diff --git a/config.gradle b/config.gradle
index 2ce98d5e0a..23aec83d49 100644
--- a/config.gradle
+++ b/config.gradle
@@ -114,7 +114,7 @@ ext {
             obusdk                       : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
             mogoobu                      : 'com.zhidao.support.obu:mogoobu:1.0.0.19',
             mogoami                      : 'com.zhidao.support.obu.ami:mogoami:1.0.0.10',
-            adasHigh                     : 'com.zhidao.support.adas:high:1.2.1.2_bate18',
+            adasHigh                     : 'com.zhidao.support.adas:high:1.2.1.2_bate16',
 
             // google
             googlezxing                  : "com.google.zxing:core:3.3.3",
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
index 5374aba1d1..d59f242d47 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -163,10 +163,10 @@ class MoGoAutopilotProvider :
      * isEnable = false 关闭
      */
     override fun setDemoMode(isEnable: Boolean) {
-        if (isEnable) {
-            AdasManager.getInstance().enableDemoMode()
-        } else {
-            AdasManager.getInstance().disableDemoMode()
-        }
+//        if (isEnable) {
+//            AdasManager.getInstance().enableDemoMode()
+//        } else {
+//            AdasManager.getInstance().disableDemoMode()
+//        }
     }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt
index 144310e929..199045c093 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPlanningListener.kt
@@ -13,7 +13,7 @@ interface IMoGoAutopilotPlanningListener {
      *
      * @param trajectoryInfos 引导线数据经纬度
      */
-    fun onAutopilotTrajectory(trajectoryInfos: ArrayList<ADASTrajectoryInfo?>?)
+    fun onAutopilotTrajectory(trajectoryInfos: ArrayList<ADASTrajectoryInfo>)
 
     /**
      * 2021/6/23 工控机经纬度   绘制时转成高德经纬度