diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
index aa80b940b4..3a98c9f5c2 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
@@ -459,5 +459,12 @@
         app:layout_constraintStart_toStartOf="parent"
         />
 
-
+    <com.mogo.eagle.core.function.hmi.ui.bone.BoneContainerView
+        android:id="@+id/boneContainerView"
+        android:layout_width="@dimen/dp_1046"
+        android:layout_height="match_parent"
+        android:elevation="100dp"
+        android:visibility="visible"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
index 7be0d877f5..f98d70fe28 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
@@ -36,12 +36,12 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus)}) }?.also { adapter -> rv.adapter = adapter }
+        val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { it !is IAutopilotPreLaunchStatus }) }?.also { adapter -> rv.adapter = adapter }
         adapter?.let { _ ->
             observer?.also { model.status.removeObserver(it) }
             model.status.observeForever(Observer<Pair<Status?, ArrayList<Status>>> { data ->
                 val old = adapter.data
-                val update = data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus) }
+                val update = data.second.filter { it !is IAutopilotPreLaunchStatus }
                 val result = DiffUtil.calculateDiff(StatusDiffCallback(old, update))
                 adapter.data = update
                 result.dispatchUpdatesTo(adapter)
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/BoneTopStatusLayout.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/BoneTopStatusLayout.kt
index 94f0ff979a..862ab006b7 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/BoneTopStatusLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/BoneTopStatusLayout.kt
@@ -13,7 +13,7 @@ class BoneTopStatusLayout @JvmOverloads constructor(
 ) : ConstraintLayout(context, attrs, defStyleAttr) {
 
     init {
-        LayoutInflater.from(context).inflate(R.layout.view_bone_tab, this, true)
+        LayoutInflater.from(context).inflate(R.layout.view_bone_top_status, this, true)
         initView()
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/status/StartAutoPilotStatusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/status/StartAutoPilotStatusView.kt
new file mode 100644
index 0000000000..f3bc3bd85c
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bone/status/StartAutoPilotStatusView.kt
@@ -0,0 +1,57 @@
+package com.mogo.eagle.core.function.hmi.ui.bone.status
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.Status
+import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
+
+class StartAutoPilotStatusView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr) , StatusManager.IStatusListener {
+
+    companion object {
+        private const val TAG = "StartAutoPilotStatusView"
+    }
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_start_autopilot_status, this, true)
+        initView()
+    }
+
+    private fun initView() {
+
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        StatusManager.addListener(TAG, this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        StatusManager.removeListener(TAG)
+    }
+
+    /**
+     * @param changed: 变化的数据
+     * @param all: 所有状态数据
+     */
+    override fun onStatusChanged(changed: List<Status>, all: List<Status>) {
+        changed.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+            val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
+            CallerLogger.d(TAG, "--- onChanged ---:$isError")
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_error.png
new file mode 100644
index 0000000000..64d2b1e585
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_normal.png
new file mode 100644
index 0000000000..b9c99cb2e8
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_unknown.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_unknown.png
new file mode 100644
index 0000000000..343ac036b7
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_status_bg_unknown.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_no_fsm_status_bg_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_no_fsm_status_bg_error.png
new file mode 100644
index 0000000000..e79245a482
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_no_fsm_status_bg_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_no_fsm_status_bg_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_no_fsm_status_bg_normal.png
new file mode 100644
index 0000000000..9a1b10524e
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_no_fsm_status_bg_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_accelerator_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_accelerator_error.png
new file mode 100644
index 0000000000..249a739fb6
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_accelerator_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_accelerator_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_accelerator_normal.png
new file mode 100644
index 0000000000..5bef6918b1
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_accelerator_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_brake_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_brake_error.png
new file mode 100644
index 0000000000..51c306c78f
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_brake_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_brake_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_brake_normal.png
new file mode 100644
index 0000000000..0bb5fb3f97
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_brake_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_double_flash_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_double_flash_error.png
new file mode 100644
index 0000000000..e20a91034b
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_double_flash_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_double_flash_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_double_flash_normal.png
new file mode 100644
index 0000000000..c8b3c442e8
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_double_flash_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_gear_bg_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_gear_bg_error.png
new file mode 100644
index 0000000000..2f0c84521b
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_gear_bg_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_gear_bg_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_gear_bg_normal.png
new file mode 100644
index 0000000000..9157dc77f5
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_gear_bg_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_steer_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_steer_error.png
new file mode 100644
index 0000000000..0ff6384c69
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_steer_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_steer_normal.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_steer_normal.png
new file mode 100644
index 0000000000..dad7e453d2
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_status_steer_normal.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_accelerator.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_accelerator.xml
new file mode 100644
index 0000000000..1a94b5b223
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_accelerator.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_selected="true" android:drawable="@drawable/icon_status_accelerator_error" />
+    <item android:drawable="@drawable/icon_status_accelerator_normal" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_brake.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_brake.xml
new file mode 100644
index 0000000000..729338288f
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_brake.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_selected="true" android:drawable="@drawable/icon_status_brake_error" />
+    <item android:drawable="@drawable/icon_status_brake_normal" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_double_flash.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_double_flash.xml
new file mode 100644
index 0000000000..23535cadb3
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_double_flash.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_selected="true" android:drawable="@drawable/icon_status_double_flash_error" />
+    <item android:drawable="@drawable/icon_status_double_flash_normal" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_gear.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_gear.xml
new file mode 100644
index 0000000000..d706ab642c
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_gear.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_selected="true" android:drawable="@drawable/icon_status_gear_bg_error" />
+    <item android:drawable="@drawable/icon_status_gear_bg_normal" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_steer.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_steer.xml
new file mode 100644
index 0000000000..dedd6d6cdc
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_status_steer.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_selected="true" android:drawable="@drawable/icon_status_steer_error" />
+    <item android:drawable="@drawable/icon_status_steer_normal" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_container.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_container.xml
index 72b04bcde0..5e25bb8104 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_container.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_container.xml
@@ -7,6 +7,7 @@
     android:layout_gravity="center">
 
     <com.mogo.eagle.core.function.hmi.ui.bone.BoneTopStatusLayout
+        android:id="@+id/boneTopStatusLayout"
         android:layout_width="match_parent"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_top_status.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_top_status.xml
index 882e3650f6..efd2bec56f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_top_status.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_bone_top_status.xml
@@ -5,5 +5,10 @@
     android:layout_height="@dimen/dp_357">
 
 
-
+    <com.mogo.eagle.core.function.hmi.ui.bone.status.StartAutoPilotStatusView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
new file mode 100644
index 0000000000..881603c1f0
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="@dimen/dp_865"
+    android:layout_height="@dimen/dp_102">
+
+    <ImageView
+        android:id="@+id/clFSMStatusLayout"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:scaleType="fitXY"
+        android:background="@drawable/icon_fsm_status_bg_normal"
+        tools:visibility="visible"/>
+
+    <LinearLayout
+        android:id="@+id/llBeforeLaunchStatusLayout"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:paddingStart="@dimen/dp_34"
+        android:gravity="center_vertical"
+        android:visibility="gone"
+        tools:visibility="gone"
+        tools:background="@drawable/icon_no_fsm_status_bg_error">
+
+        <TextView
+            android:id="@+id/tv_gear"
+            android:layout_width="@dimen/dp_55"
+            android:layout_height="@dimen/dp_55"
+            android:gravity="center"
+            android:maxLines="1"
+            android:text="P"
+            android:textColor="#FFFFFF"
+            android:textSize="@dimen/dp_36"
+            android:layout_marginEnd="@dimen/dp_22"
+            android:background="@drawable/bg_autopilot_status_gear"
+            tools:text="P" />
+
+        <ImageView
+            android:id="@+id/iv_steer"
+            android:layout_width="@dimen/dp_55"
+            android:layout_height="@dimen/dp_55"
+            android:layout_marginEnd="@dimen/dp_22"
+            android:src="@drawable/bg_autopilot_status_steer" />
+
+        <ImageView
+            android:id="@+id/iv_accelerator"
+            android:layout_width="@dimen/dp_55"
+            android:layout_height="@dimen/dp_55"
+            android:layout_marginEnd="@dimen/dp_22"
+            android:src="@drawable/bg_autopilot_status_accelerator" />
+
+        <ImageView
+            android:id="@+id/iv_brake"
+            android:layout_width="@dimen/dp_55"
+            android:layout_height="@dimen/dp_55"
+            android:layout_marginEnd="@dimen/dp_22"
+            android:src="@drawable/bg_autopilot_status_brake" />
+
+        <ImageView
+            android:id="@+id/iv_double_flash"
+            android:layout_width="@dimen/dp_55"
+            android:layout_height="@dimen/dp_55"
+            android:src="@drawable/bg_autopilot_status_double_flash" />
+    </LinearLayout>
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file