Merge remote-tracking branch 'origin/dev_robotaxi-d-app-module_265_220329_2.6.5' into dev_robotaxi-d-app-module_265_220329_2.6.5

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);
             }
         }
     }