diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
index 8699e29c9b..959ac8b09a 100644
--- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -152,8 +152,8 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         clientConfig.setThirdPartyDeviceId(Utils.getDevicesId());
         // 设置循环检测间隔时间
         clientConfig.setLoopCheckDelay(5 * 1000);
-        //todo 使用旧链路
-        clientConfig.setUseOriginSocket(true);
+//        todo 使用旧链路
+//        clientConfig.setUseOriginSocket(true);
 
         clientConfig.setIHttpDnsCurrentLocation(() -> {
             MogoLocation mogoLocation =
diff --git a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
index 874ce7c641..4e6b82f97f 100644
--- a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -63,7 +63,7 @@ public class SmallMapDirectionView
     private Marker mStartMarker;
     private Marker mEndMarker;
 
-    private int zoomLevel = 16;
+    private int zoomLevel = 13;
     private List<LatLng> mCoordinatesLatLng = new ArrayList<>();
     private List<MogoLatLng> mCoordinatesLatLngCurrent = new ArrayList<>();
     private Polyline mPolyline;
@@ -181,16 +181,16 @@ public class SmallMapDirectionView
 
     @Override
     public void onLocationChanged(@Nullable MogoLocation location) {
-        Logger.d(TAG, "onCarLocationChanged2 latLng:" + location);
+//        Logger.d(TAG, "onCarLocationChanged2 latLng:" + location);
         LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
         //更新车辆位置
         if (mCarMarker != null) {
-//            mCarMarker.setRotateAngle(360 - latLng.getBearing());
+//            mCarMarker.setRotateAngle(location.getBearing());
             mCarMarker.setPosition(currentLatLng);
             mCarMarker.setToTop();
         }
 
-
+        CameraPosition cameraPosition;
         if (mCoordinatesLatLng.size() > 1) {
 //            mCoordinatesLatLngCurrent.clear();
 //            for (LatLng lng : mCoordinatesLatLng) {
@@ -215,14 +215,14 @@ public class SmallMapDirectionView
             Log.d(TAG, "calculateDistance=" + calculateDistance);
             if (calculateDistance <= 20) {
                 clearPolyline();
-            } else {
-                drawablePolyline();
+                mCoordinatesLatLng.clear();
             }
+             cameraPosition = new CameraPosition.Builder().target(mCarMarker.getPosition()).tilt(0).build();
         } else {
             //设置希望展示的地图缩放级别
-            mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(currentLatLng, zoomLevel));
+             cameraPosition = new CameraPosition.Builder().target(mCarMarker.getPosition()).tilt(0).zoom(zoomLevel).build();
+//            mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(currentLatLng, zoomLevel));
         }
-        CameraPosition cameraPosition = new CameraPosition.Builder().target(mCarMarker.getPosition()).bearing(location.getBearing()).tilt(0).zoom(zoomLevel).build();
         mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
     }
 
@@ -287,10 +287,11 @@ public class SmallMapDirectionView
                                 .color(Color.argb(255, 31, 127, 255))
                                 .width(5));
 
-            } else {
-                //设置希望展示的地图缩放级别
-                mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(mCoordinatesLatLng.get(0), zoomLevel));
             }
+//            else {
+//                //设置希望展示的地图缩放级别
+//                mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(mCoordinatesLatLng.get(0), zoomLevel));
+//            }
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
index e359fa4c3e..6ef5629eb7 100644
--- a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
+++ b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
@@ -9,11 +9,14 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.mvp.BaseFragment;
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.service.adas.IMogoAdasOCHCallback;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -23,7 +26,7 @@ import java.util.List;
  * @date 2021/5/19 10:50 上午
  */
 @Route(path = MoGoFragmentPaths.PATH_FRAGMENT_SMP)
-public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvider, IMoGoAutopilotPlanningListener {
+public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvider, IMoGoAutopilotPlanningListener, IMogoAdasOCHCallback {
     private final String TAG = "SmallMapFragment";
     protected SmallMapDirectionView mSmallMapDirectionView;
 
@@ -53,6 +56,7 @@ public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvi
         mSmallMapDirectionView = mRootView.findViewById(R.id.smallMapDirectionView);
         mSmallMapDirectionView.onCreateView(savedInstanceState);
         CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasOCHCallback(this);
     }
 
     @Override
@@ -122,4 +126,15 @@ public class SmallMapFragment extends BaseFragment implements IMogoSmallMapProvi
         }
     }
 
+    @Override
+    public void onArriveAt(AutopilotStationInfo data) {
+
+    }
+
+    @Override
+    public void onStateChanged(int state, String reason) {
+        if (state != IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING) {
+            clearPolyline();
+        }
+    }
 }
diff --git a/gradle.properties b/gradle.properties
index cd2c8148fb..a0736c756a 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -80,7 +80,7 @@ MOGO_TRAFFICLIVE_VERSION=1.3.8
 MOGO_LOCATION_VERSION=1.3.8
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=V2.0.0.8
+MAP_SDK_VERSION=V2.0.0.4
 # websocket
 WEBSOCKET_VERSION=1.1.7
 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级