diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
index 535d44baca..9af40f9fe6 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -4,6 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_DEV
 
 import android.content.Context;
 import android.text.TextUtils;
+import android.util.Log;
 
 import androidx.annotation.Nullable;
 
@@ -107,7 +108,6 @@ public class MoGoHandAdasMsgManager implements
 
     @Override
     public void onAutopilotBrakeLightData(boolean brakeLight) {
-
     }
 
     @Override
@@ -148,13 +148,13 @@ public class MoGoHandAdasMsgManager implements
         //根据加速度判断 是否刹车
         if (gnssInfo != null) {
             //设置刹车信息
-            if (gnssInfo.getAcceleration() < -2.5) {
+            if (gnssInfo.getAcceleration() < SharedPrefsMgr.getInstance(mContext).getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,-2.5F)) {
                 brakeLight = 1;
             } else {
                 brakeLight = 0;
             }
             if (!isShowTurnLight) {
-                ThreadUtils.runOnUiThread(() -> CallerHmiManager.INSTANCE.showBrakeLight(brakeLight));
+                CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ext/BadCaseExt.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ext/BadCaseExt.kt
index a62b8fecd6..b654967248 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ext/BadCaseExt.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ext/BadCaseExt.kt
@@ -25,6 +25,7 @@ import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
 import com.mogo.eagle.core.utilcode.kotlin.shape
 import com.mogo.eagle.core.utilcode.reminder.Reminder
 import com.mogo.eagle.core.utilcode.reminder.api.impl.PopupWindowReminder
+import com.mogo.eagle.core.utilcode.util.BarUtils
 import com.mogo.eagle.core.utilcode.util.WindowUtils
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
@@ -66,8 +67,9 @@ internal fun Context.toast(text: CharSequence, duration: Long = 2, unit: TimeUni
 }
 
 @SuppressLint("ClickableViewAccessibility")
-internal fun Context.pop(content: View, width: Int, height: Int, key: String, fitSystemWindow: Boolean = true, onOuterViewClicked:((focus: View) -> Unit)? = null): () -> Unit {
+internal fun Context.pop(content: View, width: Int, height: Int, key: String, onOuterViewClicked:((focus: View) -> Unit)? = null): () -> Unit {
     val activity = (this as? FragmentActivity) ?: throw IllegalStateException("please use Activity to trigger pop show.")
+    val isImmersiveMode = BarUtils.isImmersiveMode(activity)
     var tempReminder: PopupWindowReminder? = null
     activity.lifecycleScope.launchWhenResumed {
         val pop = PopupWindow(width, height).also {
@@ -128,7 +130,7 @@ internal fun Context.pop(content: View, width: Int, height: Int, key: String, fi
             }
 
             override fun show() {
-                pop.showAtLocation(activity.window.decorView, Gravity.START, 0, if (fitSystemWindow) WindowUtils.getStatusBarHeight(activity) else 0)
+                pop.showAtLocation(activity.window.decorView, Gravity.START, 0, if (isImmersiveMode) 0 else BarUtils.getStatusBarHeight())
             }
             override fun isOverride(): Boolean = false
         }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/feedback/biz/FeedBackView.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/feedback/biz/FeedBackView.kt
index d9f0d42445..c607b16040 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/feedback/biz/FeedBackView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/feedback/biz/FeedBackView.kt
@@ -97,7 +97,7 @@ internal class FeedBackView : ConstraintLayout {
                     transitionTo(0)
                 } else {
                     editOutRect.run {
-                        transitionTo(-( it - top + height() + 300.PX))
+                        transitionTo(-( it - top + height() + 228.PX))
                     }
                 }
             }.also {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
index 4cb2702ebb..e530a19783 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
@@ -14,6 +14,7 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <!--V2X预警红色边框-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
         android:id="@+id/flV2XWarningView"
         android:layout_width="match_parent"
@@ -23,6 +24,7 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--脉速表-->
     <com.mogo.eagle.core.function.hmi.ui.widget.SpeedPanelView
         android:id="@+id/viewSpeedChart"
         android:layout_width="@dimen/module_ext_speed_width"
@@ -33,6 +35,7 @@
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--Vie车辆标志-->
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:id="@+id/flVipIdentificationView"
         android:layout_width="@dimen/module_vip_width"
@@ -43,6 +46,7 @@
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--自动驾驶按钮及状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.AutoPilotStatusView
         android:id="@+id/viewAutopilotStatus"
         android:layout_width="@dimen/module_mogo_autopilot_status_bg_width"
@@ -53,7 +57,7 @@
         app:layout_constraintTop_toBottomOf="@+id/viewSpeedChart"
         app:layout_goneMarginStart="@dimen/module_mogo_autopilot_status_margin_left" />
 
-
+    <!--超视距-->
     <ImageView
         android:id="@+id/ivCameraIcon"
         android:layout_width="130px"
@@ -65,6 +69,7 @@
         app:layout_constraintTop_toTopOf="parent"
         tools:visibility="visible" />
 
+    <!--红绿灯-->
     <com.mogo.eagle.core.function.hmi.ui.widget.TrafficLightView
         android:id="@+id/viewTrafficLightVr"
         android:layout_width="wrap_content"
@@ -77,7 +82,7 @@
         app:layout_constraintTop_toTopOf="parent"
         tools:visibility="visible" />
 
-
+    <!--地图视角切换-->
     <com.mogo.eagle.core.function.hmi.ui.widget.PerspectiveSwitchView
         android:id="@+id/viewPerspectiveSwitch"
         android:layout_width="wrap_content"
@@ -88,6 +93,7 @@
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <!--工具箱-->
     <ImageView
         android:id="@+id/ivToolsIcon"
         android:layout_width="@dimen/module_hmi_check_size"
@@ -102,6 +108,7 @@
         app:layout_constraintStart_toEndOf="@+id/viewPerspectiveSwitch"
         app:layout_goneMarginStart="50px" />
 
+    <!--问题反馈-->
     <ImageView
         android:id="@+id/vsBadCaseToolsView"
         android:layout_width="@dimen/module_hmi_check_size"
@@ -126,7 +133,7 @@
         app:layout_constraintCircleRadius="60px"
         tools:ignore="MissingConstraints" />
 
-
+    <!--限速牌子-->
     <com.mogo.eagle.core.function.hmi.ui.widget.LimitingVelocityView
         android:id="@+id/viewLimitingVelocity"
         android:layout_width="130px"
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/BarUtils.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/BarUtils.java
index 4991f52736..78eae55bdb 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/BarUtils.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/BarUtils.java
@@ -733,4 +733,14 @@ public final class BarUtils {
         }
         return false;
     }
+
+    /**
+     * 当前Activity是否是沉浸式模式
+     */
+    public static boolean isImmersiveMode(Activity activity) {
+        Window window = activity.getWindow();
+        View decor = window.getDecorView();
+        int systemUiVisibility = decor.getSystemUiVisibility();
+        return (systemUiVisibility & View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN) != 0;
+    }
 }