diff --git a/ArduCopter/Des.h b/ArduCopter/Des.h
index 17749fc605..ffe72a03ea 100644
--- a/ArduCopter/Des.h
+++ b/ArduCopter/Des.h
@@ -5,17 +5,17 @@
 class Des
 {
 private:
-    /* data */
+  /* data */
 public:
- uint8_t deskey[8] = {90,114,90,107,85,97,86,103};//{ "ZrZkUaVg" };
-uint8_t DES_Encrypt_key[8];
-uint8_t DES_Decrypt_key[8];
-uint8_t sub_keys[16][8]; //sub_keys[16][8]
-uint8_t main_key[8];
-void    des(uint8_t*, uint8_t*, uint8_t, uint8_t*);
-void  FLASH_Read_KEYS(uint8_t key_index);
-  void    transpose(uint8_t*, uint8_t*, const uint8_t*, uint8_t);
-  void    rotate_l(uint8_t*);
- void    compute_subkeys(uint8_t*);
-  void    f(uint8_t*, uint8_t*, uint8_t*);
+  uint8_t deskey[8] = {90, 114, 90, 107, 85, 97, 86, 103}; //{ "ZrZkUaVg" };
+  uint8_t DES_Encrypt_key[8];
+  uint8_t DES_Decrypt_key[8];
+  uint8_t sub_keys[16][8]; //sub_keys[16][8]
+  uint8_t main_key[8];
+  void des(uint8_t *, uint8_t *, uint8_t, uint8_t *);
+  void FLASH_Read_KEYS(uint8_t key_index);
+  void transpose(uint8_t *, uint8_t *, const uint8_t *, uint8_t);
+  void rotate_l(uint8_t *);
+  void compute_subkeys(uint8_t *);
+  void f(uint8_t *, uint8_t *, uint8_t *);
 };
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index f5bdf1fa42..5fb3b43a7a 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,12 +6,12 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.13-RC1"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.14"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,13,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,0,14,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
-#define FW_PATCH 13
+#define FW_PATCH 14
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index a7807e47c7..b94cf1f25a 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -291,7 +291,7 @@ bool AP_GPS_NMEA::_term_complete()
                 case _GPS_SENTENCE_EVENT:
                     if (get_new_mark)
                     {
-                        gcs().send_text(MAV_SEVERITY_INFO, "%d, %.4f, %f , %f , %f\n", gps_mark.week, gps_mark.second, gps_mark.lat, gps_mark.lon, gps_mark.hgt);
+                        // gcs().send_text(MAV_SEVERITY_INFO, "%d, %.4f, %f , %f , %f\n", gps_mark.week, gps_mark.second, gps_mark.lat, gps_mark.lon, gps_mark.hgt);
                         get_new_mark = false;
 
 #if HAL_WITH_UAVCAN
diff --git a/modules/mavlink b/modules/mavlink
index 72b407db39..6d62818f97 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 72b407db3991ed74631fa59a5e826615f569819f
+Subproject commit 6d62818f975c25ffc507904658d8510d3de53c80
diff --git a/zr-v4.sh b/zr-v4.sh
index c577c4d58e..58288d3b7a 100755
--- a/zr-v4.sh
+++ b/zr-v4.sh
@@ -1,3 +1,3 @@
 ./waf configure --board zr-v4
 ./waf copter
-cp ./build/zr-v4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/quard-zrv4-gps.px4
+cp ./build/zr-v4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/zr-v4.0.14.px4