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 1c763bb1db..ae04c9f6cd 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
@@ -269,7 +269,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun setIPCReboot() {
-        AdasManager.getInstance().rebootIPC()
+        AdasManager.getInstance().rebootAPDocker()
     }
 
     override fun recordCause(key: String?, name: String?, id: String?, reason: String?) {
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index f35d23bac2..43b6742324 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -61,6 +61,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         const val TAG = "OnAdasListenerAdapter"
     }
 
+    //车前引导线
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         endpoint = PAD,
@@ -90,6 +91,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //感知物体
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -107,6 +109,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //自车定位信息
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -132,6 +135,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //自车状态(底盘)，车灯等。
     override fun onVehicleState(
         header: MessagePad.Header,
         vehicleState: VehicleStateOuterClass.VehicleState?
@@ -144,6 +148,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //自动驾驶状态
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -181,6 +186,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //监控
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -205,6 +211,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         invokeAutopilotSNRequest()
     }
 
+    //工控机基础配置信息
     override fun onCarConfigResp(
         header: MessagePad.Header,
         carConfigResp: MessagePad.CarConfigResp?
@@ -214,6 +221,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //数据采集，badCase
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -231,6 +239,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //全局路径规划
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -248,6 +257,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    //预警信息
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
@@ -260,6 +270,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         invokeAutopilotWarnMessage(warn)
     }
 
+    //到站回调
     @ChainLog(
         linkCode = CHAIN_LINK_ADAS,
         linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
index 2ef9b051c2..738303d7d5 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
@@ -148,7 +148,7 @@
                 android:background="@color/color_FF2966EC"
                 app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintTop_toBottomOf="@id/llSpeedPosition"
-                android:visibility="gone"/>
+                android:visibility="visible"/>
 
             <TextView
                 android:id="@+id/tvSystemOperation"
@@ -162,7 +162,7 @@
                 android:textSize="42px"
                 app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintTop_toBottomOf="@id/llSpeedPosition"
-                android:visibility="gone"/>
+                android:visibility="visible"/>
 
             <com.mogo.eagle.core.function.hmi.ui.widget.CheckSystemView
                 android:id="@+id/checkSystemView"
@@ -171,7 +171,7 @@
                 android:layout_marginTop="40px"
                 app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintTop_toBottomOf="@id/tvSystemOperation"
-                android:visibility="gone"/>
+                android:visibility="visible"/>
 
             <View
                 android:id="@+id/viewSystemVersion"
diff --git a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/EventDispatchCenter.java b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/EventDispatchCenter.java
index c4fe332a4d..22af3e7933 100644
--- a/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/EventDispatchCenter.java
+++ b/core/function-impl/mogo-core-function-main/src/main/java/com/mogo/eagle/core/function/main/EventDispatchCenter.java
@@ -270,7 +270,6 @@ public class EventDispatchCenter implements
                 }
             }
         }
-        CallerLogger.INSTANCE.i(M_MAIN +TAG, "onMapChanged event cost " + (System.currentTimeMillis() - start) + "ms");
     }
 
     @Override
diff --git a/gradle.properties b/gradle.properties
index ef71ef8108..0425450858 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.31
 MOGO_TELEMATIC_VERSION=1.3.31
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.0.5.3
+MAP_SDK_VERSION=2.0.5.7
 MAP_SDK_OPERATION_VERSION=1.0.12
 # websocket
 WEBSOCKET_VERSION=1.1.7
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index ef09c2f548..6f63da19fc 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -480,8 +480,6 @@ public class MogoServices implements IMogoMapListener,
 
         MapMarkerManager.getInstance().syncLocation(latLng.lon, latLng.lat);
 
-        CallerLogger.INSTANCE.d(M_OLD_OTHER + TAG, "zoom = " + zoom);
-
         if (mIsCameraInited) {
             mLastZoomLevel = zoom;
             mLastCustomRefreshCenterLocation = latLng;