diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
index fedd73722e..89ea5f8921 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
@@ -19,7 +19,6 @@ import kotlinx.coroutines.flow.*
 import mogo.telematics.pad.MessagePad.Header
 import mogo.telematics.pad.MessagePad.SetParamReq
 import java.util.concurrent.atomic.AtomicInteger
-import kotlin.concurrent.*
 
 internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
 
@@ -69,7 +68,9 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCam
     private fun sendReqForParamPeriod() {
         scope.launch {
             while (targetX.get() == 0 || targetY.get() == 0) {
-                CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM)
+                if(CallerAutoPilotStatusListenerManager.isConnect()){
+                    CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM)
+                }
                 delay(2000)
             }
         }.also {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index e6b92611d7..ed04aff1cb 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -40,7 +40,7 @@ internal class CanImpl(ctx: Context) :
     private val state: AtomicInteger by lazy { AtomicInteger(Int.MIN_VALUE) }
 
     override fun onCreate() {
-        send(CanStatus(CallerAutoPilotControlManager.isConnected()))
+        send(CanStatus(CallerAutoPilotStatusListenerManager.isConnect()))
 
         CallerChassisAccStateListenerManager.addListener(TAG, this)
         CallerChassisBrakeStateListenerManager.addListener(TAG, this)
@@ -58,7 +58,7 @@ internal class CanImpl(ctx: Context) :
 
     private fun isCanEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        return CallerAutoPilotControlManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
+        return CallerAutoPilotStatusListenerManager.isConnect() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
     }
 
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
index bf80c144da..a113c357cf 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
@@ -28,7 +28,7 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
     }
 
     private fun checkAndSend() {
-        send(IpcStatus(CallerAutoPilotControlManager.isConnected()))
+        send(IpcStatus(CallerAutoPilotStatusListenerManager.isConnect()))
     }
 
     override fun onDestroy() {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
index a25e636ae8..93d36a30de 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
@@ -43,7 +43,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
         CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-        if (CallerAutoPilotControlManager.isConnected()) {
+        if (CallerAutoPilotStatusListenerManager.isConnect()) {
             check()
         }
     }
@@ -86,13 +86,13 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
 
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotControlManager.isConnected()) {
+        if (!CallerAutoPilotStatusListenerManager.isConnect()) {
             CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
             healthInfo.set(null)
             send(RTKStatus("", -1))
         }
 
-        if (CallerAutoPilotControlManager.isConnected() && check == null && !isOldVersion.get()) {
+        if (CallerAutoPilotStatusListenerManager.isConnect() && check == null && !isOldVersion.get()) {
              check()
         }
     }
@@ -114,7 +114,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
     private fun isRTKEnabled(): Boolean {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
         val gnssInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        return CallerAutoPilotControlManager.isConnected() && (
+        return CallerAutoPilotStatusListenerManager.isConnect() && (
                 code != "EHW_RTK" &&
                         code != "EHW_GNSS" &&
                         code != "ESYS_RTK_STATUS_FAULT" &&
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
index f04a3971ec..0746962d6e 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
@@ -58,7 +58,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
         super.onAutopilotIpcConnectStatusChanged(status, reason)
         try {
             if (ipcConnectStatus.get() != status) {
-                if (!CallerAutoPilotControlManager.isConnected()) {
+                if (!CallerAutoPilotStatusListenerManager.isConnect()) {
                     old = UNKNOWN
                     send(TracingStatus(UNKNOWN))
                 }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
index 91d6115301..b0376af234 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
@@ -15,7 +15,7 @@ internal class StatusModel : ViewModel() {
         const val TAG = "StatusModel"
         val DEFAULTS = Pair(null, ArrayList<Status>().also {
             it += OverViewStatus()
-            it += IpcStatus(CallerAutoPilotControlManager.isConnected())
+            it += IpcStatus(CallerAutoPilotStatusListenerManager.isConnect())
             it += CanStatus(false)
 //            it += TracingStatus(UNKNOWN)
             it += RTKStatus("", -1)
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
index af79a7a9aa..34d7806abe 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -186,7 +186,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
             svLayout.post {
                 svLayout.fullScroll(View.FOCUS_DOWN)
             }
-            if (!CallerAutoPilotStatusListenerManager.getConnectStates()) {
+            if (!CallerAutoPilotStatusListenerManager.isConnect()) {
                 ToastUtils.showShort("设置车速失败，请启动域控制器")
                 keyBoardUtil?.hideKeyboard()
                 return@setOnTouchListener true
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index 445a3ad2d3..22fb5e1fbf 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -479,13 +479,6 @@ object CallerAutoPilotControlManager {
         providerApi?.setControlAutopilotCarAuto(isEnable)
     }
 
-    /**
-     * 车机与工控机是否连上了
-     */
-    fun isConnected(): Boolean {
-        return providerApi?.isConnected() ?: false
-    }
-
     /**
      *  查询工控机基础配置信息
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index c6eae4c451..70ef154e84 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -83,7 +83,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         return mAutopilotStatusInfo.dockVersion
     }
 
-    fun getConnectStates():Boolean{
+    fun isConnect():Boolean{
         return mAutopilotStatusInfo.connectStatus
     }
 
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
index da45eca7d8..6a5dfd35f4 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -139,6 +139,7 @@ public class AMapWrapper implements IMogoMap {
         }
         long time = markerOptionsArrayList.get(0).getTime();
         batchMarkerOptions.list = markerOptionsArrayList;
+//        batchMarkerOptions.averageFlag = 0;
         batchMarkerOptions.delayStrategy = false;
         batchMarkerOptions.ruleAngle = 8.0f;
         batchMarkerOptions.controlIcon = 1;