diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
index b30e8d8f4a..25aec4fbfa 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -8,7 +8,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
 
-sealed class Status {
+sealed class Status(var rawData: Any? = null) {
 
     abstract fun isException(): Boolean
 
@@ -34,7 +34,7 @@ class IpcStatus(val enabled: Boolean = false): Status() {
     }
 
     override fun toString(): String {
-        return "IpcStatus(enabled=$enabled)"
+        return "IpcStatus(enabled=$enabled, raw_data:$rawData)"
     }
 
     override fun isException(): Boolean = !enabled
@@ -84,7 +84,7 @@ class GpsStatus(val enabled: Boolean = false, val isGranted: Boolean = false): S
     }
 
     override fun toString(): String {
-        return "GpsStatus(enabled=$enabled, isGranted=$isGranted)"
+        return "GpsStatus(enabled=$enabled, isGranted=$isGranted, raw_data:$rawData)"
     }
 
     override fun isException(): Boolean = !enabled || !isGranted
@@ -114,7 +114,7 @@ class RTKStatus(var desc: String = "", var state: Int): Status() {
     }
 
     override fun toString(): String {
-        return "RTKStatus(desc='$desc', state=$state)"
+        return "RTKStatus(desc='$desc', state=$state, raw_data:$rawData)"
     }
 
     override fun isException(): Boolean = desc.isEmpty() || (desc == "RTK") && state != 0
@@ -137,7 +137,7 @@ class CanStatus(var enabled: Boolean = false): Status() {
     }
 
     override fun toString(): String {
-        return "CanStatus(enabled=$enabled)"
+        return "CanStatus(enabled=$enabled, raw_data:$rawData)"
     }
 
     override fun isException(): Boolean = !enabled
@@ -211,7 +211,7 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
     }
 
     override fun toString(): String {
-        return "TracingStatus(state=$state)"
+        return "TracingStatus(state=$state, raw_data:$rawData)"
     }
 
     override fun equals(other: Any?): Boolean {
@@ -246,7 +246,6 @@ class OverViewStatus(var hasException: Boolean = false): Status() {
     override fun hashCode(): Int {
         return 0
     }
-
 }
 
 fun String.toState(msg: String?): Tracing? {
@@ -333,6 +332,12 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
         result = 31 * result + isError.hashCode()
         return result
     }
+
+    override fun toString(): String {
+        return "SteerStatus(angle=$angle, isError=$isError, raw_data:$rawData)"
+    }
+
+
 }
 
 /**
@@ -362,7 +367,9 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
         return result
     }
 
-
+    override fun toString(): String {
+        return "AcceleratorStatus(angle=$angle, isError=$isError, raw_data:$rawData)"
+    }
 }
 
 /**
@@ -391,6 +398,10 @@ data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status()
         result = 31 * result + isError.hashCode()
         return result
     }
+
+    override fun toString(): String {
+        return "BrakeStatus(angle=$angle, isError=$isError, raw_data:$rawData)"
+    }
 }
 
 
@@ -420,6 +431,12 @@ data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Statu
         result = 31 * result + isError.hashCode()
         return result
     }
+
+    override fun toString(): String {
+        return "DoubleFlashStatus(type=$type, isError=$isError, raw_data:$rawData)"
+    }
+
+
 }
 
 /**
@@ -448,6 +465,12 @@ data class GearStatus(val value: Int, var isError: Boolean = false): Status(), I
         result = 31 * result + isError.hashCode()
         return result
     }
+
+    override fun toString(): String {
+        return "GearStatus(value=$value, isError=$isError, raw_data:$rawData)"
+    }
+
+
 }
 
 enum class RouteState {
@@ -484,6 +507,10 @@ data class RouteDownloadStatus(val lineId: Long = -1, val state: RouteState = Ro
         result = 31 * result + state.hashCode()
         return result
     }
+
+    override fun toString(): String {
+        return "RouteDownloadStatus(lineId=$lineId, state=$state, raw_data:$rawData)"
+    }
 }
 
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt
index 7f81c1f4b2..c4cc97ccbe 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt
@@ -3,6 +3,7 @@ package com.zhjt.mogo_core_function_devatools.status.flow
 import android.content.*
 import android.util.*
 import androidx.annotation.*
+import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import kotlinx.coroutines.*
@@ -32,6 +33,11 @@ internal abstract class IFlow< T : Status>(val ctx: Context) : CoroutineScope {
     }
 
     fun send(t: T) {
+        if (t.isException()) {
+            runCatching {
+                MogoAnalyticUtils.track("vehicle_state_exp", HashMap<String, Any>().also { it["data"] = t.toString() })
+            }
+        }
         chl.trySend(t)
     }
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
index 5a9d99b29d..2a0aadc1a6 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
@@ -46,9 +46,15 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
 
     override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
         Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
-        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_THROTTLE } != null) {
-            isError = true
-            send(AcceleratorStatus(last ?: 0.0f, true))
+        if (!isAutopilotAbility) {
+            val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_THROTTLE }?.also {
+                isError = true
+                send(AcceleratorStatus(last ?: 0.0f, true).also { it.rawData = it })
+            }
+            if (target == null) {
+                isError = false
+                send(AcceleratorStatus(last ?: 0.0f, false))
+            }
         } else {
             isError = false
             send(AcceleratorStatus(last ?: 0.0f, false))
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
index 4843878981..5b64e04d79 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
@@ -40,18 +40,23 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
 
     override fun onAutopilotBrake(brake: Float) {
         super.onAutopilotBrake(brake)
-
         if (last != brake) {
-            send(BrakeStatus(brake, isError))
+            send(BrakeStatus(brake, isError).also { it.rawData = brake })
             last = brake
         }
     }
 
     override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
         Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
-        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_BRAKE } != null) {
-            isError = true
-            send(BrakeStatus(last, true))
+        if (!isAutopilotAbility) {
+            val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_BRAKE }?.also {
+                isError = true
+                send(BrakeStatus(last, true).also { it.rawData = it })
+            }
+            if (target == null) {
+                isError = false
+                send(BrakeStatus(last, false))
+            }
         } else {
             isError = false
             send(BrakeStatus(last, false))
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
index ef573ff078..89d4121b21 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
@@ -25,6 +25,9 @@ internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMo
     @Volatile
     private var isError: Boolean = false
 
+    @Volatile
+    private var last: LightSwitch? = null
+
     override fun onCreate() {
         CallerChassisLamplightListenerManager.addListener(TAG, this)
         CallerAutopilotActionsListenerManager.addListener(TAG, this)
@@ -39,20 +42,29 @@ internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMo
     override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
         super.onAutopilotLightSwitchData(lightSwitch)
         Logger.d(TAG, "-- onAutopilotLightSwitchData --: $lightSwitch")
-        if (lightSwitch == LIGHT_FLASH) {
-            send(DoubleFlashStatus(lightSwitch.number, isError))
+        if (last != lightSwitch) {
+            last = lightSwitch
+            if (lightSwitch == LIGHT_FLASH) {
+                send(DoubleFlashStatus(lightSwitch.number, isError))
+            }
         }
 
     }
 
     override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
         Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
-        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_HAZARD_LIGHTS } != null) {
-            isError = true
-            send(DoubleFlashStatus(LIGHT_FLASH.number, true))
+        if (!isAutopilotAbility) {
+            val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_HAZARD_LIGHTS }?.also {
+                isError = true
+                send(DoubleFlashStatus(last?.number ?: Int.MIN_VALUE, true).also { it.rawData = last to it })
+            }
+            if (target == null) {
+                isError = false
+                send(DoubleFlashStatus(last?.number ?: Int.MIN_VALUE, false).also { it.rawData = last })
+            }
         } else {
             isError = false
-            send(DoubleFlashStatus(LIGHT_FLASH.number, false))
+            send(DoubleFlashStatus(last?.number ?: Int.MIN_VALUE, false).also { it.rawData = last })
         }
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
index 75edfd15a1..083f1d9233 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
@@ -12,6 +12,7 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_GEAR
 import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 
 internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearStateListener, IMoGoAutopilotActionsListener {
@@ -39,16 +40,22 @@ internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearS
 
     override fun onAutopilotGearData(gear: GearPosition) {
         if (last != gear) {
-            send(GearStatus(gear.number, isError))
+            send(GearStatus(gear.number, isError).also { it.rawData = gear })
             last = gear
         }
     }
 
     override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
         Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
-        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_GEAR } != null) {
-            isError = true
-            send(GearStatus(last.number, true))
+        if (!isAutopilotAbility) {
+            val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_GEAR }?.also {
+                isError = true
+                send(GearStatus(last.number, true).also { it.rawData = last to it })
+            }
+            if (target == null) {
+                isError = false
+                send(GearStatus(last.number, false))
+            }
         } else {
             isError = false
             send(GearStatus(last.number, false))
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
index d99aecb0c7..ee070847f2 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
@@ -4,10 +4,12 @@ import android.content.Context
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo.adas.data.bean.MogoReport
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteComplete
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import mogo_msg.MogoReportMsg.MogoReportMessage
@@ -21,7 +23,7 @@ internal class RouteDownloadImpl(ctx: Context): IFlow<RouteDownloadStatus>(ctx),
     }
 
     @Volatile
-    private var toDownloadLineId: Long = Long.MIN_VALUE
+    private var toDownloadData: AutoPilotLine? = null
 
     override fun onCreate() {
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
@@ -34,20 +36,25 @@ internal class RouteDownloadImpl(ctx: Context): IFlow<RouteDownloadStatus>(ctx),
 
     override fun onAutopilotTrajectoryDownloadReq(autoPilotLine: AutoPilotLine, downloadType: Int) {
         super.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
+        Logger.d(TAG, "--- onAutopilotTrajectoryDownloadReq --: 1:$autoPilotLine, 2:$downloadType")
         if (downloadType == 0) {
-            toDownloadLineId = autoPilotLine.lineId
+            toDownloadData = autoPilotLine
+            val lineId = autoPilotLine.lineId
+            send(RouteDownloadStatus(lineId = lineId, state = RouteNone).also { it.rawData =  toDownloadData })
         }
     }
 
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         var lineId = -1L
+        Logger.d(TAG, "--- onAutopilotGuardian -- 1 --: ${ guardianInfo?.code }")
         if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START == guardianInfo?.code ||
             MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS == guardianInfo?.code ||
             MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE == guardianInfo?.code ||
             MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING == guardianInfo?.code ||
             MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT == guardianInfo?.code
         ) {
+            Logger.d(TAG, "--- onAutopilotGuardian -- 2 --")
             val msg = guardianInfo.msg
             try {
                 val regex = Regex("lineid:(\\d+)")
@@ -66,24 +73,24 @@ internal class RouteDownloadImpl(ctx: Context): IFlow<RouteDownloadStatus>(ctx),
                 } catch (ignore: Exception) { }
             }
         }
-
-        if (toDownloadLineId != lineId) {
+        Logger.d(TAG, "--- onAutopilotGuardian -- 3 --:lineId => ${toDownloadData?.lineId}, parse_line_id: $lineId")
+        if (toDownloadData?.lineId != lineId) {
             return
         }
-        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters()
         if (guardianInfo == null || !guardianInfo.hasCode())
             return
+        Logger.d(TAG, "--- onAutopilotGuardian -- 4 --:line_id => $lineId, code: ${guardianInfo.code}")
         when (guardianInfo.code) {
             "ISYS_INIT_TRAJECTORY_START" -> { // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
-                send(RouteDownloadStatus(lineId, RouteStart))
+                send(RouteDownloadStatus(lineId, RouteStart).also { it.rawData = toDownloadData to guardianInfo })
             }
             "ISYS_INIT_TRAJECTORY_SUCCESS" -> { // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
-                send(RouteDownloadStatus(lineId, RouteComplete))
-                toDownloadLineId = Long.MIN_VALUE
+                send(RouteDownloadStatus(lineId, RouteComplete).also { it.rawData = toDownloadData to guardianInfo })
+                toDownloadData = null
             }
             "ISYS_INIT_TRAJECTORY_FAILURE" -> { // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
-                send(RouteDownloadStatus(lineId, RouteFailed))
-                toDownloadLineId = Long.MIN_VALUE
+                send(RouteDownloadStatus(lineId, RouteFailed).also { it.rawData = toDownloadData to guardianInfo })
+                toDownloadData = null
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
index d82f7d1e72..bca29d79e9 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
@@ -21,6 +21,9 @@ internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSte
     @Volatile
     private var last: Float = 0f
 
+    @Volatile
+    private var isError: Boolean = false
+
     override fun onCreate() {
         CallerChassisSteeringStateListenerManager.addListener(TAG, this)
         CallerAutopilotActionsListenerManager.addListener(TAG, this)
@@ -34,17 +37,25 @@ internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSte
 
     override fun onAutopilotSteeringData(steering: Float) {
         if (last != steering) {
-            send(SteerStatus(steering))
+            send(SteerStatus(steering, isError).also { it.rawData = steering })
             last = steering
         }
     }
 
     override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
         Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
-        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_STEERING } != null) {
-            send(SteerStatus(last, true))
+        if (!isAutopilotAbility) {
+            val target = unableAutopilotReasons?.find { it.unableType == CHASSIS_STEERING }?.also {
+                isError = true
+                send(SteerStatus(last, true).also { it.rawData = last to it })
+            }
+            if (target == null) {
+                isError = false
+                send(SteerStatus(last, false).also { it.rawData = last })
+            }
         } else {
-            send(SteerStatus(last, false))
+            isError = false
+            send(SteerStatus(last, false).also { it.rawData = last })
         }
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
index 7f23e434a1..a2ae7d1377 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
@@ -48,6 +48,8 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
     constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {
         LayoutInflater.from(context).inflate(R.layout.layout_autopilot_launch_before, this, true)
         background = ContextCompat.getDrawable(context, R.drawable.icon_bg_autopilot_status)
+        clipChildren = false
+        clipToPadding = false
         setPadding(AutoSizeUtils.dp2px(context, 29f), AutoSizeUtils.dp2px(context, 35f), AutoSizeUtils.dp2px(context, 30f), AutoSizeUtils.dp2px(context, 30f))
     }
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml
index 9cd6f3bd5c..6dc9b0d95c 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml
@@ -9,7 +9,9 @@
     tools:paddingTop="@dimen/dp_35"
     tools:paddingBottom="@dimen/dp_30"
     tools:paddingStart="@dimen/dp_29"
-    tools:paddingEnd="@dimen/dp_30">
+    tools:paddingEnd="@dimen/dp_30"
+    tools:clipToPadding="false"
+    tools:clipChildren="false">
 
     <LinearLayout
         android:id="@+id/speed_chart_parent"
@@ -41,7 +43,9 @@
         android:layout_weight="1"
         android:orientation="vertical"
         android:gravity="center_vertical"
-        android:paddingEnd="@dimen/dp_34">
+        android:paddingEnd="@dimen/dp_34"
+        android:clipChildren="false"
+        android:clipToPadding="false">
 
         <LinearLayout
             android:layout_width="wrap_content"
@@ -100,7 +104,10 @@
             android:layout_height="wrap_content"
             android:layout_marginStart="@dimen/dp_34"
             android:gravity="center_vertical"
-            android:layout_marginTop="@dimen/dp_23">
+            android:layout_marginTop="@dimen/dp_23"
+            android:paddingEnd="-30dp"
+            android:clipToPadding="false"
+            android:clipChildren="false">
 
             <ImageView
                 android:id="@+id/iv_steer"
@@ -129,8 +136,9 @@
                 android:layout_height="wrap_content"
                 android:textSize="@dimen/dp_34"
                 android:layout_marginTop="-1dp"
+                android:maxLines="1"
                 android:textColor="@color/white"
-                android:text="a:-0.0"/>
+                android:text="a:-"/>
         </LinearLayout>
     </LinearLayout>
 </merge>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
index 557c9007bc..e186dd5241 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
@@ -65,6 +65,9 @@ class StatusBarView @JvmOverloads constructor(
             CallerDevaToolsManager.registerRouteDownloadListener(TAG) { state ->
                 routeDownloadStatusRoot?.visibility = View.VISIBLE
                 when(state) {
+                    0 -> {
+                        routeDownloadStatusRoot?.visibility = View.GONE
+                    }
                     1 -> {
                         routeDownloadStatus?.background = ContextCompat.getDrawable(context, R.drawable.bg_autopilot_route_download_start)
                         routeDownloadFailMark?.visibility = View.GONE