12:42 PM PT -- Kehlani and Javaughn Young-White have been ordered to attend mediation to discuss custody/visitation and assist in developing a mutually agreeable parenting plan.

Kehlani's baby daddy, Javaughn Young-White, has just filed a paternity petition ... and he's gunning for full custody of their daughter, Adeya Nomi.

According to court docs obtained by TMZ ... Javaughn says he believes Kehlani's been mixed up with a cult for the past few years, which is influencing how she raises their 5-year-old daughter.

Javaughn’s alleging the cult leader has a slew of sexual assault accusations ... and fears their daughter could be at risk of abuse without court intervention.

In fact, he's claiming this cult leader's got Kehlani under their thumb to such an extent he's convinced her he’s a threat to little Adeya ... which is why she’s kept him from seeing his daughter.

Bottom line: between Kehlani’s hectic tour schedule and her current environment, he doesn’t think it’s a fit for their daughter.

Kehlani and Javaughn welcomed Adeya in 2019, but split up the following year.

The singer's fans know Adeya well -- she’s popped up all over her mom’s IG and even starred in the video for "Little Story."