diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt
index 45d89d2359..9d0073363a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt
@@ -29,7 +29,8 @@ object BusSendTripInfoManager{
                         arrivalStopName: String,
                         isLastStop: Boolean) {
         d(SceneConstant.M_BUS + "BusSendTripInfoManager", "type: "+ type
-                +", lineName: "+ lineName + ", stationName: "+arrivalStopName+", isLastStop: "+isLastStop)
+                +", lineName: "+ lineName +", departureStopName: "+ departureStopName
+                + ", arrivalStopName: "+arrivalStopName+", isLastStop: "+isLastStop)
         CallerAutoPilotManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
     }
 }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 064730a4f2..83251da14e 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -811,6 +811,7 @@ public class TaxiModel {
         }
         if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.getCode()){
             if (FunctionBuildConfig.isDemoMode) {
+                CallerLogger.INSTANCE.d(M_TAXI + TAG, "setIPCDemoMode：false");
                 CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
             }
 
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
index 2434a7fcec..83eecfc45d 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -620,6 +620,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
 
     public void onCurrentOrderCancelDone() {
         //去除起终点
+        saveOrderState = -1;
         if (mCurrentOrder != null){
             setOrRemoveMapMaker(false, TaxiConst.TAXI_START_MAP_MAKER,mCurrentOrder.startSitePoint,R.raw.star_marker);
             setOrRemoveMapMaker(false, TaxiConst.TAXI_END_MAP_MAKER,mCurrentOrder.endSitePoint,R.raw.end_marker);
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
index a6cc679a5f..2561d020c1 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
@@ -107,8 +107,24 @@ internal object BadCaseManager : LifecycleEventObserver {
             if(ClickUtils.isFastClick()){
                 if(NetworkUtils.isConnected()){
                     if(BadCaseConfig.dockerVersion!=null){
-                        val caseListDialog = CaseListDialog(activity)
-                        caseListDialog.show()
+                        //兼容老MAP版本
+                        if(BadCaseConfig.dockerVersion!!.contains("2.3.0")
+                            || BadCaseConfig.dockerVersion!!.contains("2.4.0")
+                            || BadCaseConfig.dockerVersion!!.contains("2.5.0")
+                            || BadCaseConfig.dockerVersion!!.contains("2.6.0")
+                            || BadCaseConfig.dockerVersion!!.contains("2.8.0")){
+                            val initiativeBadCaseWindow = InitiativeBadCaseWindow(activity)
+                            initiativeBadCaseWindow.setClickListener(object: InitiativeBadCaseWindow.ClickListener{
+                                override fun closeWindow() {
+                                    initiativeBadCaseWindow.hideFloatWindow()
+                                }
+
+                            })
+                            initiativeBadCaseWindow.showFloatWindow(null)
+                        }else{
+                            val caseListDialog = CaseListDialog(activity)
+                            caseListDialog.show()
+                        }
                     }else{
                         ToastUtils.showShort("工控机连接状态异常")
                     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
index 8d3f361326..cbdaa3df24 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
@@ -174,19 +174,27 @@ internal class BadCaseConfigView @JvmOverloads constructor(
     override fun onAutopilotRecordConfig(config: MessagePad.RecordDataConfig) {
         super.onAutopilotRecordConfig(config)
         ThreadUtils.runOnUiThread {
-            config.recordTypesList.iterator().forEach {
-                if (it.id != 99){
-                    val topicList = ArrayList<TopicEntity>()
-                    it.topicsList.iterator().forEach {
-                        topicList.add(TopicEntity(it,true,false))
+            if(BadCaseConfig.dockerVersion!!.contains("2.3.0")
+                || BadCaseConfig.dockerVersion!!.contains("2.4.0")
+                || BadCaseConfig.dockerVersion!!.contains("2.5.0")
+                || BadCaseConfig.dockerVersion!!.contains("2.6.0")
+                || BadCaseConfig.dockerVersion!!.contains("2.8.0")){
+                rvTemplate.visibility = View.GONE
+            }else{
+                config.recordTypesList.iterator().forEach {
+                    if (it.id != 99){
+                        val topicList = ArrayList<TopicEntity>()
+                        it.topicsList.iterator().forEach {
+                            topicList.add(TopicEntity(it,true,false))
+                        }
+                        recordTypesList.add(RecordTypeEntity(it.id,it.desc,topicList))
                     }
-                    recordTypesList.add(RecordTypeEntity(it.id,it.desc,topicList))
                 }
-            }
-            if(recordTypesList.size>1){
-                rvTemplate.visibility = View.VISIBLE
-                recordTemplateAdapter?.setData(recordTypesList)
-                recordTemplateAdapter?.notifyDataSetChanged()
+                if(recordTypesList.size>1){
+                    rvTemplate.visibility = View.VISIBLE
+                    recordTemplateAdapter?.setData(recordTypesList)
+                    recordTemplateAdapter?.notifyDataSetChanged()
+                }
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
index 7c54e6011c..2e7f8a32ce 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
@@ -163,6 +163,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
                     ToastUtils.showShort("Topic设置成功");
                     if(recordType.getId() == 0){
                         //自定义Topic
+                        BadCaseConfig.customTopicList.clear();
                         BadCaseConfig.customTopicList.addAll(addTopicList);
                     }
                     addTopicList.clear();
@@ -184,11 +185,13 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
     @Override
     public void onAutopilotRecordConfig(MessagePad.RecordDataConfig config) {
         ThreadUtils.runOnUiThread(() -> {
+            Log.i("houyanli","AllTopicsCount="+config.getAllTopicsCount());
             if(config.getAllTopicsCount()>0){
                for(int index=0;index<config.getAllTopicsCount();index++){
                    if(!recordType.getTopicsList().contains(config.getAllTopics(index))){
                        allTopicList.add(new TopicEntity(config.getAllTopics(index),false,true));
                    }
+                   Log.i("houyanli","topic="+config.getAllTopics(index));
                }
                 recordType.getTopicsList().addAll(allTopicList);
                 topicListAdapter.setData(recordType.getTopicsList());
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
index 9ae690a283..6a4b4a9c93 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
@@ -331,7 +331,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
         return true
     }
 
-    fun showFloatWindow(recordCaseEntity: RecordCaseEntity) {
+    fun showFloatWindow(recordCaseEntity: RecordCaseEntity?) {
         if (mFloatLayout.parent == null) {
             val metrics = DisplayMetrics()
             // 默认固定位置，靠屏幕右边缘的中间
@@ -340,8 +340,13 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
             mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)-350
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
             //开启录包
-            CallerAutoPilotManager.recordPackage(recordCaseEntity.caseId,Random(SystemClock.elapsedRealtime()).nextInt(),
-                BadCaseConfig.totalDuration, BadCaseConfig.previousDuration,recordCaseEntity.topicList)
+            if(recordCaseEntity!=null){
+                CallerAutoPilotManager.recordPackage(recordCaseEntity.caseId,Random(SystemClock.elapsedRealtime()).nextInt(),
+                    BadCaseConfig.totalDuration, BadCaseConfig.previousDuration,recordCaseEntity.topicList)
+            }else{
+                CallerAutoPilotManager.recordPackage(BadCaseConfig.type,Random(SystemClock.elapsedRealtime()).nextInt(),
+                    BadCaseConfig.totalDuration, BadCaseConfig.previousDuration)
+            }
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index f00e5f8ee2..f26a810247 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -147,7 +147,7 @@ class SOPSettingView @JvmOverloads constructor(
         tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
         ivSpeedReduce.setOnClickListener {
             if (FunctionBuildConfig.detouringSpeed <= 3) {
-                ToastUtils.showShort("阈值小可为3 m/s")
+                ToastUtils.showShort("阈值最小可为3 m/s")
             } else {
                 FunctionBuildConfig.detouringSpeed--
                 tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
index 260e4b3faa..bded69ba63 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.java
@@ -196,6 +196,7 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
 
     @Override
     public void onWindowFocusChanged(boolean hasFocus) {
+        super.onWindowFocusChanged(hasFocus);
         if (hasFocus) {
             // 统计代码
             final Map<String, Object> properties = new HashMap<>();
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
index 47e8d6b770..73aa0a4baa 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -66,6 +66,6 @@ interface IMoGoAutopilotStatusListener {
         /**
          * 平行驾驶
          */
-        const val STATUS_PARALLEL_DRIVING = 3
+        const val STATUS_PARALLEL_DRIVING = 7
     }
 }
\ No newline at end of file
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/mvp/MvpActivity.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/mvp/MvpActivity.java
index 250d4aefeb..552926cc97 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/mvp/MvpActivity.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/mvp/MvpActivity.java
@@ -70,6 +70,12 @@ public abstract class MvpActivity<V extends IView, P extends Presenter<V>> exten
         return this;
     }
 
+    @Override
+    public void onWindowFocusChanged(boolean hasFocus) {
+        super.onWindowFocusChanged(hasFocus);
+        BarUtils.hideStatusBarAndSticky(this.getWindow());
+    }
+
     @Override
     public boolean dispatchTouchEvent(MotionEvent ev) {
         if (ev.getAction() == MotionEvent.ACTION_DOWN && enableDispatchTouchEventToDismissSoftKeyBoard()) {
diff --git a/libraries/mogo-adas-data/src/main/proto/chassis.proto b/libraries/mogo-adas-data/src/main/proto/chassis.proto
index be6cada7fb..b793f61a80 100644
--- a/libraries/mogo-adas-data/src/main/proto/chassis.proto
+++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto
@@ -23,6 +23,7 @@ enum PilotMode {
   MODE_AUTO_DRIVE = 1;
   MODE_STEER_ONLY = 2;
   MODE_SPEED_ONLY = 3;
+  MODE_REMOTE_DRIVE = 6;
 }
 
 enum LongitudeDrivingMode {
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index 8d17379521..236d2fa216 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -143,11 +143,11 @@ message GnssInfo
 // message definition for MessageType: MsgTypeAutopilotState
 message AutopilotState
 {
-    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中,3:平行驾驶
+    uint32 state = 1; //0: 不可用(abandoned), 1:ready, 2:自动驾驶中, 7:平行驾驶中
     uint32 camera = 2; //camera节点状态 1:开启，0:关闭
     uint32 radar = 3; //雷达节点状态 1:开启，0:关闭
     uint32 rtk = 4; //RTK节点状态 1:开启，0:关闭
-    uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶，2平行驾驶
+    uint32 autopilotMode = 5; //自动驾驶状态 0: 非自动驾驶，1: 自动驾驶
     double speed = 6; //惯导车速 m/s
     string reason = 7; //不可用原因(abandoned)
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
index 2ae5d68e20..02d90a102d 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
@@ -15,6 +15,8 @@ import system_master.SystemStatusInfo;
  * 是否可以启动自动驾驶能力检测
  * 目前监控了底盘的一些状态和查询节点状态应答的数据
  * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ *
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
  */
 public class AutopilotAbilityManager {
     private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/marker/AMapMarkerWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/marker/AMapMarkerWrapper.java
index cdada69601..2890def128 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/marker/AMapMarkerWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/marker/AMapMarkerWrapper.java
@@ -77,11 +77,13 @@ public class AMapMarkerWrapper implements IMogoMarker, Observer {
             mMogoMarkerOptions.deleteObservers();
             mMogoMarkerOptions = null;
         }
-        if ( mMarker != null ) {
-            mMarker.remove();
-            mMarker.setMObject( null );
-            mMarker.setOnInfoWindowClickListener( null );
-            mMarker = null;
+        synchronized (this) {
+            if ( mMarker != null ) {
+                mMarker.remove();
+                mMarker.setMObject( null );
+                mMarker.setOnInfoWindowClickListener( null );
+                mMarker = null;
+            }
         }
         mMogoInfoWindowAdapter = null;
         mMogoMarkerClickListener = null;