diff --git a/src/Extension/H264Rtp.cpp b/src/Extension/H264Rtp.cpp
index 0db7585a..73435357 100644
--- a/src/Extension/H264Rtp.cpp
+++ b/src/Extension/H264Rtp.cpp
@@ -46,7 +46,14 @@ H264Frame::Ptr H264RtpDecoder::obtainFrame() {
 }
 
 bool H264RtpDecoder::inputRtp(const RtpPacket::Ptr &rtp, bool key_pos) {
-    return decodeRtp(rtp);
+    auto seq = rtp->getSeq();
+    auto ret = decodeRtp(rtp);
+    if (!_gop_dropped && seq != (uint16_t) (_last_seq + 1) && _last_seq) {
+        _gop_dropped = true;
+        WarnL << "start drop h264 gop, last seq:" << _last_seq << ", rtp:\r\n" << rtp->dumpString();
+    }
+    _last_seq = seq;
+    return ret;
 }
 
 /*
@@ -66,118 +73,115 @@ Table 1.  Summary of NAL unit types and their payload structures
    30-31  undefined                                    -
 */
 
+bool H264RtpDecoder::singleFrame(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp){
+    _frame->_buffer.assign("\x00\x00\x00\x01", 4);
+    _frame->_buffer.append((char *) ptr, size);
+    _frame->_pts = stamp;
+    auto key = _frame->keyFrame();
+    outputFrame(rtp, _frame);
+    return key;
+}
+
+bool H264RtpDecoder::unpackStapA(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp) {
+    //STAP-A 单一时间的组合包
+    auto have_key_frame = false;
+    auto end = ptr + size;
+    while (ptr + 2 < end) {
+        uint16_t len = (ptr[0] << 8) | ptr[1];
+        if (!len || ptr + len > end) {
+            WarnL << "invalid rtp data size:" << len << ",rtp:\r\n" << rtp->dumpString();
+            _gop_dropped = true;
+            break;
+        }
+        ptr += 2;
+        if (singleFrame(rtp, ptr, len, stamp)) {
+            have_key_frame = true;
+        }
+        ptr += len;
+    }
+    return have_key_frame;
+}
+
+bool H264RtpDecoder::mergeFu(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp, uint16_t seq){
+    auto nal_suffix = *ptr & (~0x1F);
+    FuFlags *fu = (FuFlags *) (ptr + 1);
+    if (fu->start_bit) {
+        //该帧的第一个rtp包
+        _frame->_buffer.assign("\x00\x00\x00\x01", 4);
+        _frame->_buffer.push_back(nal_suffix | fu->nal_type);
+        _frame->_pts = stamp;
+        _fu_dropped = false;
+    }
+
+    if (_fu_dropped) {
+        //该帧不完整
+        return false;
+    }
+
+    if (!fu->start_bit && seq != (uint16_t) (_last_seq + 1)) {
+        //中间的或末尾的rtp包，其seq必须连续，否则说明rtp丢包，那么该帧不完整，必须得丢弃
+        _fu_dropped = true;
+        _frame->_buffer.clear();
+        return false;
+    }
+
+    //后面追加数据
+    _frame->_buffer.append((char *) ptr + 2, size - 2);
+
+    if (!fu->end_bit) {
+        //非末尾包
+        return fu->start_bit ? _frame->keyFrame() : false;
+    }
+
+    //确保下一次fu必须收到第一个包
+    _fu_dropped = true;
+    //该帧最后一个rtp包,输出frame
+    outputFrame(rtp, _frame);
+    return false;
+}
+
 bool H264RtpDecoder::decodeRtp(const RtpPacket::Ptr &rtp) {
     auto frame = rtp->getPayload();
     auto length = rtp->getPayloadSize();
     auto stamp = rtp->getStampMS();
     auto seq = rtp->getSeq();
-    auto nal_type = *frame & 0x1F;
-    auto nal_suffix = *frame & (~0x1F);
+    int nal = H264_TYPE(frame[0]);
 
-    if (nal_type >= 0 && nal_type < 24) {
-        //a full frame
-        _frame->_buffer.assign("\x00\x00\x00\x01", 4);
-        _frame->_buffer.append((char *) frame, length);
-        _frame->_pts = stamp;
-        auto key = _frame->keyFrame();
-        onGetH264(_frame);
-        return (key); //i frame
-    }
+    switch (nal) {
+        case 24:
+            // 24 STAP-A Single-time aggregation packet 5.7.1
+            return unpackStapA(rtp, frame + 1, length - 1, stamp);
 
-    switch (nal_type) {
-        case 24: {
-            // 24 STAP-A   单一时间的组合包
-            bool haveIDR = false;
-            auto ptr = frame + 1;
-            while (true) {
-                size_t off = ptr - frame;
-                if (off >= length) {
-                    break;
-                }
-                //获取当前nalu的大小
-                uint16_t len = *ptr++;
-                len <<= 8;
-                len |= *ptr++;
-                if (off + len > length) {
-                    break;
-                }
-                if (len > 0) {
-                    //有有效数据
-                    _frame->_buffer.assign("\x00\x00\x00\x01", 4);
-                    _frame->_buffer.append((char *) ptr, len);
-                    _frame->_pts = stamp;
-                    if ((ptr[0] & 0x1F) == H264Frame::NAL_IDR) {
-                        haveIDR = true;
-                    }
-                    onGetH264(_frame);
-                }
-                ptr += len;
-            }
-            return haveIDR;
-        }
-
-        case 28: {
-            //FU-A
-            FuFlags *fu = (FuFlags *) (frame + 1);
-            if (fu->start_bit) {
-                //该帧的第一个rtp包  FU-A start
-                //预留空间，防止频繁扩容拷贝
-                _frame->_buffer.reserve(_max_frame_size);
-                _frame->_buffer.assign("\x00\x00\x00\x01", 4);
-                _frame->_buffer.push_back(nal_suffix | fu->nal_type);
-                _frame->_buffer.append((char *) frame + 2, length - 2);
-                _frame->_pts = stamp;
-                //该函数return时，保存下当前sequence,以便下次对比seq是否连续
-                _last_seq = seq;
-                return _frame->keyFrame();
-            }
-
-            if (seq != (uint16_t) (_last_seq + 1)) {
-                //中间的或末尾的rtp包，其seq必须连续(如果回环了则判定为连续)，否则说明rtp丢包，那么该帧不完整，必须得丢弃
-                _frame->_buffer.clear();
-                WarnL << "rtp丢包: " << seq << " != " << _last_seq << " + 1,该帧被废弃";
-                return false;
-            }
-
-            if (!fu->end_bit) {
-                //该帧的中间rtp包  FU-A mid
-                _frame->_buffer.append((char *) frame + 2, length - 2);
-                //该函数return时，保存下当前sequence,以便下次对比seq是否连续
-                _last_seq = seq;
-                return false;
-            }
-
-            //该帧最后一个rtp包  FU-A end
-            _frame->_buffer.append((char *) frame + 2, length - 2);
-            _frame->_pts = stamp;
-            //计算最大的帧
-            auto frame_size = _frame->size();
-            if (frame_size > _max_frame_size) {
-                _max_frame_size = frame_size;
-            }
-            onGetH264(_frame);
-            return false;
-        }
+        case 28:
+            // 28 FU-A Fragmentation unit
+            return mergeFu(rtp, frame, length, stamp, seq);
 
         default: {
-            // 29 FU-B     单NAL单元B模式
-            // 25 STAP-B   单一时间的组合包
-            // 26 MTAP16   多个时间的组合包
-            // 27 MTAP24   多个时间的组合包
-            WarnL << "不支持的rtp类型:" << (int) nal_type << " " << seq;
+            if (nal < 24) {
+                //Single NAL Unit Packets
+                return singleFrame(rtp, frame, length, stamp);
+            }
+            _gop_dropped = true;
+            WarnL << "不支持该类型的264 RTP包, nal type:" << nal << ", rtp:\r\n" << rtp->dumpString();
             return false;
         }
     }
 }
 
-void H264RtpDecoder::onGetH264(const H264Frame::Ptr &frame) {
+void H264RtpDecoder::outputFrame(const RtpPacket::Ptr &rtp, const H264Frame::Ptr &frame) {
     //rtsp没有dts，那么根据pts排序算法生成dts
-    _dts_generator.getDts(frame->_pts,frame->_dts);
-    RtpCodec::inputFrame(frame);
+    _dts_generator.getDts(frame->_pts, frame->_dts);
+
+    if (frame->keyFrame() && _gop_dropped) {
+        _gop_dropped = false;
+        InfoL << "new gop received, rtp:\r\n" << rtp->dumpString();
+    }
+    if (!_gop_dropped) {
+        RtpCodec::inputFrame(frame);
+    }
     _frame = obtainFrame();
 }
 
-
 ////////////////////////////////////////////////////////////////////////
 
 H264RtpEncoder::H264RtpEncoder(uint32_t ssrc, uint32_t mtu, uint32_t sample_rate, uint8_t pt, uint8_t interleaved)
diff --git a/src/Extension/H264Rtp.h b/src/Extension/H264Rtp.h
index 430718e9..edce6769 100644
--- a/src/Extension/H264Rtp.h
+++ b/src/Extension/H264Rtp.h
@@ -43,13 +43,18 @@ public:
     }
 
 private:
+    bool singleFrame(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp);
+    bool unpackStapA(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp);
+    bool mergeFu(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp, uint16_t seq);
+
     bool decodeRtp(const RtpPacket::Ptr &rtp);
-    void onGetH264(const H264Frame::Ptr &frame);
     H264Frame::Ptr obtainFrame();
+    void outputFrame(const RtpPacket::Ptr &rtp, const H264Frame::Ptr &frame);
 
 private:
+    bool _gop_dropped = false;
+    bool _fu_dropped = true;
     uint16_t _last_seq = 0;
-    size_t _max_frame_size = 0;
     H264Frame::Ptr _frame;
     DtsGenerator _dts_generator;
 };
diff --git a/src/Extension/H265Rtp.cpp b/src/Extension/H265Rtp.cpp
index 9e780522..f783c709 100644
--- a/src/Extension/H265Rtp.cpp
+++ b/src/Extension/H265Rtp.cpp
@@ -12,6 +12,7 @@
 
 namespace mediakit{
 
+//https://datatracker.ietf.org/doc/rfc7798/
 //H265 nalu 头两个字节的定义
 /*
  0               1
@@ -41,7 +42,7 @@ H265Frame::Ptr H265RtpDecoder::obtainFrame() {
 
 #define CHECK_SIZE(total, size, ret) \
         if (total < size) {     \
-            WarnL << "数据不够:" << total << " " << size; return ret; \
+            WarnL << "invalid rtp data size:" << total << " < " << size << ",rtp:\r\n" << rtp->dumpString(); _gop_dropped = true;  return ret; \
         }
 
 // 4.4.2. Aggregation Packets (APs) (p25)
@@ -68,9 +69,8 @@ H265Frame::Ptr H265RtpDecoder::obtainFrame() {
 |                               :    ...OPTIONAL RTP padding    |
 +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 */
-bool H265RtpDecoder::unpackAp(const uint8_t *ptr, ssize_t size, uint32_t stamp){
+bool H265RtpDecoder::unpackAp(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp){
     bool have_key_frame = false;
-
     //忽略PayloadHdr
     CHECK_SIZE(size, 2, have_key_frame);
     ptr += 2;
@@ -88,7 +88,7 @@ bool H265RtpDecoder::unpackAp(const uint8_t *ptr, ssize_t size, uint32_t stamp){
         size -= 2;
         ptr += 2;
         CHECK_SIZE(size, nalu_size, have_key_frame)
-        if (singleFrame(ptr, nalu_size, stamp)) {
+        if (singleFrame(rtp, ptr, nalu_size, stamp)) {
             have_key_frame = true;
         }
         size -= nalu_size;
@@ -119,7 +119,7 @@ bool H265RtpDecoder::unpackAp(const uint8_t *ptr, ssize_t size, uint32_t stamp){
 +---------------+
 */
 
-bool H265RtpDecoder::mergeFu(const uint8_t *ptr, ssize_t size, uint16_t seq, uint32_t stamp){
+bool H265RtpDecoder::mergeFu(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp, uint16_t seq){
     CHECK_SIZE(size, 4, false);
     auto s_bit = ptr[2] >> 7;
     auto e_bit = (ptr[2] >> 6) & 0x01;
@@ -127,15 +127,21 @@ bool H265RtpDecoder::mergeFu(const uint8_t *ptr, ssize_t size, uint16_t seq, uin
     if (s_bit) {
         //该帧的第一个rtp包
         _frame->_buffer.assign("\x00\x00\x00\x01", 4);
-        //恢复nalu头两个字节
         _frame->_buffer.push_back((type << 1) | (ptr[0] & 0x81));
         _frame->_buffer.push_back(ptr[1]);
+        _frame->_pts = stamp;
+        _fu_dropped = false;
     }
 
-    if (!s_bit && seq != (uint16_t) (_last_seq + 1) && seq != 0) {
+    if (_fu_dropped) {
+        //该帧不完整
+        return false;
+    }
+
+    if (!s_bit && seq != (uint16_t) (_last_seq + 1)) {
         //中间的或末尾的rtp包，其seq必须连续，否则说明rtp丢包，那么该帧不完整，必须得丢弃
+        _fu_dropped = true;
         _frame->_buffer.clear();
-        WarnL << "rtp丢包: " << seq << " != " << _last_seq << " + 1,该帧被废弃";
         return false;
     }
 
@@ -152,64 +158,80 @@ bool H265RtpDecoder::mergeFu(const uint8_t *ptr, ssize_t size, uint16_t seq, uin
 
     CHECK_SIZE(size, 1, false);
 
+    //后面追加数据
+    _frame->_buffer.append((char *) ptr, size);
+
     if (!e_bit) {
         //非末尾包
-        _last_seq = seq;
-        _frame->_buffer.append((char *) ptr, size);
         return s_bit ? _frame->keyFrame() : false;
     }
 
+    //确保下一次fu必须收到第一个包
+    _fu_dropped = true;
     //该帧最后一个rtp包
-    _frame->_pts = stamp;
-    _frame->_buffer.append((char *) ptr, size);
-    outputFrame(_frame);
+    outputFrame(rtp, _frame);
     return false;
 }
 
-bool H265RtpDecoder::inputRtp(const RtpPacket::Ptr &rtp, bool ) {
+bool H265RtpDecoder::inputRtp(const RtpPacket::Ptr &rtp, bool) {
+    auto seq = rtp->getSeq();
+    auto ret = decodeRtp(rtp);
+    if (!_gop_dropped && seq != (uint16_t) (_last_seq + 1) && _last_seq) {
+        _gop_dropped = true;
+        WarnL << "start drop h265 gop, last seq:" << _last_seq << ", rtp:\r\n" << rtp->dumpString();
+    }
+    _last_seq = seq;
+    return ret;
+}
+
+bool H265RtpDecoder::decodeRtp(const RtpPacket::Ptr &rtp) {
     auto frame = rtp->getPayload();
     auto length = rtp->getPayloadSize();
     auto stamp = rtp->getStampMS();
     auto seq = rtp->getSeq();
     int nal = H265_TYPE(frame[0]);
 
-    if (nal > 50){
-        // packet discard, Unsupported (HEVC) NAL type
-        WarnL << "不支持该类型的265 RTP包" << nal;
-        return false;
-    }
     switch (nal) {
-        case 50:
-            //4.4.4. PACI Packets (p32)
-            WarnL << "不支持该类型的265 RTP包" << nal;
-            return false;
         case 48:
             // aggregated packet (AP) - with two or more NAL units
-            return unpackAp(frame, length, stamp);
-        case 49: 
+            return unpackAp(rtp, frame, length, stamp);
+
+        case 49:
             // fragmentation unit (FU)
-            return mergeFu(frame, length, seq, stamp);
-        default: 
-            // 4.4.1. Single NAL Unit Packets (p24)
-            return singleFrame(frame, length, stamp);
+            return mergeFu(rtp, frame, length, stamp, seq);
+
+        default: {
+            if (nal < 48) {
+                // Single NAL Unit Packets (p24)
+                return singleFrame(rtp, frame, length, stamp);
+            }
+            _gop_dropped = true;
+            WarnL << "不支持该类型的265 RTP包, nal type" << nal << ", rtp:\r\n" << rtp->dumpString();
+            return false;
+        }
     }
 }
 
-bool H265RtpDecoder::singleFrame(const uint8_t *ptr, ssize_t size, uint32_t stamp){
-    //a full frame
+bool H265RtpDecoder::singleFrame(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp){
     _frame->_buffer.assign("\x00\x00\x00\x01", 4);
     _frame->_buffer.append((char *) ptr, size);
     _frame->_pts = stamp;
     auto key = _frame->keyFrame();
-    outputFrame(_frame);
+    outputFrame(rtp, _frame);
     return key;
 }
 
-void H265RtpDecoder::outputFrame(const H265Frame::Ptr &frame) {
+void H265RtpDecoder::outputFrame(const RtpPacket::Ptr &rtp, const H265Frame::Ptr &frame) {
     //rtsp没有dts，那么根据pts排序算法生成dts
-    _dts_generator.getDts(frame->_pts,frame->_dts);
-    //输出frame
-    RtpCodec::inputFrame(frame);
+    _dts_generator.getDts(frame->_pts, frame->_dts);
+
+    if (frame->keyFrame() && _gop_dropped) {
+        _gop_dropped = false;
+        InfoL << "new gop received, rtp:\r\n" << rtp->dumpString();
+    }
+    if (!_gop_dropped) {
+        RtpCodec::inputFrame(frame);
+    }
     _frame = obtainFrame();
 }
 
diff --git a/src/Extension/H265Rtp.h b/src/Extension/H265Rtp.h
index 1af07623..5bbffe8c 100644
--- a/src/Extension/H265Rtp.h
+++ b/src/Extension/H265Rtp.h
@@ -44,15 +44,18 @@ public:
     }
 
 private:
-    bool unpackAp(const uint8_t *ptr, ssize_t size, uint32_t stamp);
-    bool mergeFu(const uint8_t *ptr, ssize_t size, uint16_t seq, uint32_t stamp);
-    bool singleFrame(const uint8_t *ptr, ssize_t size, uint32_t stamp);
+    bool unpackAp(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp);
+    bool mergeFu(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp, uint16_t seq);
+    bool singleFrame(const RtpPacket::Ptr &rtp, const uint8_t *ptr, ssize_t size, uint32_t stamp);
 
+    bool decodeRtp(const RtpPacket::Ptr &rtp);
     H265Frame::Ptr obtainFrame();
-    void outputFrame(const H265Frame::Ptr &frame);
+    void outputFrame(const RtpPacket::Ptr &rtp, const H265Frame::Ptr &frame);
 
 private:
     bool _using_donl_field = false;
+    bool _gop_dropped = false;
+    bool _fu_dropped = true;
     uint16_t _last_seq = 0;
     H265Frame::Ptr _frame;
     DtsGenerator _dts_generator;