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 2318c66d8d..caec9aab44 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
@@ -379,6 +379,16 @@ class MoGoAutopilotProvider :
         return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration)
     }
 
+    override fun recordPackage(
+        type: Int,
+        id: Int,
+        duration: Int,
+        bduration: Int,
+        topics: List<String>
+    ): Boolean {
+        return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration, topics)
+    }
+
     override fun stopRecord(type: Int, id: Int): Boolean {
         return AdasManager.getInstance().stopRecordPackage(id, type)
     }
@@ -521,9 +531,13 @@ class MoGoAutopilotProvider :
 
     /**
      * 获取数据采集录制模式配置列表
+     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
+     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
+     * @param topicsNeedToCache
+     * @return boolean
      */
-    override fun getBadCaseConfig() {
-//        AdasManager.getInstance().sendRecordDataConfigReq() TODO 需要传参
+    override fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean{
+       return AdasManager.getInstance().sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
     }
 
     /**
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 f7d92b33d0..23af1a9edf 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
@@ -252,8 +252,8 @@ defStyleAttr: Int = 0
      override fun onAttachedToWindow() {
          super.onAttachedToWindow()
          CallerAutopilotRecordListenerManager.addListener(TAG, this)
-         //获取数据采集录制模式配置列表
-         CallerAutoPilotManager.getBadCaseConfig()
+         //获取数据采集录制模式配置列表 TODO
+//         CallerAutoPilotManager.getBadCaseConfig()
      }
 
      override fun onDetachedFromWindow() {
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 a9cb80c07c..ae03721b01 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
@@ -130,8 +130,8 @@ class SOPSettingView @JvmOverloads constructor(
         //变道绕障的目标障碍物速度阈值
         tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
         ivSpeedReduce.setOnClickListener {
-            if(FunctionBuildConfig.detouringSpeed<=0){
-                ToastUtils.showShort("阈值小可为0 m/s")
+            if(FunctionBuildConfig.detouringSpeed<=3){
+                ToastUtils.showShort("阈值小可为3 m/s")
             }else{
                 FunctionBuildConfig.detouringSpeed--
                 tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
index 17c2717bce..947362f230 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
@@ -88,6 +88,17 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      */
     fun recordPackage(type: Int,id: Int,duration: Int,bduration: Int): Boolean
 
+    /**
+     * 开启域控制器录制bag包
+     * @param type 录制类型 1: badcase 2:map 3:rests
+     * @param id   指令/任务 ID
+     * @param duration 录制时长
+     * @param bduration 录制前溯时长
+     * @param topics 录制Topic集合
+     * @return true-成功,false-失败
+     */
+    fun recordPackage(type: Int,id: Int,duration: Int,bduration: Int,topics: List<String>): Boolean
+
     /**
      * Log 是否显示
      *
@@ -168,8 +179,12 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
 
     /**
      * 获取数据采集录制模式配置列表
+     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
+     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
+     * @param topicsNeedToCache
+     * @return boolean
      */
-    fun getBadCaseConfig()
+    fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean
 
     /**
      * 发送工控机所有节点重启命令
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
index 2a2d6de7d5..044b4931c1 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -136,6 +136,12 @@ object CallerAutoPilotManager {
         }
     }
 
+    fun recordPackage(type: Int,id: Int,duration: Int,bduration: Int,topics: List<String>){
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+            providerApi?.recordPackage(type, id, duration, bduration, topics)
+        }
+    }
+
     /**
      * 停止录制bag包
      */
@@ -249,11 +255,14 @@ object CallerAutoPilotManager {
 
     /**
      * 获取数据采集录制模式配置列表
+     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
+     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
+     * @param topicsNeedToCache
      */
-    fun getBadCaseConfig() {
+    fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>){
         // 司机屏才能查询数据采集的配置
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            providerApi?.getBadCaseConfig()
+            providerApi?.getBadCaseConfig(reqType, recordType, topicsNeedToCache)
         }
     }