diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
index 6c8b01a1e0..492a90e6a7 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
@@ -24,7 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 
 /**
  * 清扫车摄像头展示View 10Hz
- * M1拼接视频展示View 10Hz  需要订阅此数据：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
+ * M1拼接视频展示View 10Hz  需要订阅（连接成功后订阅才生效）：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
  */
 public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
     private static final String TAG = MogoVideoView.class.getSimpleName();
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index ac9d0f4e5d..c2e55dd28e 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -512,7 +512,7 @@ object CallerAutoPilotControlManager {
     }
 
     /**
-     * 设置M1拼接视频接口订阅
+     * 设置M1拼接视频接口订阅（连接成功后订阅才生效）
      * @param isSubscribe 是否订阅
      */
     fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean) {
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 554c2e6774..a3311dccab 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -259,6 +259,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningDecisionState, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningDecisionState, this));
         //清扫车后摄像头数据
         dispatchHandlers.put(MessagePad.MessageType.MsgTypeBackCameraVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeBackCameraVideo, this));
+        //M1拼接视频
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypeM1StitchedVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeM1StitchedVideo, this));
     }
 
     /**
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
index 784c9f22a0..4d8477a1e4 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -4,7 +4,10 @@ import mogo.telematics.pad.MessagePad;
 
 /**
  * 工控机发送或接收的类型
- * 工控机接收接口必须包含TYPE_RECEIVE
+ * 工控机接收接口必须包含：TYPE_RECEIVE
+ * 目前收发相同的Type：
+ * *                MessagePad.MessageType.MsgTypeBagManagerCmd
+ * *                MessagePad.MessageType.MsgTypeTaskCmd
  *
  * @author nie yunlong
  * @description 请求值
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
index 5ad742be4f..37d22f46a4 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
@@ -138,7 +138,8 @@ public class SubscribeInterface {
         MessageType[] types = MessageType.values();
         if (types.length > 0) {
             for (MessageType messageType : types) {
-                if (messageType.name().toLowerCase().contains("type_receive")) {
+                //连接成功后只有M1拼接视频接收接口默认不进行订阅，其他接收接口默认自动订阅
+                if (messageType != MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO && messageType.name().toLowerCase().contains("type_receive")) {
                     subscribedInterface.put(messageType, messageType.typeCode.getNumber());
                 }
             }