diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index af99e74a46..271f29f8ad 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1678,24 +1678,24 @@ const char* Copter::get_sysid_board_id(void)
     switch (type)
     {
         case 0:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.11 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 1:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.11 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,ID: M610%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.11 ,ID: M610%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 3:
             // snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,Board ID: ZRZK.%5s.%03d",name,(int)g.sysid_board_id);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.11 ,Board ID: ZRZK.%5s.%03d",name,(int)g.sysid_board_id);
 
             break;
         case 4:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,Board ID: ZRZK.19QT2.%d",(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.11 ,Board ID: ZRZK.19QT2.%d",(int)nameValue2);
             break;
         case 5:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.10 ,Board ID: %04d%04d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.11 ,Board ID: %04d%04d",(int)nameValue1,(int)nameValue2);
             break;
         
         default:
diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 6729d5a941..0ea65b526d 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -595,34 +595,34 @@ void AP_Camera::send_camera_zr_status(mavlink_channel_t chan)
     uint8_t feedback_error_fixed = 0;
     uint8_t feedback_format = 0;
     // struct AP_Camera::Cam_ZR_Info status = {};
-    static uint8_t last_delt = 0;
-    static uint8_t delt_cnt = 0;
-    uint16_t num = camera_state.num[0];
-    uint16_t delt_pic_num = 0;
-    if (camera_state.id < 0x10 || (camera_state.id >= 0x50 &&camera_state.id <= 0x5F))
-    {
-        for (size_t i = 1; i < 5; i++)
-        {
-            delt_pic_num += abs(num - camera_state.num[i]); // 判断各个相机照片数是否相等
-        }
-        if(delt_pic_num == 0){ 
-            delt_cnt = 0;
-            last_delt = 0;
-        }
-        if(last_delt != delt_pic_num){
-            delt_cnt+=1;
-            if(delt_cnt > 5){ // Mavlink一次可能会发两三个chan，取5确保是两次计算差值满足条件
-                // gcs().send_text(MAV_SEVERITY_INFO, "照片数差异(%d):%d,%d,%d,%d,%d",delt_pic_num,camera_state.num[0],camera_state.num[1],camera_state.num[2],camera_state.num[3],camera_state.num[4]);
-                if(delt_pic_num > 5){
-                    gcs().send_text(MAV_SEVERITY_CRITICAL, "%d:照片数差异大,总差值：%d",camera_state.num[0],delt_pic_num);
-                    feedback_gimbal = 20;
-                }else
-                {
-                    gcs().send_text(MAV_SEVERITY_INFO, "照片数差异(%d):%d",delt_pic_num,camera_state.num[0]);
-                }
-            }
-        }
-    }
+   // static uint8_t last_delt = 0;
+   // static uint8_t delt_cnt = 0;
+   // uint16_t num = camera_state.num[0];
+   // uint16_t delt_pic_num = 0;
+    // if (camera_state.id < 0x10 || (camera_state.id >= 0x50 &&camera_state.id <= 0x5F))
+    // {
+    //     for (size_t i = 1; i < 5; i++)
+    //     {
+    //         delt_pic_num += abs(num - camera_state.num[i]); // 判断各个相机照片数是否相等
+    //     }
+    //     if(delt_pic_num == 0){ 
+    //         delt_cnt = 0;
+    //         last_delt = 0;
+    //     }
+    //     if(last_delt != delt_pic_num){
+    //         delt_cnt+=1;
+    //         if(delt_cnt > 5){ // Mavlink一次可能会发两三个chan，取5确保是两次计算差值满足条件
+    //             // gcs().send_text(MAV_SEVERITY_INFO, "照片数差异(%d):%d,%d,%d,%d,%d",delt_pic_num,camera_state.num[0],camera_state.num[1],camera_state.num[2],camera_state.num[3],camera_state.num[4]);
+    //             if(delt_pic_num > 5){
+    //                 gcs().send_text(MAV_SEVERITY_CRITICAL, "%d:照片数差异大,总差值：%d",camera_state.num[0],delt_pic_num);
+    //                 feedback_gimbal = 20;
+    //             }else
+    //             {
+    //                 gcs().send_text(MAV_SEVERITY_INFO, "照片数差异(%d):%d",delt_pic_num,camera_state.num[0]);
+    //             }
+    //         }
+    //     }
+    // }
     mavlink_camera_zr_status_t msg;
     memset(&msg, 0, sizeof(msg));
     msg.temperature = camera_state.temperature;