diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index 68c4e097c5..613fbc0e8f 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -456,6 +456,8 @@ public class BusOrderModel {
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "abortTask success: " + o);
                 clearNativeTag();
                 if (o.code == 0){ // 重置成功
+                    clearNativeTag();
+                    clearBusStationDatas();
                     queryBusRoutes();
                     startOrStopQueryPassengerWriteOff(false);
                 }
@@ -838,6 +840,7 @@ public class BusOrderModel {
                         CallerLogger.INSTANCE.d(M_BUS + TAG, "endTask success: " + o);
                         if (o.code == 0){
                             clearNativeTag();
+                            clearBusStationDatas();
                             queryBusRoutes();// 重新获取任务
                             startOrStopQueryPassengerWriteOff(false);
                             ttsTips(mContext.getString(R.string.bus_end_task_tip));
diff --git a/app/build.gradle b/app/build.gradle
index ad4227bc40..3a14cfac1c 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -7,6 +7,7 @@ apply plugin: 'kotlin-android-extensions'
 apply plugin: 'android-aspectjx'
 apply plugin: 'bugly'
 
+def isReleaseBuild = isReleaseBuild()
 //apply ByteX宿主
 if (!isAndroidTestBuild()) {
     apply plugin: 'bytex'
@@ -38,14 +39,23 @@ if (!isAndroidTestBuild()) {
 if (!isAndroidTestBuild()) {
     apply plugin: 'bytex.threadOpt'
     thread_opt {
+        enable !isReleaseBuild
+        enableInDebug !isReleaseBuild
+        logLevel "DEBUG"
+    }
+}
+
+if (!isAndroidTestBuild()) {
+    apply plugin: 'LancetX'
+    LancetX {
         enable true
         enableInDebug true
-        logLevel "DEBUG"
-        //白名单中的类不进行替换
-//        white_list = [
-//                'leakcanary.*',
-//                'com.loc.*'
-//        ]
+
+        weaveGroup {
+            leak_canary_crash_fix {
+                enable !isReleaseBuild
+            }
+        }
     }
 }
 
@@ -249,6 +259,7 @@ dependencies {
     debugImplementation rootProject.ext.dependencies.debugleakcanary
     releaseImplementation rootProject.ext.dependencies.releaseleakcanary
     implementation rootProject.ext.dependencies.android_start_up
+    implementation rootProject.ext.dependencies.lancetx_runtime
 
 //    // 暂不使用Shizuku-API
 //    implementation rootProject.ext.dependencies.shizuku_provider
@@ -373,3 +384,12 @@ boolean isAndroidTestBuild() {
     }
     return false
 }
+
+boolean isReleaseBuild() {
+    for (String s : gradle.startParameter.taskNames) {
+        if (s.contains("Release") | s.contains("release")) {
+            return true
+        }
+    }
+    return false
+}
diff --git a/app/src/main/java/com/mogo/launcher/lancet/LeakCanaryCrashFix.kt b/app/src/main/java/com/mogo/launcher/lancet/LeakCanaryCrashFix.kt
new file mode 100644
index 0000000000..738fa78a8e
--- /dev/null
+++ b/app/src/main/java/com/mogo/launcher/lancet/LeakCanaryCrashFix.kt
@@ -0,0 +1,51 @@
+package com.mogo.launcher.lancet
+
+import android.database.sqlite.*
+import androidx.annotation.*
+import com.knightboost.lancet.api.*
+import com.knightboost.lancet.api.annotations.*
+import com.knightboost.lancet.api.annotations.Weaver
+
+/**
+ * 此类主要用来修正三方库引起的崩溃
+ */
+@Keep
+@Weaver
+@Group("leak_canary_crash_fix")
+class LeakCanaryCrashFix {
+
+    @Insert
+    @TargetClass("leakcanary.internal.activity.db.ScopedLeaksDb\$DbOpener")
+    @TargetMethod(methodName = "getReadableDatabase")
+    fun proxyGetReadableSQLiteDb(): SQLiteDatabase? {
+        try {
+            return Origin.call() as SQLiteDatabase?
+        } catch (t: Throwable) {
+            t.printStackTrace()
+        }
+        return null
+    }
+
+    @Insert
+    @TargetClass("leakcanary.internal.activity.db.ScopedLeaksDb\$DbOpener")
+    @TargetMethod(methodName = "getWritableDatabase")
+    fun proxyGetWritableSQLiteDb(): SQLiteDatabase? {
+        try {
+            return Origin.call() as SQLiteDatabase?
+        } catch (t: Throwable) {
+            t.printStackTrace()
+        }
+        return null
+    }
+
+    @Insert
+    @TargetClass("leakcanary.internal.activity.db.ScopedLeaksDb\$DbOpener")
+    @TargetMethod(methodName = "close")
+    fun proxyClose() {
+        try {
+            Origin.callVoid()
+        } catch (t: Throwable) {
+            t.printStackTrace()
+        }
+    }
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 2f4bb19cd6..0eb109a8a4 100644
--- a/build.gradle
+++ b/build.gradle
@@ -38,6 +38,7 @@ buildscript {
         classpath 'com.mogo.cloud:systrace:1.0.1'
         classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
         classpath 'com.mogo.sticky:service:1.0.8'
+        classpath 'io.github.knight-zxw:lancet-plugin:0.0.1'
 
 //        classpath ("com.tencent.matrix:matrix-gradle-plugin:0.6.6") { changing = true }
     }
diff --git a/config.gradle b/config.gradle
index 67ef959049..c06741f482 100644
--- a/config.gradle
+++ b/config.gradle
@@ -237,7 +237,11 @@ ext {
             koomxhook                    : "com.kuaishou.koom:xhook-static:2.2.0",
 
             //========================= Koom ======================
-            recyclerviewadapterhelper    : "io.github.cymchad:BaseRecyclerViewAdapterHelper:3.0.4"
+            recyclerviewadapterhelper    : "io.github.cymchad:BaseRecyclerViewAdapterHelper:3.0.4",
+
+
+            //========================= LancetX ===================
+            lancetx_runtime              : "io.github.knight-zxw:lancet-runtime:0.0.1"
     ]
     android = [
             launcherApplicationId          : "com.mogo.launcher",
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 dec5498cd8..8647411a2f 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
@@ -197,6 +197,8 @@ class MoGoAutopilotProvider :
                                     .build()
                                 AdasManager.getInstance()
                                     .create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                                // 监听ADAS-SDK获取到的工控机数据
+                                AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
                                 // 接收司机屏发过来的感知、定位等数据
                                 listenDeviceData()
                             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
index 72374b2774..f0f2cbce26 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
@@ -1,17 +1,17 @@
 package com.mogo.eagle.core.function.hmi.ui.widget
 
 import android.content.Context
-import android.graphics.Color
+import android.graphics.*
 import android.location.Location
-import android.util.AttributeSet
+import android.util.*
 import android.view.Gravity
 import android.widget.FrameLayout
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.mogo.map.MogoMapUIController
+import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.map.*
 import com.mogo.map.navi.IMogoCarLocationChangedListener2
 import com.mogo.service.IMogoServiceApis
 import java.util.*
@@ -38,6 +38,11 @@ class SpeedPanelView @JvmOverloads constructor(
 
     var mSpeedLimmit = 60;
 
+
+    private val timer by lazy {
+        Timer()
+    }
+
     init {
         initEvent(context)
 
@@ -61,29 +66,30 @@ class SpeedPanelView @JvmOverloads constructor(
         }
     }
 
-    private val timerTask = object : TimerTask() {
-        override fun run() {
-            if (mLatLng != null) {
-                mSpeedLimmit = MogoMapUIController.getInstance()
-                    .getLimitSpeed(mLatLng!!.longitude, mLatLng!!.latitude, mLatLng!!.bearing)
-                UiThreadHandler.post {
-                    val speed = (mLatLng!!.speed * 3.6f).toInt()
-                    mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimmit) "#DB3137" else "#3E77F6"))
-                    mSpeedChartView.setValues(speed)
-                    setBackgroundResource(if (speed > mSpeedLimmit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
+    private var timerTask : TimerTask? = null
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow() // 注册位置回调
+        mMogoServiceApis.registerCenterApi.registerCarLocationChangedListener(TAG, this)
+        // 开启定时查询速度
+        timerTask?.cancel()
+        val task = object : TimerTask() {
+            override fun run() {
+                if (mLatLng != null) {
+
+                    mSpeedLimmit = MogoMapUIController.getInstance()
+                        .getLimitSpeed(mLatLng!!.longitude, mLatLng!!.latitude, mLatLng!!.bearing)
+                    UiThreadHandler.post {
+                        val speed = (mLatLng!!.speed * 3.6f).toInt()
+                        mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimmit) "#DB3137" else "#3E77F6"))
+                        mSpeedChartView.setValues(speed)
+                        setBackgroundResource(if (speed > mSpeedLimmit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
+                    }
                 }
             }
         }
-    }
-
-    override fun onAttachedToWindow() {
-        super.onAttachedToWindow()
-        // 注册位置回调
-        mMogoServiceApis.registerCenterApi
-            .registerCarLocationChangedListener(TAG, this)
-
-        // 开启定时查询速度
-        Timer().schedule(timerTask, Date(), 100)
+        this.timerTask = task
+        timer.schedule(task, Date(), 100)
     }
 
     override fun onDetachedFromWindow() {
@@ -92,7 +98,7 @@ class SpeedPanelView @JvmOverloads constructor(
         mMogoServiceApis.registerCenterApi
             .unregisterMogoLocationListener(TAG)
         try {
-            timerTask.cancel()
+            timerTask?.cancel()
         } catch (e: Exception) {
             e.printStackTrace()
         }
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
index 800293f761..f1b6a9b176 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
@@ -63,7 +63,6 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                         Intent intent = new Intent(V2XConst.BROADCAST_SCENE_ACTION);
                         intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
                         LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent);
-                        AiRoadMarker.INSTANCE.clear();
                         // 如果没有拿到之前的，根据类型分发
                         switch (v2XMessageEntity.getType()) {
                             case V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING:
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
index 56be98086e..4db46c81eb 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -13,8 +13,10 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import com.mogo.eagle.core.data.map.*
 import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
 import com.mogo.eagle.core.function.api.map.listener.*
+import com.mogo.eagle.core.function.api.v2x.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
+import com.mogo.eagle.core.function.call.v2x.*
 import com.mogo.eagle.core.function.v2x.events.scenario.scene.road.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.mogo.logger.*
@@ -62,6 +64,23 @@ object AiRoadMarker {
         }
     }
 
+    private val onClearAllMarker = object : OnClearAllMarker  {
+
+        override fun onClearAllMarkers() {
+            val marker = this@AiRoadMarker.marker.get()
+            if (marker != null) {
+                unMarker(marker)
+            }
+        }
+
+        override fun onClearAllMarkers(tag: String) {
+            val marker = this@AiRoadMarker.marker.get()
+            if (marker != null) {
+                unMarker(marker)
+            }
+        }
+    }
+
     private val markers = ConcurrentSet<Marker>()
 
     private val options by lazy {
@@ -174,11 +193,13 @@ object AiRoadMarker {
 
     private fun onCreate() {
         CallerMapRoadListenerManager.registerRoadListener(TAG, onRoadListener)
+        CallMarkersClearManager.addAllMarkersClearListener(TAG, onClearAllMarker)
         CallerMapLocationListenerManager.addListener(TAG, onLocationListener, true)
     }
 
     private fun onDestroy() {
         CallerMapRoadListenerManager.unRegisterRoadListener(TAG)
+        CallMarkersClearManager.removeAllMarkersClearListener(TAG)
         CallerMapLocationListenerManager.removeListener(TAG, true)
         pool.shutdownNow()
         removeLine()
@@ -201,7 +222,15 @@ object AiRoadMarker {
     }
 
     fun marker(marker: Marker, drawMarker: Boolean) {
+        handler.removeCallbacks(checkExpiredTask)
         val location = carLocation.get() ?: return
+        if (markers.contains(marker)) {
+            Logger.d(TAG, "--- enqueue --- cache hit ---")
+            return
+        }
+        synchronized(markers) {
+            markers += marker
+        }
         this.marker.set(marker)
         //施工中心点前方的自车行驶方向上300米距离
         val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
@@ -295,19 +324,7 @@ object AiRoadMarker {
         markers -= marker
         removeLine()
         V2XAiRoadEventMarker.removeMarkers(null)
-    }
-
-    fun clear() {
-        hideLine()
-        V2XAiRoadEventMarker.removeMarkers(null)
-    }
-
-    fun restore() {
-        showLine()
-        val marker = marker.get()
-        if (marker != null) {
-            marker(marker, false)
-        }
+        handler.removeCallbacks(checkExpiredTask)
     }
 
     private fun hideLine() {
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/v2x/OnClearAllMarker.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/v2x/OnClearAllMarker.kt
new file mode 100644
index 0000000000..9f6c62456c
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/v2x/OnClearAllMarker.kt
@@ -0,0 +1,8 @@
+package com.mogo.eagle.core.function.api.v2x
+
+interface OnClearAllMarker {
+
+    fun onClearAllMarkers()
+
+    fun onClearAllMarkers(tag: String)
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallMarkersClearManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallMarkersClearManager.kt
new file mode 100644
index 0000000000..a5bd0e35c2
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/v2x/CallMarkersClearManager.kt
@@ -0,0 +1,34 @@
+package com.mogo.eagle.core.function.call.v2x
+
+import com.mogo.eagle.core.function.api.v2x.*
+import java.util.concurrent.*
+
+object CallMarkersClearManager {
+
+    private val listeners by lazy { ConcurrentHashMap<String, ArrayList<OnClearAllMarker>>() }
+
+    fun addAllMarkersClearListener(tag: String, listener: OnClearAllMarker) {
+        var ll = listeners[tag]
+        if (ll == null) {
+            ll = ArrayList()
+        }
+        ll.add(listener)
+        listeners[tag] = ll
+    }
+
+    fun removeAllMarkersClearListener(tag: String) {
+        listeners.remove(tag)
+    }
+
+    fun invokeClearAllMarkers() {
+        listeners.values.flatten().forEach {
+            it.onClearAllMarkers()
+        }
+    }
+
+    fun invokeClearAllMarkersOfTag(tag: String) {
+        listeners.values.flatten().forEach {
+            it.onClearAllMarkers(tag)
+        }
+    }
+}
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 0c3001c60b..3650b1b24e 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -175,4 +175,4 @@ ADAS_DATA_LIB_CHILD_VERSION=.0
 
 
 # 线程优化版本
-THREAD_OPT_VERSION=3.0.1
+THREAD_OPT_VERSION=3.0.2
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
index f2919f49d1..184dabddf4 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
@@ -3,6 +3,7 @@ package com.mogo.map;
 import android.content.Context;
 
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.function.call.v2x.CallMarkersClearManager;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.marker.MogoMarkerOptions;
@@ -100,11 +101,13 @@ public class MogoMarkerManager implements IMogoMarkerManager {
 
     @Override
     public void removeMarkers( String tag ) {
+        CallMarkersClearManager.INSTANCE.invokeClearAllMarkersOfTag(tag);
         MogoMarkersHandler.getInstance().remove( tag );
     }
 
     @Override
     public void removeMarkers() {
+        CallMarkersClearManager.INSTANCE.invokeClearAllMarkers();
         MogoMarkersHandler.getInstance().removeAll();
     }
 
@@ -115,6 +118,7 @@ public class MogoMarkerManager implements IMogoMarkerManager {
 
     @Override
     public void inVisibleAllMarkers() {
+        CallMarkersClearManager.INSTANCE.invokeClearAllMarkers();
         MogoMarkersHandler.getInstance().inVisibleAll();
     }
 
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
index 9a1e99a46e..8d3ff00563 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -1,11 +1,7 @@
 package com.mogo.module.service.routeoverlay;
 
-import android.os.SystemClock;
 import android.util.Log;
-
 import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLocation;
@@ -16,16 +12,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-
 import org.jetbrains.annotations.NotNull;
-
 import java.util.LinkedList;
 import java.util.List;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicInteger;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
-
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
@@ -75,11 +66,13 @@ public class MogoRouteOverlayManager implements
             return;
         }
         if (isArriveAtStation.get() && autopilotMode.get() != 1) {
+            Logger.d(TAG, "--- onLocationChanged 1 -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
         boolean force = FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
         if (!force && autopilotMode.get() != 1) {
+            Logger.d(TAG, "--- onLocationChanged 2 -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
@@ -87,11 +80,11 @@ public class MogoRouteOverlayManager implements
             if (!queue.isEmpty()) {
                 List<MessagePad.TrajectoryPoint> items = queue.pollLast();
                 if (items != null && !items.isEmpty()) {
+                    Logger.d(TAG, "--- onLocationChanged -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
                     RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
                 }
             }
         }
-
     }
 
     @Override
@@ -100,10 +93,6 @@ public class MogoRouteOverlayManager implements
 
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData) {
-            isArriveAtStation.set(false);
-            return;
-        }
         int mode = autoPilotStatusInfo.getPilotmode();
         if (mode == 1) {
             isArriveAtStation.set(false);