_ascii=False, indent=2))
                 print("\n" + "=" * 60)
-                print(json.dumps(output, ensure_ascii=False, indent=2))
+                print(f"【Stage{data.get('target_stage', '?')} 输出】")
+                print("=" * 60)
+                summarized_output = _summarize_output_for_display(output, upstream)
+                print(json.dumps(summarized_output, ensure_ascii=False, indent=2))
                 print("=" * 60)
 
                 # 保存到 validation/temporary