拍照反馈连续触发问题，增加最短间隔参数。

libraries/AP_Camera/AP_Camera.cpp

@@ -111,6 +111,8 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
     // 是否支持自适应拍照，0：不支持，1：支持
     AP_GROUPINFO("ADAPT_CAM",  12, AP_Camera, _adapt_camera_trigger, 0),
 
+    // 最小触发时间间隔，ms
+    AP_GROUPINFO("MIN_INTE",  13, AP_Camera, _min_time_interval, 30),
 
     AP_GROUPEND
 };
@@ -359,10 +361,13 @@ void AP_Camera::update()
  */
 void AP_Camera::feedback_pin_isr(uint8_t pin, bool high, uint32_t timestamp_us)
 {
-    _feedback_timestamp_us = timestamp_us;
-    _camera_trigger_count++;
+    static uint32_t last_timestamp_us;
+    if(timestamp_us - last_timestamp_us > _min_time_interval * 1000){
+        last_timestamp_us = timestamp_us;
+        _feedback_timestamp_us = timestamp_us;
+        _camera_trigger_count++;
+    }
 }
-
 /*
   check if feedback pin is high for timer based feedback trigger, when
   attach_interrupt fails

libraries/AP_Camera/AP_Camera.h

@@ -167,7 +167,8 @@ private:
     AP_Int8         _feedback_pin;
     AP_Int8         _feedback_polarity;
 
-    AP_Int8                _adapt_camera_trigger;
+    AP_Int8          _adapt_camera_trigger;
+    AP_Int16         _min_time_interval;
 
     uint32_t        _camera_trigger_count;
     uint32_t        _camera_trigger_logged;

libraries/AP_GPS/AP_GPS_NMEA.h

@@ -240,10 +240,10 @@ private:
 #define AP_GPS_NMEA_SINO_INIT_STRING \
         "interfacemode com1 compass compass on\r\n" /* Prefix of GP on the HDT message */      \
         "log com1 gpgga ontime 0.1\r\n" /* GGA at 5Hz */                            \
+        "log com1 gprmc ontime 0.1\r\n" /* VTG at 5Hz */                            \
+        "log com1 gpvtg ontime 0.1\r\n" /* VTG at 5Hz */                            \
         "log com1 markposa onnew\r\n" /* RMC at 5Hz */                            \
-        "log com1 marktimea onnew\r\n" /* VTG at 5Hz */                            \
-        "interfacemode com1 auto auto on\r\n" /* HDT at 5Hz */                            \
-        "saveconfig\r\n" /* Enable SBAS */
+        "interfacemode com1 auto auto on\r\n" /* HDT at 5Hz */                        
 
 #define AP_GPS_NMEA_UNICORE_INIT_STRING \
         "UNLOG COM1\r\n" /* Prefix of GP on the HDT message */      \