diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
index 59d1b92477..bebe00b9f0 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -76,7 +76,6 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     mSubInfo?.apply {
                         presenter?.startTask(isFirstSubTask(), isLastSubTask(), taskId, mSubTaskType, taskStatus)
                     }
-
                 }
             }
         }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 7703fa3d01..b0cb70a794 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -1,5 +1,7 @@
 package com.mogo.och.sweeper.model;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+
 import android.content.Context;
 import android.util.Log;
 
@@ -46,7 +48,6 @@ import com.mogo.och.sweeper.bean.SweeperSubTaskDetailBean;
 import com.mogo.och.sweeper.callback.ISweeperADASStatusCallback;
 import com.mogo.och.sweeper.callback.ISweeperControllerStatusCallback;
 import com.mogo.och.sweeper.callback.ISweeperTaskCallback;
-import com.mogo.och.sweeper.callback.ISweeperTaskRouteCallback;
 import com.mogo.och.sweeper.constant.SubTaskTypeEnum;
 import com.mogo.och.sweeper.constant.SweeperConst;
 import com.mogo.och.sweeper.constant.TaskStatusEnum;
@@ -65,8 +66,6 @@ import io.reactivex.functions.Consumer;
 import io.reactivex.plugins.RxJavaPlugins;
 import mogo.telematics.pad.MessagePad;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
-
 /**
  * @author congtaowang
  * @since 2021/3/23
@@ -90,7 +89,7 @@ public class SweeperTaskModel {
     //子任务是否正在进行中
     private boolean mIsSubTaskWorking = false;
     //自动驾驶是否到达子任务终点
-    private boolean isArriveSubTaskEndSite = false;
+    private boolean isAutopilotSubTaskArriveEndSite = false;
     //当前子任务id
     private int mSubTaskId = 0;
     //当前是否最后一个子任务
@@ -311,12 +310,12 @@ public class SweeperTaskModel {
             if (mControllerStatusCallback != null) {
                 mControllerStatusCallback.onCarLocationChanged(gnssInfo);
             }
-            if (mSubTaskType == 2) {//人工驾驶子任务需要手动跳过，不能自动结束
+            if (SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.getCode() == mSubTaskType) {//人工驾驶子任务需要手动跳过，不能自动结束
                 addCoordinates(gnssInfo);
                 return;
             }
             //子任务完成的围栏判断 子任务正在执行中，还未到达子任务终点
-            if (mIsSubTaskWorking && !isArriveSubTaskEndSite) {
+            if (mIsSubTaskWorking && !isAutopilotSubTaskArriveEndSite) {
                 judgeArrivedStation(gnssInfo);
             }
         }
@@ -356,7 +355,7 @@ public class SweeperTaskModel {
                     + " to " + mCurrentSubTaskDetail.getEndSiteName());
             Log.d(TAG, "行程日志-judgeArrivedStation() distance = " + distance
                     + " to " + mCurrentSubTaskDetail.getEndSiteName());
-            isArriveSubTaskEndSite = true;
+            isAutopilotSubTaskArriveEndSite = true;
             //到达子任务终点 结束子任务
             subTaskEnd(mIsFirstSubtask, mIsLastSubtask, mSubTaskId); //无自动驾驶到终点信息传null
             return;
@@ -452,13 +451,13 @@ public class SweeperTaskModel {
                 return;
             }
         }
-        if (mSubTaskType == 2) {//人工驾驶子任务需要手动跳过，不能自动结束
+        if (SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.getCode() == mSubTaskType) {//人工驾驶子任务需要手动跳过，不能自动结束
             return;
         }
-        if (isArriveSubTaskEndSite) return;
+        if (isAutopilotSubTaskArriveEndSite) return;
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "行程日志-当前==subTaskId="
                 + mSubTaskId);
-        isArriveSubTaskEndSite = true;
+        isAutopilotSubTaskArriveEndSite = true;
         //到达子任务终点 结束子任务
         subTaskEnd(mIsFirstSubtask, mIsLastSubtask, mSubTaskId);
     }
@@ -705,7 +704,7 @@ public class SweeperTaskModel {
                 if (mSweeperTaskCallback != null && data != null) {
                     if (data.getData()) {
                         mIsSubTaskWorking = true;
-                        isArriveSubTaskEndSite = false;
+                        isAutopilotSubTaskArriveEndSite = false;
                         mSweeperTaskCallback.updateSubTaskStatus(TaskStatusEnum.START_SUBTASK, false);
                         if (subTaskType == SubTaskTypeEnum.AUTOPILOT_SUBTYPE) {//如果是自动驾驶子任务子开启自驾
                             if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
@@ -716,7 +715,6 @@ public class SweeperTaskModel {
                             if (FunctionBuildConfig.isDemoMode) {//美化模式开启时
                                 FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;//是否强制绘制引导线
                                 CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
-
                             }
                         }
                     }
@@ -777,7 +775,7 @@ public class SweeperTaskModel {
                     if (!NetworkUtils.isConnected(mContext)) {
                         ToastUtils.showShort("网络异常，请稍后重试");
                     } else {
-                        if (isArriveSubTaskEndSite) return;
+                        if (isAutopilotSubTaskArriveEndSite) return;
                         ToastUtils.showShort(msg);
                     }
                 }
@@ -806,6 +804,8 @@ public class SweeperTaskModel {
                 if (mSweeperTaskCallback != null && data != null) {
                     if (data.getData()) {
                         mIsSubTaskWorking = false;
+                        // 跳过子任务也相当于开始并结束一个子任务，相关变量状态需要重置
+                        isAutopilotSubTaskArriveEndSite = false;
                         mSweeperTaskCallback.updateSubTaskStatus(TaskStatusEnum.JUMP_OVER_SUBTASK, isEnd);
                     }
                 }
@@ -841,6 +841,9 @@ public class SweeperTaskModel {
             @Override
             public void onSuccess(BaseResponse<Boolean> data) {
                 CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "mainTaskReset：" + GsonUtil.jsonFromObject(data));
+                // 主任务重置 当前子任务也需重置
+                mIsSubTaskWorking = false;
+                isAutopilotSubTaskArriveEndSite = false;
                 if (mSweeperTaskCallback != null && data != null) {
                     mSweeperTaskCallback.setMainTaskReset(data.getData());
                 }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
index 5c33f414e5..5abceafdce 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
@@ -1,6 +1,12 @@
 package com.mogo.och.sweeper.presenter;
 
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.lifecycle.LifecycleOwner;
+
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
@@ -41,17 +47,12 @@ import java.math.RoundingMode;
 import java.util.ArrayList;
 import java.util.List;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-import androidx.lifecycle.LifecycleOwner;
 import chassis.ChassisStatesOuterClass;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import planning.RoboSweeperTaskIndexOuterClass;
 import system_master.SystemStatusInfo;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
-
 /**
  * 网约车小巴
  *
@@ -387,14 +388,12 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     public void getSubTaskDetail(boolean isFirst, boolean isEnd, int subTaskId, SubTaskTypeEnum subTaskType, boolean isStartSubtask) {
         SweeperTaskModel.getInstance().getSubTaskDetail(isFirst, isEnd, subTaskId, subTaskType, isStartSubtask);
     }
-    /**
-     * 子任务开始上报
-     */
+
     /**
      * 开始任务
      */
     public void startTask(boolean isFirst, boolean isEnd, int subTaskId, SubTaskTypeEnum subTaskType, int subTaskStatus) {
-        if (subTaskStatus == 1) {
+        if (SubTaskTypeEnum.AUTOPILOT_SUBTYPE.getCode() == subTaskStatus) {
             SweeperTaskModel.getInstance().subTaskStart(isFirst, isEnd, subTaskId, subTaskType);
         }
     }
@@ -443,6 +442,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     @Override
     public void setSubTakDetail(@NonNull SweeperSubTaskDetailBean subTaskDetailBean, SubTaskTypeEnum subTaskTypeEnum) {
     }
+
     @Override
     public void setRouteList(@NonNull ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
        mView.setTaskRouteList(routeList);