diff --git a/.gitignore b/.gitignore
index dc6fb1ed6e..531d9f0e1b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -123,3 +123,5 @@ segv_*out
 /ArduPlane/scripts/
 /ArduSub/scripts/
 persistent.dat
+.history
+
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 490ae975af..9572aa8a03 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -457,7 +457,7 @@ bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
 {
    const AP_GPS &gps   =  AP::gps();
     if(gps.status()<2)
-        return false;
+        return true;
     if (!copter.deadline_ok())
     {
         int32_t deadline = 0;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 4a86d2bed3..641ec12a6f 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -55,6 +55,8 @@ const AP_Param::Info Copter::var_info[] = {
     // @Description: For mark board name last
   // @User: @Binsir
     GSCALAR(sysid_board_name_2nd,   "SYSID_BDNAME_P2",    1001),
+    // 0:rs100, 1:M66,  2:RF610   3:zrzk.20qt2
+    GSCALAR(sysid_type,   "SYSID_TYPE",   0 ),
 
     // @Param: SYSID_THISMAV
     // @DisplayName: MAVLink system ID of this vehicle
@@ -1638,10 +1640,27 @@ const char* Copter::get_sysid_board_id(void)
     // snprintf(buf, sizeof(buf),  "Version: v3.5.6 ,Board ID: ZRZK.19QT3.%d",(int)g.sysid_board_id);
 
      int32_t nameValue1 =(int32_t) g.sysid_board_name_1st;
-     int32_t nameValue2 = (int32_t)g.sysid_board_name_2nd;   
-
-    // snprintf(buf, sizeof(buf),  "Version: zr-v4.0.1 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
-    snprintf(buf, sizeof(buf),  "Version: zr-v4.0.2 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+     int32_t nameValue2 = (int32_t)g.sysid_board_name_2nd;
+     int8_t type = g.sysid_type;
+    switch (type)
+    {
+        case 0:
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+            break;
+        case 1:
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
+            break;
+        case 2:
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
+            break;
+        case 3:
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
+            break;
+        
+        default:
+            break;
+    }
+    AP::logger().Write_Message(buf);
     return buf;
 }
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 9c70540d16..8044110e3b 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -204,7 +204,7 @@ public:
 
         k_param_sysid_board_name_1st =106, //add by @Binsir
         k_param_sysid_board_name_2nd=107, //add by @Binsir
-        k_param_sysid_board_id=108, // modify by @Brown
+        k_param_sysid_type=108, // modify by @Brown
 
         // 110: Telemetry control
         //
@@ -393,7 +393,7 @@ public:
 
     AP_Int16        format_version;
 
-    // AP_Int32        sysid_board_id; // modify by @Brown
+    AP_Int8        sysid_type; // modify by @Brown
     AP_Int16        sysid_board_name_1st;// modify by @Binsir
     AP_Int16         sysid_board_name_2nd;// modify by @Binsir
 
diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 48a87585b4..0331ee2f3e 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -8,23 +8,9 @@ void Copter::userhook_init()
 {
     // put your initialisation code here
     // this will be called once at start-up
-    if (x30t != nullptr)
-    {
-        x30t->init();
-    }
-    else
-    {
-        if (x30t == nullptr)
-        {
-            gcs().send_text(MAV_SEVERITY_INFO,"x30t is null");
-            x30t = new AP_Camera_Serial_X30T();
-            if (x30t == nullptr || !x30t->init())
-            {
-                delete x30t;
-                x30t = nullptr;
-            }
-        }
-    }
+
+    relay.on(1);
+
 }
 #endif
 
@@ -46,38 +32,6 @@ void Copter::userhook_50Hz()
 void Copter::userhook_MediumLoop()
 {
     // put your 10Hz code here
-  if (x30t != nullptr)
-    {
-        int32_t lat = AP::gps().location().lat;
-        int32_t lng = AP::gps().location().lat;
-        int32_t alt = AP::gps().location().alt;
-        
-        uint8_t posdata[12];
-        posdata[0] = lat & 0xff;
-        posdata[1] = (lat >> 8) & 0xff;
-        posdata[2] = (lat >> 16) & 0xff;
-        posdata[3] = (lat >> 24) & 0xff;
-
-        posdata[4] = lng & 0xff;
-        posdata[5] = (lng >> 8) & 0xff;
-        posdata[6] = (lng >> 16) & 0xff;
-        posdata[7] = (lng >> 24) & 0xff;
-         
-        posdata[8] = alt& 0xff;
-        posdata[9] = (alt>> 8) & 0xff;
-        posdata[10] =(alt >> 16) & 0xff;
-        posdata[11] =(alt >> 24) & 0xff;
-       
-        x30t->sendPos(&posdata[0],X30T_MSG_TYPE_POS);
-
-
-       
-        
-  
-        
-
-    }
-
    
 }
 #endif
@@ -140,9 +94,8 @@ void Copter::userhook_SuperSlowLoop()
                 break;
         }
         cacl_volt_pst = 100 - cnt;
-        battery.reset_remaining(1, cacl_volt_pst);
-    }
-
+        battery.reset_remaining(0, cacl_volt_pst);
+    } 
 }
 #endif
 
@@ -150,6 +103,17 @@ void Copter::userhook_SuperSlowLoop()
 void Copter::userhook_auxSwitch1(uint8_t ch_flag)
 {
     // put your aux switch #1 handler here (CHx_OPT = 47)
+
+    // switch (ch_flag) {
+    //     case 2: {
+    //         relay.on(2);
+    //         break;
+    //     }
+    //     case 0: {
+    //         relay.off(2);
+    //         break;
+    //     }
+    // }
 }
 
 void Copter::userhook_auxSwitch2(uint8_t ch_flag)
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index 2a56baece3..7a7a83029c 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -102,6 +102,20 @@ void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
     } else {
         gcs().send_text(MAV_SEVERITY_WARNING, "Battery Failsafe");
     }
+        const AP_AHRS &_ahrs = AP::ahrs();
+        float home = 0.0;
+        Location loc;
+        if (_ahrs.get_position(loc)) {    
+            const Location &home_loc = _ahrs.get_home(); 
+            if (home_loc.lat != 0 || home_loc.lng != 0) {
+                // distance between vehicle and home_loc in meters
+                home = home_loc.get_distance(loc);
+                if(home < 10) // @Brown, if distance to home less than 10m,don't action
+                {
+                    desired_action = Failsafe_Action_None;
+                }
+            }
+        }
 
     // Battery FS options already use the Failsafe_Options enum. So use them directly.
     do_failsafe_action(desired_action, ModeReason::BATTERY_FAILSAFE);
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 4b8bc879cc..d848b1a7cf 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -26,24 +26,36 @@ void Copter::arm_motors_check()
     }
 #endif
 
+
+    int16_t yaw_in = channel_yaw->get_control_in();
+    int16_t pitch_in = channel_pitch->get_control_in();
+    int16_t roll_in = channel_roll->get_control_in();
+    int16_t throttle_in = channel_throttle->get_control_in();
+    static const uint16_t trim_trg_value = arming.get_rudder_arm_value()*40;
+    static const int8_t con_arm_delay = arming.get_rudder_arm_time();
+    // static uint8_t cnt;
+    // cnt++;
+    // if(cnt%20 == 0)
+    //     gcs().send_text(MAV_SEVERITY_INFO,"v:%4d,t:%4d,y:%4d,p:%4d,r:%4d",trim_trg_value,throttle_in,yaw_in,pitch_in,roll_in);
     // ensure throttle is down
-    if (channel_throttle->get_control_in() > 0) {
+    if (throttle_in > 1000-arming.get_rudder_arm_value()*10) {
         arming_counter = 0;
         return;
     }
 
-    int16_t yaw_in = channel_yaw->get_control_in();
 
     // full right
-    if (yaw_in > 4000) {
-
+    // if (yaw_in > 4000) {
+    if(yaw_in>trim_trg_value&&pitch_in>trim_trg_value&&roll_in< -trim_trg_value){
+    // if(yaw_in>trim_trg_value){
         // increase the arming counter to a maximum of 1 beyond the auto trim counter
         if (arming_counter <= AUTO_TRIM_DELAY) {
             arming_counter++;
         }
 
         // arm the motors and configure for flight
-        if (arming_counter == ARM_DELAY && !motors->armed()) {
+        // if (arming_counter == ARM_DELAY && !motors->armed()) {
+        if (arming_counter == con_arm_delay && !motors->armed()) {
             // reset arming counter if arming fail
             if (!arming.arm(AP_Arming::Method::RUDDER)) {
                 arming_counter = 0;
@@ -58,19 +70,23 @@ void Copter::arm_motors_check()
         }
 
     // full left and rudder disarming is enabled
-    } else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
+    // } else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
+    } else if((yaw_in<-trim_trg_value&&pitch_in>trim_trg_value&&roll_in>trim_trg_value)&&(arming_rudder==AP_Arming::RudderArming::ARMDISARM)){
+    // } else if((yaw_in<-trim_trg_value)&&(arming_rudder==AP_Arming::RudderArming::ARMDISARM)){
         if (!flightmode->has_manual_throttle() && !ap.land_complete) {
             arming_counter = 0;
             return;
-        }
+        } 
 
         // increase the counter to a maximum of 1 beyond the disarm delay
-        if (arming_counter <= DISARM_DELAY) {
+        // if (arming_counter <= DISARM_DELAY) {
+        if (arming_counter <= con_arm_delay) {
             arming_counter++;
         }
 
         // disarm the motors
-        if (arming_counter == DISARM_DELAY && motors->armed()) {
+        // if (arming_counter == DISARM_DELAY && motors->armed()) {
+        if (arming_counter == con_arm_delay && motors->armed()) {
             arming.disarm();
         }
 
diff --git a/ArduCopter/version.cpp b/ArduCopter/version.cpp
index 2f610c73c5..a8075749c3 100644
--- a/ArduCopter/version.cpp
+++ b/ArduCopter/version.cpp
@@ -29,7 +29,7 @@ const AP_FWVersion AP_FWVersion::fwver{
     .fw_hash_str = "",
 #else
     .fw_string = THISFIRMWARE " (" GIT_VERSION ")",
-    // .fw_string = copter.get_sysid_board_id(),
+    //.fw_string = copter.get_sysid_board_id(),
     .fw_hash_str = GIT_VERSION,
 #endif
     .middleware_name = nullptr,
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index c5ff881201..2b904e1cdf 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.4"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
diff --git a/Tools/Frame_params/Parrot_Disco/rcS_mode_default b/Tools/Frame_params/Parrot_Disco/rcS_mode_default
index e4866ded97..19f94a55de 100755
--- a/Tools/Frame_params/Parrot_Disco/rcS_mode_default
+++ b/Tools/Frame_params/Parrot_Disco/rcS_mode_default
@@ -3,9 +3,9 @@
 # default rcS running mode script
 
 echo $((1024*1024)) > /proc/sys/net/core/wmem_max	# inscrease the max socket size
-if test -x /data/ftp/internal_000/APM/start_ardupilot.sh; then
+if test -x /data/ftp/internal_000/ZRUAV/start_ardupilot.sh; then
   ulogger -t "rcS_mode_default" -p I "Launching ArduPilot"
-  /data/ftp/internal_000/APM/start_ardupilot.sh
+  /data/ftp/internal_000/ZRUAV/start_ardupilot.sh
 else
   ulogger -t "rcS_mode_default" -p I "Launching Dragon"
   DragonStarter.sh -out2null &
diff --git a/Tools/scripts/build_autotest.sh b/Tools/scripts/build_autotest.sh
index 12697faa62..89c427933d 100755
--- a/Tools/scripts/build_autotest.sh
+++ b/Tools/scripts/build_autotest.sh
@@ -1,9 +1,9 @@
 #!/bin/bash
 
-export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/APM/px4/gcc-arm-none-eabi-4_9-2015q3/bin:$PATH
+export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/ZRUAV/px4/gcc-arm-none-eabi-4_9-2015q3/bin:$PATH
 export PYTHONUNBUFFERED=1
 
-cd $HOME/APM || exit 1
+cd $HOME/ZRUAV || exit 1
 
 test -n "$FORCEBUILD" || {
 (cd APM && git fetch > /dev/null 2>&1)
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 713e156f31..30f51da083 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -115,6 +115,11 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("CHECK",        8,     AP_Arming,  checks_to_perform,       ARMING_CHECK_ALL),
 
+    //  @Brown ,摇杆解锁延时， *0.1s
+    AP_GROUPINFO("DELAY",  9,     AP_Arming, rudder_arm_delay_dsec,   5),
+    //  @Brown ,摇杆解锁量，百分比
+    AP_GROUPINFO("VPERC",  10,     AP_Arming, rudder_arm_value_perc,   90),
+
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 80396e7239..2f1fd88872 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -79,6 +79,8 @@ public:
     };
 
     RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
+    int8_t   get_rudder_arm_time() const { return rudder_arm_delay_dsec.get(); }
+    int8_t   get_rudder_arm_value() const { return rudder_arm_value_perc.get(); }
 
     static const struct AP_Param::GroupInfo        var_info[];
 
@@ -89,6 +91,8 @@ protected:
     AP_Int32                checks_to_perform;      // bitmask for which checks are required
     AP_Float                accel_error_threshold;
     AP_Int8                 _rudder_arming;
+    AP_Int8                 rudder_arm_delay_dsec;
+    AP_Int8                 rudder_arm_value_perc;
     AP_Int32                 _required_mission_items;
 
     // internal members
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index 1d2f9d91b4..23fb9c9a2e 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -147,7 +147,8 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
                 break;
                 case AP_BattMonitor_Params::BattMonitor_Serial_BattGo:
-                drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],instance);//TODO 
+                // drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],instance);//TODO 
+                drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],0);//TODO 
                 break;
             case AP_BattMonitor_Params::BattMonitor_TYPE_NONE:
             default:
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp
index b816218c13..0cd7dbb18d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp
@@ -70,6 +70,10 @@ bool AP_BattMonitor_Serial_BattGo::get_reading() //TODO need to Refactor
 
 void AP_BattMonitor_Serial_BattGo::requestBattData(uint8_t data)
 {
+    if (uart == nullptr)
+    {
+        return ;
+    }
     //发送data主要   0x40  0x42  0x44  地址0x21  及计算crc 均不会出现0x55，故不做0x55处理
     uint8_t send_data[13];
     send_data[0] = 0x55;
@@ -231,6 +235,7 @@ void AP_BattMonitor_Serial_BattGo::read()
 {
     requestBattData(BATTGO_CMD_REQUEST_ACTUAL_DATA);
     uint32_t tnow = AP_HAL::micros();
+    static uint32_t last_prt;
     if (get_reading())
     {
         if (parseBattGo())
@@ -257,15 +262,17 @@ void AP_BattMonitor_Serial_BattGo::read()
             //...
             _state.healthy = _interim_state.healthy;
         }else{            
-            if(tnow-last_rev_batt_time>5000000){
+            if(tnow-last_rev_batt_time>5000000 && tnow - last_prt > 20000000 ){
                       _interim_state.healthy = false;
                       gcs().send_text(MAV_SEVERITY_INFO,"BATT_ERR:已经%d秒没有接收到智能电池 的串口数据！",(tnow-last_rev_batt_time)/1000000);
+                last_prt = tnow;
             }
         }
     }else{
-            if(tnow-last_rev_batt_time>5000000){
+            if(tnow-last_rev_batt_time>5000000 && tnow - last_prt > 20000000 ){
                       _interim_state.healthy = false;
                       gcs().send_text(MAV_SEVERITY_INFO,"BATT_ERR:已经%d秒没有接收到智能电池 的串口数据！",(tnow-last_rev_batt_time)/1000000);
+                last_prt = tnow;
             }
     }
 }
diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 4f328c8324..7de13f46a8 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -156,6 +156,8 @@ void AP_Camera::trigger_pic()
     }
 
     log_picture();
+    AP_Notify::flags.image_index_log = number_of_log();
+    AP_Notify::flags.image_index = number_of_index();
 }
 
 /// de-activate the trigger after some delay, but without using a delay() function
@@ -410,12 +412,14 @@ void AP_Camera::log_picture()
             logger->Write_Camera(current_loc);
             last_pos_lat = current_loc.lat;
             last_pos_lng = current_loc.lng;
+            _image_index_log++;
         }
     } else {
         if (logger->should_log(log_camera_bit)) {
             logger->Write_Trigger(current_loc);
             last_pos_lat = current_loc.lat;
             last_pos_lng = current_loc.lng;
+            _image_index_log++;
         }
     }
 }
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 80d1d219eb..e3ee5ecf90 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -78,6 +78,12 @@ public:
 
     void get_last_trigger_pos(int32_t &lat,int32_t &lng){ lat=last_pos_lat;lng=last_pos_lng; } // @Brown,for get camera pos
 
+    //  modivy by @Brown
+    uint16_t number_of_log(void) const { return _image_index_log; }
+    uint16_t number_of_index(void) const { return _image_index; }
+
+    uint16_t        _image_index_log;       // number of pictures taken to log @Brown
+    
 private:
 
     static AP_Camera *_singleton;
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index c51c7d5c14..fe9770f566 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -110,7 +110,7 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
      //convert to time since Unix epoch
     uint32_t  ret =mkgmtime(timeinfo);
     //GPS epoch
-    ret -= 315964800; //315964800   1980-1-6  - 1970 1- 1
+    ret -= 315964800 + 18; //315964800   1980-1-6  - 1970 1- 1,+18s tiaomiao
 
     // // get time in seconds since unix epoch
     // uint32_t ret = (year/4) - (GPS_LEAPSECONDS_MILLIS / 1000UL) + 367*rmon/12 + day;
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index 305da45355..88738afcbf 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -93,7 +93,7 @@
 
 // allow for short names overridden in hwdef.dat
 #ifndef CHIBIOS_SHORT_BOARD_NAME
-#define CHIBIOS_SHORT_BOARD_NAME CHIBIOS_BOARD_NAME
+#define CHIBIOS_SHORT_BOARD_NAME "ZrHardWare"
 #endif
 
 #ifndef CONFIG_HAL_BOARD_SUBTYPE
@@ -109,7 +109,7 @@
 #define HAL_I2C_INTERNAL_MASK 1
 #endif
 
-// put all storage of files under /APM directory
+// put all storage of files under /ZRUAV directory
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
-#define HAL_BOARD_STORAGE_DIRECTORY "/APM"
+#define HAL_BOARD_STORAGE_DIRECTORY "/ZRUAV"
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/Storage.cpp b/libraries/AP_HAL_ChibiOS/Storage.cpp
index b9c7ae5882..f1ec78c8fb 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.cpp
+++ b/libraries/AP_HAL_ChibiOS/Storage.cpp
@@ -31,12 +31,12 @@ extern const AP_HAL::HAL& hal;
 #ifndef HAL_STORAGE_FILE
 // using SKETCHNAME allows the one microSD to be used
 // for multiple vehicle types
-#define HAL_STORAGE_FILE "/APM/" SKETCHNAME ".stg"
+#define HAL_STORAGE_FILE "/ZRUAV/" SKETCHNAME ".stg"
 #endif
 
 #ifndef HAL_STORAGE_BACKUP_FILE
 // location of backup file
-#define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak"
+#define HAL_STORAGE_BACKUP_FILE "/ZRUAV/" SKETCHNAME ".bak"
 #endif
 
 #define STORAGE_FLASH_RETRIES 5
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
index d69cb5134b..d8b17ccef8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
@@ -270,8 +270,8 @@ define HAL_CHIBIOS_ARCH_FMUV3 1
 define BOARD_TYPE_DEFAULT 3
 
 # Nnow some defines for logging and terrain data files.
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # allow to have have a dedicated safety switch pin
 define HAL_HAVE_SAFETY_SWITCH 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
index 2d4fb81d00..e4a7a506ca 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
@@ -435,8 +435,8 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 # now some defines for logging and terrain data files
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # we need to tell HAL_ChibiOS/Storage.cpp how much storage is
 # available (in bytes)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
index 66d40285fc..d5c050aeed 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
@@ -227,8 +227,8 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
 define HAL_CHIBIOS_ARCH_FMUV4PRO 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE 16384
 define HAL_WITH_RAMTRON 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
index e2c696622c..3710748714 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
@@ -323,8 +323,8 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 # enable FAT filesystem support (needs a microSD defined via SDMMC)
 define HAL_OS_FATFS_IO 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
index c6e5f4bc86..380a33876d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
@@ -147,8 +147,8 @@ define HAL_PROBE_EXTERNAL_I2C_BAROS
 
 # no onboard SD, filesystem support disabled until flash logging implemented
 #define HAL_OS_FATFS_IO 1
-#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+#define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # OSD support
 define OSD_ENABLED ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
index 9510b1f9fc..99e77ba4fc 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/F4BY/hwdef.dat
@@ -108,8 +108,8 @@ define HAL_WITH_RAMTRON 1
 # enable FAT filesystem support
 define HAL_OS_FATFS_IO 1
 # now some defines for logging and terrain data files
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # this defines the default maximum clock on I2C devices.
 define HAL_I2C_MAX_CLOCK 100000
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
index 1a32e32a5a..75fb423950 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
@@ -144,8 +144,8 @@ IMU Invensense SPI:mpu6000 ROTATION_YAW_180
 BARO BMP280 I2C:0:0x76
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # setup for OSD
 define OSD_ENABLED ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
index a154ba52e0..85db171dba 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
@@ -152,8 +152,8 @@ IMU Invensense SPI:mpu6000 ROTATION_YAW_180
 BARO BMP280 I2C:0:0x76
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # define default battery setup
 define HAL_BATT_MONITOR_DEFAULT 4
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
index 2fe3ac3534..2a50782b0e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
@@ -156,8 +156,8 @@ SPIDEV osd       SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
 
 # filesystem setup on sdcard
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # 8 PWM available by default
 define BOARD_PWM_COUNT_DEFAULT 8
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
index 615904d2dc..e8c59303e9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF765-Wing/hwdef.dat
@@ -197,8 +197,8 @@ BARO BMP388 I2C:0:0x76
 BARO MS56XX I2C:0:0x77
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # setup for OSD
 define OSD_ENABLED ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
index 1c193b5f11..0c566f51ae 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
@@ -124,8 +124,8 @@ SPIDEV sdcard  SPI4 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ
 SPIDEV osd     SPI2 DEVID1 MAX7456_CS MODE0 10*MHZ 10*MHZ
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat
index e6e323b9cc..e66a545e7e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v51/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_BRAINV51 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat
index e1ca735d17..664b4f5449 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v52/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_BRAINV52 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat
index efdb98d8c6..83ea5dc75a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRBrain-v54/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_BRAINV54 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
index 5853892dc3..2efb6f95d9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRCore-v10/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_COREV10 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE   16384
 define STORAGE_FLASH_PAGE 22
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
index 2de2ce1c15..ffb9f44b9b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
@@ -132,8 +132,8 @@ SPIDEV sdcard      SPI3 DEVID1  SDCARD_CS  MODE0 400*KHZ  25*MHZ
 
 define HAL_CHIBIOS_ARCH_UBRAINV51 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE      15360
 define STORAGE_FLASH_PAGE    2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
index d84212c7c5..fd904b78d0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
@@ -438,8 +438,8 @@ SPIDEV pixartPC15     SPI4 DEVID13 ACCEL_EXT_CS MODE3  2*MHZ  2*MHZ
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 # Nnow some defines for logging and terrain data files.
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # We need to tell HAL_ChibiOS/Storage.cpp how much storage is
 # available (in bytes).
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
index 3f47ec72ed..d129a89eb3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
@@ -174,8 +174,8 @@ SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ
 
 define HAL_CHIBIOS_ARCH_FMUV4 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE        16384
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
index d5cafdb40e..0f989d96a7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
@@ -159,7 +159,7 @@ PD12 USART3_RTS USART3
 PD0 UART4_RX UART4 NODMA
 PD1 UART4_TX UART4 NODMA
 
-# USART6 is telem3
+# # USART6 is telem3
 PG9 USART6_RX USART6 NODMA
 # we leave PG14 as an input to prevent it acting as a pullup
 # on the IOMCU SBUS input
@@ -167,6 +167,14 @@ PG9 USART6_RX USART6 NODMA
 PG15 USART6_CTS USART6
 PG8 USART6_RTS USART6
 
+# # USART6 is telem3 for cube
+# PG9 USART6_RX USART6 NODMA
+# # we leave PG14 as an input to prevent it acting as a pullup
+# # on the IOMCU SBUS input
+# PG14 USART6_TX USART6 NODMA
+# # PG15 USART6_CTS USART6
+# # PG8 USART6_RTS USART6
+
 # UART7 is debug
 PF6 UART7_RX UART7 NODMA
 PE8 UART7_TX UART7 NODMA
@@ -321,8 +329,8 @@ DMA_PRIORITY SDMMC* UART8* ADC* SPI* TIM*
 # enable FAT filesystem support (needs a microSD defined via SDMMC)
 define HAL_OS_FATFS_IO 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
index 1ee9a63a14..d0c005a7f7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat
@@ -236,8 +236,8 @@ SPIDEV bmi088_g    SPI5 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
 SPIDEV bmi088_a    SPI5 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
 
 # Now some defines for logging and terrain data files.
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # allow to have have a dedicated safety switch pin
 define HAL_HAVE_SAFETY_SWITCH 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
index 330255c0ca..4ab4639703 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
@@ -399,8 +399,8 @@ SPIDEV ramtron        SPI2 DEVID10 FRAM_CS      MODE3  8*MHZ  8*MHZ
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 # now some defines for logging and terrain data files
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # we need to tell HAL_ChibiOS/Storage.cpp how much storage is
 # available (in bytes)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
index 9e2f770f59..cb4253fe80 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
@@ -186,8 +186,8 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
 define HAL_CHIBIOS_ARCH_MINDPXV2 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE 16384
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
index 0d0827d7f8..1b48f582c8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
@@ -128,8 +128,8 @@ COMPASS QMC5883L I2C:0:0x0D false ROTATION_PITCH_180_YAW_270
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 1
 
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 define HAL_STORAGE_SIZE        16384
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
index 800fe87bea..78b0e60e18 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
@@ -116,8 +116,8 @@ define STORAGE_FLASH_PAGE 1
 define HAL_STORAGE_SIZE 15360
 
 define HAL_OS_FATFS_IO 1
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+define HAL_BOARD_LOG_DIRECTORY "/ZRUAV/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/ZRUAV/TERRAIN"
 
 # define default battery setup
 define HAL_BATT_VOLT_PIN 12
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index 9906dec0a5..fb4cff2f81 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -79,7 +79,7 @@ bool sdcard_init()
         printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
 
         // Create APM Directory if needed
-        AP::FS().mkdir("/APM");
+        AP::FS().mkdir("/ZRUAV");
         sdcard_running = true;
         return true;
     }
@@ -124,7 +124,7 @@ bool sdcard_init()
         printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
 
         // Create APM Directory if needed
-        AP::FS().mkdir("/APM");
+        AP::FS().mkdir("/ZRUAV");
         return true;
     }
 #endif
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 17fe8576bd..99e23fce06 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -252,11 +252,11 @@ void _usage(void)
     printf("\t                  -A udp:11.0.0.255:14550:bcast\n");
     printf("\t                  -A udpin:0.0.0.0:14550\n");
     printf("\tcustom log path:\n");
-    printf("\t                  --log-directory /var/APM/logs\n");
-    printf("\t                  -l /var/APM/logs\n");
+    printf("\t                  --log-directory /var/ZRUAV/logs\n");
+    printf("\t                  -l /var/ZRUAV/logs\n");
     printf("\tcustom terrain path:\n");
-    printf("\t                   --terrain-directory /var/APM/terrain\n");
-    printf("\t                   -t /var/APM/terrain\n");
+    printf("\t                   --terrain-directory /var/ZRUAV/terrain\n");
+    printf("\t                   -t /var/ZRUAV/terrain\n");
 #if AP_MODULE_SUPPORTED
     printf("\tmodule support:\n");
     printf("\t                   --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index 697db9dd00..bd7ba49d97 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -92,6 +92,9 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
     // @User: Standard
     // @Units: s
     AP_GROUPINFO("_FILE_TIMEOUT",  6, AP_Logger, _params.file_timeout,     HAL_LOGGING_FILE_TIMEOUT),
+
+    AP_GROUPINFO("_LAST_LOG",  7, AP_Logger, _params.last_log_num,     0),
+    
     
     AP_GROUPEND
 };
@@ -211,6 +214,7 @@ void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
     EnableWrites(true);
 
     gcs().send_text(MAV_SEVERITY_INFO, "Prepared log system");
+    set_last_log_num();
 }
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index 79f63d97d2..68302baf18 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -338,8 +338,11 @@ public:
         AP_Int8 log_replay;
         AP_Int8 mav_bufsize; // in kilobytes
         AP_Int16 file_timeout; // in seconds
+        AP_Int16 last_log_num; // in seconds
     } _params;
 
+    void set_last_log_num() { _params.last_log_num = find_last_log() ; }
+
     const struct LogStructure *structure(uint16_t num) const;
     const struct UnitStructure *unit(uint16_t num) const;
     const struct MultiplierStructure *multiplier(uint16_t num) const;
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 1905d0f90b..26f4d466da 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -241,10 +241,10 @@ void AP_Notify::add_backends(void)
 #endif
                 break;
             case Notify_LED_ToshibaLED_I2C_Internal:
-                ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
+                ADD_BACKEND(new ToshibaLED_I2C(2));
                 break;
             case Notify_LED_ToshibaLED_I2C_External:
-                ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
+                ADD_BACKEND(new ToshibaLED_I2C(3));
                 break;
 #if !HAL_MINIMIZE_FEATURES
             case Notify_LED_NCP5623_I2C_External:
diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index 8171f16860..89c815600d 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -100,6 +100,8 @@ public:
         bool waiting_for_throw;   // true when copter is in THROW mode and waiting to detect the user hand launch
         bool powering_off;        // true when the vehicle is powering off
         bool video_recording;     // true when the vehicle is recording video
+        uint16_t    image_index       ;    // camera images ,add by @Brown
+        uint16_t    image_index_log       ;    // camera images to log
     };
 
     /// notify_events_type - bitmask of active events.
diff --git a/libraries/AP_Notify/Display.cpp b/libraries/AP_Notify/Display.cpp
index c5870bbdaa..d8760ce4b1 100644
--- a/libraries/AP_Notify/Display.cpp
+++ b/libraries/AP_Notify/Display.cpp
@@ -322,6 +322,197 @@ static_assert(ARRAY_SIZE(_font) == 1280, "_font is correct size");
 static_assert(ARRAY_SIZE(_font) == 475, "_font is correct size");
 #endif
 
+static const unsigned char _font_16[]=	  
+{
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
+  0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
+  0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
+  0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
+  0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
+  0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
+  0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
+  0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
+  0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
+  0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
+  0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
+  0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
+  0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
+  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
+  0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
+  0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
+  0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
+  0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
+  0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
+  0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
+  0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
+  0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
+  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
+  0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
+  0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
+  0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
+  0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
+  0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
+  0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
+  0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
+  0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
+  0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
+  0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
+  0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
+  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
+  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
+  0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
+  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
+  0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
+  0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
+  0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
+  0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
+  0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
+  0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
+  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
+  0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
+  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
+  0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
+  0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
+  0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
+  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
+  0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
+  0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
+  0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
+  0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
+  0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
+  0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
+  0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
+  0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
+  0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
+  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
+  0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
+  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
+  0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
+  0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
+  0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
+  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
+  0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
+  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
+  0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
+  0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
+  0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
+  0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
+  0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
+  0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
+  0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
+  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
+  0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
+  0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
+  0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
+  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
+  0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
+  0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
+  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
+  0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
+  0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
+  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
+  0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
+  0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
+  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
+  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
+  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
+};
+
+
+ /// 致(0) 睿(1) 智(2) 控(3) 云(4) 台(5)
+static unsigned char ZRZKYT[][32]={
+
+    {0x00,0x00,0xFF,0x05,0x05,0xF5,0x55,0x5D,0x55,0x55,0x55,0x55,0xF5,0x05,0x01,0x00},
+    {0x40,0x30,0x0F,0x80,0xA0,0x97,0xBD,0x55,0x55,0x55,0x55,0x55,0xB7,0x80,0x80,0x00},/*"厦",0*/
+
+    {0x00,0xF8,0x01,0x06,0x00,0x00,0x02,0x02,0x02,0x02,0x02,0x02,0x02,0xFE,0x00,0x00},
+    {0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x40,0x80,0x7F,0x00,0x00},/*"门",1*/
+
+    {0x42,0x62,0x5A,0xC6,0x52,0x62,0xC2,0x20,0xD8,0x17,0x10,0x10,0xF0,0x10,0x10,0x00},
+    {0x40,0xC4,0x44,0x7F,0x24,0x24,0xA0,0x40,0x21,0x16,0x08,0x16,0x21,0x40,0x80,0x00},/*"致",2*/
+
+    {0x20,0x18,0x88,0xA8,0x68,0x28,0xA8,0x6F,0xAA,0x2A,0x6A,0xAA,0x0A,0x28,0x18,0x00},
+    {0x04,0x04,0x02,0xFE,0xAB,0xAB,0xAA,0xAA,0xAA,0xAB,0xAB,0xFE,0x02,0x04,0x04,0x00},/*"睿",3*/
+
+    {0x10,0x94,0x53,0x32,0x1E,0x32,0x52,0x10,0x00,0x7E,0x42,0x42,0x42,0x7E,0x00,0x00},
+    {0x00,0x00,0x00,0xFF,0x49,0x49,0x49,0x49,0x49,0x49,0x49,0xFF,0x00,0x00,0x00,0x00},/*"智",4*/
+
+    {0x10,0x10,0x10,0xFF,0x90,0x20,0x98,0x48,0x28,0x09,0x0E,0x28,0x48,0xA8,0x18,0x00},
+    {0x02,0x42,0x81,0x7F,0x00,0x40,0x40,0x42,0x42,0x42,0x7E,0x42,0x42,0x42,0x40,0x00},/*"控",5*/
+
+};
+
+unsigned char gImage_zr12864[] = {
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x08,0x38,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,0xF8,
+0xF8,0xF8,0xF8,0xF8,0x78,0x18,0x00,0xC0,0xF0,0xF0,0xF0,0xE0,0xC0,0x80,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x10,0xB0,0xF0,0x70,0x30,0x30,0x30,0xB0,0x30,
+0x00,0xC0,0xF0,0x30,0x30,0x30,0x30,0xF0,0xF0,0x30,0x00,0x00,0x00,0x00,0xC0,0xC0,
+0x40,0x78,0x78,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0x50,0xD0,0xD0,0xC0,
+0x00,0x00,0x00,0x00,0x00,0xF0,0xB0,0x90,0xF0,0xF0,0xB0,0x90,0x90,0x80,0x00,0xF0,
+0xF0,0x30,0x30,0x30,0xF0,0xF0,0x00,0x00,0x00,0x00,0xC0,0xC0,0xF8,0xF0,0xC0,0x00,
+0x00,0xF0,0xF0,0x30,0x30,0x30,0x38,0x38,0x30,0x30,0xF0,0xF0,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x03,0x83,0xE3,0xFB,0xFF,0xFF,0xFF,0x7F,
+0x3F,0x0F,0x83,0xE0,0xF8,0xFE,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFC,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x67,0x67,0x66,0xFE,0xFE,0x66,0x67,0x67,
+0x00,0x01,0x03,0x98,0xF8,0xF0,0xFC,0x0F,0x03,0x00,0x00,0x00,0x00,0x00,0x01,0xF5,
+0xF4,0xB5,0xBD,0xBF,0xBF,0xA9,0xA9,0xA9,0xAF,0xBF,0xBF,0xBD,0xBC,0xF4,0xF5,0x01,
+0x00,0x00,0x00,0x00,0x00,0xEC,0xE4,0x36,0x37,0x33,0x37,0x34,0x3C,0x30,0x30,0x37,
+0x37,0x36,0x36,0xF6,0xE7,0xE7,0x00,0x00,0x00,0x00,0x60,0x60,0xFF,0xFF,0x30,0x10,
+0x00,0x05,0x67,0x66,0x63,0x63,0xE0,0xE0,0x63,0x66,0x66,0x65,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x80,0xC0,0xF0,0xFC,0xFF,0xFF,0xFF,0x7F,0x1F,0x87,0x01,0x10,
+0x7C,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x7F,0x3F,0x1F,0x0F,0x03,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x88,0x88,0x8C,0x8C,0x8F,0x0F,0x0C,0x8C,0x04,
+0x00,0x00,0x8E,0x07,0x01,0x80,0x03,0x07,0x0E,0x00,0x00,0x00,0x80,0x80,0x80,0x0F,
+0x0F,0x0A,0x8A,0x0A,0x0A,0x0A,0x8A,0x0A,0x0A,0x8A,0x0A,0x0A,0x0A,0x0F,0x0F,0x00,
+0x80,0x80,0x80,0x80,0x00,0x0F,0x8F,0x09,0x09,0x09,0x89,0x09,0x09,0x89,0x09,0x09,
+0x09,0x09,0x09,0x0F,0x8F,0x0F,0x00,0x00,0x80,0x00,0x08,0x88,0x8F,0x8F,0x00,0x00,
+0x00,0x88,0x88,0x08,0x08,0x88,0x0F,0x0F,0x08,0x08,0x88,0x88,0x80,0x00,0x00,0x00,
+0x00,0x00,0x00,0x3E,0x3F,0x3F,0x3F,0x1F,0x0F,0x03,0x20,0x38,0x3E,0x3F,0x3F,0x3E,
+0x38,0x01,0x03,0x0F,0x3F,0x3F,0x3F,0x3F,0x3F,0x3F,0x3F,0x3E,0x38,0x20,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x38,0x24,0x23,0x21,0x00,0x00,0x3F,0x04,
+0x04,0x04,0x3F,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,0x00,0x00,0x3F,0x04,0x04,0x3B,
+0x00,0x00,0x1F,0x20,0x20,0x20,0x1F,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,0x00,0x00,
+0x30,0x28,0x26,0x23,0x00,0x00,0x3F,0x04,0x04,0x04,0x3F,0x00,0x00,0x3F,0x00,0x00,
+0x00,0x00,0x00,0x00,0x3F,0x06,0x0A,0x11,0x20,0x00,0x1F,0x20,0x20,0x20,0x1F,0x00,
+0x00,0x3F,0x03,0x06,0x18,0x3F,0x00,0x00,0x0E,0x11,0x20,0x20,0x24,0x1C,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*"d:\Users\z\Pictures\应用\转尺寸\ZR12864w2.bmp",0*/
+};
+
+
 bool Display::init(void)
 {
     // exit immediately if already initialised
@@ -399,6 +590,9 @@ void Display::update()
 
 void Display::update_all()
 {
+    update_display_manual();
+    return;
+
     update_text(0);
     update_mode(1);
     update_battery(2);
@@ -433,21 +627,62 @@ void Display::draw_char(uint16_t x, uint16_t y, const char c)
 {
     uint8_t line;
 
+    static uint8_t Size = 16;
+    uint8_t i,j;
     // draw char to pixel
-    for (uint8_t i = 0; i < 6; i++) {
-        if (i == 5) {
-            line = 0;
-        } else {
-            line = _font[(c * 5) + i];
+    if(Size == 16)
+    {
+        for ( i = 0; i < 9; i++) {
+            if (i == 8) {
+                line = 0;
+            } else {
+                line = _font_16[(c * 16) + i];
+            }
+
+            for ( j = 0; j < 8; j++) {
+                if (line & 1) {
+                    _driver->set_pixel(x + i, y + j );
+                } else { 
+                    _driver->clear_pixel(x + i, y + j );
+                }
+                line >>= 1;
+            }
+            
         }
 
-        for (uint8_t j = 0; j < 8; j++) {
-            if (line & 1) {
-                _driver->set_pixel(x + i, y + j);
+        for ( i = 0; i < 9; i++) {
+            if (i == 8) {
+                line = 0;
             } else {
-                _driver->clear_pixel(x + i, y + j);
+                line = _font_16[(c * 16) + 8 + i];
+            }
+   
+            for ( j = 0; j < 8; j++) {
+                if (line & 1) {
+                    _driver->set_pixel(x + i, y + 8 + j);
+                } else {
+                    _driver->clear_pixel(x + i, y + 8 + j);
+                }
+                line >>= 1;
+            }
+        
+        }
+    }else{
+        for ( i = 0; i < 6; i++) {
+            if (i == 5) {
+                line = 0;
+            } else {
+                line = _font[(c * 5) + i];
+            }
+
+            for ( j = 0; j < 8; j++) {
+                if (line & 1) {
+                    _driver->set_pixel(x + i, y + j);
+                } else {
+                    _driver->clear_pixel(x + i, y + j);
+                }
+                line >>= 1;
             }
-            line >>= 1;
         }
     }
 }
@@ -523,9 +758,14 @@ void Display::update_ekf(uint8_t r)
 
 void Display::update_battery(uint8_t r)
 {
+    // char msg [DISPLAY_MESSAGE_SIZE];
+    // snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ;
+    // draw_text(COLUMN(0), ROW(r), msg);
+
     char msg [DISPLAY_MESSAGE_SIZE];
-    snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %4.2fV", (double)AP::battery().voltage()) ;
+    snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %2.1fV,GPS:%2u", (double)AP::battery().voltage(), (unsigned)AP_Notify::flags.gps_num_sats) ;
     draw_text(COLUMN(0), ROW(r), msg);
+
  }
 
 void Display::update_mode(uint8_t r)
@@ -580,3 +820,204 @@ void Display::update_text(uint8_t r)
 
     draw_text(COLUMN(0), ROW(0), msg);
  }
+
+
+
+void Display::draw_chinese(uint8_t x,uint8_t y,unsigned char hz[][32],uint8_t no)
+{
+    uint8_t i,j,line = 0;
+    for ( i = 0; i < 17; i++) {
+        if (i == 16) {
+            line = 0;
+        } else {
+            line = hz[2 * no][i];
+        }
+
+        for ( j = 0; j < 8; j++) {
+            if (line & 1) {
+                _driver->set_pixel(x + i, y + j );
+            } else { 
+                _driver->clear_pixel(x + i, y + j );
+            }
+            line >>= 1;
+        }
+        
+    }
+
+    for ( i = 0; i < 17; i++) {
+        if (i == 16) {
+            line = 0;
+        } else {
+            line = hz[2 * no + 1][i];
+        }
+
+        for ( j = 0; j < 8; j++) {
+            if (line & 1) {
+                _driver->set_pixel(x + i, y + 8 + j);
+            } else {
+                _driver->clear_pixel(x + i, y + 8 + j);
+            }
+            line >>= 1;
+        }
+    
+    }
+}
+
+void Display::draw_BMP(uint8_t x0,uint8_t y0,uint8_t x1,uint8_t y1,unsigned char BMP[])
+{
+    uint16_t i = 0;
+    uint16_t j = 0;
+    uint8_t x,y;
+    uint8_t line = BMP[0];
+
+    // if(y1%8 == 0)
+    //     y = y1/8;
+    // else 
+    //     y = y1/8 +1;
+
+    for(y=0; y<64; y+=8)
+    {
+        for(x=0; x<128; x++)
+        {
+            
+            line = BMP[i++];
+            for ( j = 0; j < 8; j++) {
+                if (line & 1) {
+                    _driver->set_pixel(x, y + j);
+                } else {
+                    _driver->clear_pixel(x + i, y + j);
+                }
+                line >>= 1;
+            }
+        }
+    }    
+}
+
+
+void Display::display_clear(void)
+{
+    for(int i = 0; i < 64; i++)
+    {
+        for(int j = 0; j<128; j++){
+
+            _driver->clear_pixel(j , i);
+        }
+    }
+}
+
+
+void Display::update_chinese(uint8_t r)
+{
+    draw_chinese(COLUMN(0), ROW(r),ZRZKYT,0);
+    draw_chinese(COLUMN(3), ROW(r),ZRZKYT,1);
+    draw_chinese(COLUMN(6), ROW(r),ZRZKYT,2);
+    draw_chinese(COLUMN(9), ROW(r),ZRZKYT,3);
+    draw_chinese(COLUMN(12), ROW(r),ZRZKYT,4);
+    draw_chinese(COLUMN(15), ROW(r),ZRZKYT,5);
+}
+
+void Display::update_camera(uint8_t r)
+{
+
+    // char msg [DISPLAY_MESSAGE_SIZE];
+    // snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT1: %2.2fV,GPS:%2u", (double)AP::battery().voltage(), (unsigned)AP_Notify::flags.gps_num_sats) ;
+    // draw_text(COLUMN(0), ROW(r), msg);
+
+    char msg2 [DISPLAY_MESSAGE_SIZE];     
+    snprintf(msg2, DISPLAY_MESSAGE_SIZE, "IMG: %4d,L: %4d   ", AP_Notify::flags.image_index,AP_Notify::flags.image_index_log) ;
+    draw_text(COLUMN(0), ROW(r), msg2);
+
+ }
+ 
+void Display::update_display_manual()
+{
+    static uint8_t time_cnt;
+
+    static uint8_t display_stage = 1;
+
+    // if (time_cnt++ > 10) {
+    //     time_cnt = 0;
+    //     display_stage++;
+    // }
+    // if(display_stage>5)
+    //     display_stage = 1;
+    RESTART1:
+    switch (display_stage)
+    {
+        case 1:
+            display_clear();
+            display_stage = 2;
+        case 2:
+            draw_BMP(0,0,128,8,gImage_zr12864);   //  绘制图片
+            if (time_cnt++ > 10) {
+                time_cnt = 0;
+                display_stage++;
+            }
+            break;
+        case 3:
+            display_clear();
+            display_stage = 4;
+        case 4:
+            // update_text(0);
+            update_chinese(0);
+            update_camera(2);
+            update_battery(4);
+            
+            break;
+        // case 5:
+        //     // update_text(0);
+        //     update_chinese(0);
+        //     // update_gps(2);
+        //     update_camera(4);
+        //     break;
+        // case 6:
+
+        //     display_stage = 1;
+        //     goto RESTART1;
+        //     // update_text(0);
+        //     update_chinese(0);
+        //     update_mode(2);
+        //     update_battery(4);
+        //     break;
+        // case 7:
+        //     // update_text(0);
+        //     update_chinese(0);
+        //     update_gps(2);
+        //     update_camera(4);
+        //     break;
+        // case 8:
+        //     display_stage = 1;
+        //     goto RESTART1;
+
+    
+        default:
+            break;
+    }
+}
+
+
+
+/*
+  check if feedback pin is high
+ */
+// void Display::trigger_pin_timer(void)
+// {
+    // int8_t dpin = hal.gpio->analogPinToDigitalPin(_feedback_pin);
+    // if (dpin == -1) {
+    //     return;
+    // }
+    // // ensure we are in input mode
+    // hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
+
+    // // enable pullup
+    // hal.gpio->write(dpin, 1);
+
+    // uint8_t pin_state = hal.gpio->read(dpin);
+    // uint8_t trigger_polarity = _feedback_polarity==0?0:1;
+    // if (pin_state == trigger_polarity &&
+    //     _last_pin_state != trigger_polarity) {
+    //     _page_turn = true;
+    // }
+    // _last_pin_state = pin_state;
+// }
+
diff --git a/libraries/AP_Notify/Display.h b/libraries/AP_Notify/Display.h
index 25369e1c7d..c4f0feb8da 100644
--- a/libraries/AP_Notify/Display.h
+++ b/libraries/AP_Notify/Display.h
@@ -16,6 +16,8 @@ public:
     bool init(void) override;
     void update() override;
 
+    void update_display_manual();
+
 private:
     void draw_char(uint16_t x, uint16_t y, const char c);
     void draw_text(uint16_t x, uint16_t y, const char *c);
@@ -30,6 +32,15 @@ private:
     void update_text(uint8_t r);
     void update_text_empty(uint8_t r);
 
+
+    void draw_chinese(uint8_t x,uint8_t y,unsigned char hz[][32],uint8_t no);
+    void update_chinese(uint8_t r);
+    void update_camera(uint8_t r);
+    void display_clear(void);
+    void draw_BMP(uint8_t x0,uint8_t y0,uint8_t x1,uint8_t y1,unsigned char BMP[]);
+
+
+
     Display_Backend *_driver;
 
     uint8_t _mstartpos; // ticker shift position
@@ -38,5 +49,15 @@ private:
 
     // stop showing text in display after this many millis:
     const uint16_t _send_text_valid_millis = 20000;
+
+
+  /////////////////// @Brown /////////////////// 
+    // void trigger_pin_timer(void);
+    // AP_Int8         _feedback_pin;
+    // AP_Int8         _feedback_polarity;
+    // uint8_t         _last_pin_state;
+    // bool            _page_turn;
+    // bool            _timer_installed = false;
+  /////////////////////////////////////////////  
 };
 
diff --git a/libraries/AP_Notify/ToshibaLED_I2C.cpp b/libraries/AP_Notify/ToshibaLED_I2C.cpp
index 534313d257..8c64287108 100644
--- a/libraries/AP_Notify/ToshibaLED_I2C.cpp
+++ b/libraries/AP_Notify/ToshibaLED_I2C.cpp
@@ -48,11 +48,7 @@ ToshibaLED_I2C::ToshibaLED_I2C(uint8_t bus)
 bool ToshibaLED_I2C::hw_init(void)
 {
     // first look for led on external bus
-    // _dev = std::move(hal.i2c_mgr->get_device(_bus, TOSHIBA_LED_I2C_ADDR));
-
-    FOREACH_I2C(i) {
-        _dev = std::move(hal.i2c_mgr->get_device(i, TOSHIBA_LED_I2C_ADDR));
-    }
+    _dev = std::move(hal.i2c_mgr->get_device(_bus, TOSHIBA_LED_I2C_ADDR));
     
     if (!_dev) {
         return false;
@@ -76,16 +72,34 @@ bool ToshibaLED_I2C::hw_init(void)
     if (ret) {
         _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&ToshibaLED_I2C::_timer, void));
     }
-
     return ret;
 }
 
 // set_rgb - set color as a combination of red, green and blue values
 bool ToshibaLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
 {
+    // rgb = {red, green, blue};
+    // _need_update = true;
+    // return true;
+
+
+    static uint8_t cnt;
+    static uint8_t l_mode,l_red,l_green,l_blue;
     rgb = {red, green, blue};
-    _need_update = true;
+    
+    cnt++;
+
+    if(l_mode != rgb_mode || l_red != rgb.r || l_green != rgb.g || l_blue != rgb.b || cnt > 50)
+    {
+        cnt =0;
+        _need_update = true;
+        l_mode = rgb_mode ;
+        l_red = rgb.r ;
+        l_green = rgb.g ;
+        l_blue = rgb.b;
+    }
     return true;
+    
 }
 
 void ToshibaLED_I2C::set_rgb_mode(uint8_t mode)
diff --git a/libraries/AP_Notify/UAVCAN_RGB_LED.cpp b/libraries/AP_Notify/UAVCAN_RGB_LED.cpp
index 84c4a24749..c505e5ef61 100644
--- a/libraries/AP_Notify/UAVCAN_RGB_LED.cpp
+++ b/libraries/AP_Notify/UAVCAN_RGB_LED.cpp
@@ -16,8 +16,9 @@
  */
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/system.h>
-
+ 
 #if HAL_WITH_UAVCAN
+// #if 1
 #include "UAVCAN_RGB_LED.h"
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
@@ -54,10 +55,29 @@ bool UAVCAN_RGB_LED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
     bool success = false;
     uint8_t can_num_drivers = AP::can().get_num_drivers();
 
+    static uint8_t cnt;
+    static uint8_t l_mode,l_red,l_green,l_blue;
+    rgb = {red, green, blue};
+    
+    cnt++;
+
+    if(l_mode != rgb_mode || l_red != rgb.r || l_green != rgb.g || l_blue != rgb.b || cnt > 50)
+    {
+        cnt =0;
+        _need_update = true;
+        l_mode = rgb_mode ;
+        l_red = rgb.r ;
+        l_green = rgb.g ;
+        l_blue = rgb.b;
+    }else{
+        return success;
+    }
+
     for (uint8_t i = 0; i < can_num_drivers; i++) {
         AP_UAVCAN *uavcan = AP_UAVCAN::get_uavcan(i);
         if (uavcan != nullptr) {
            // success = uavcan->led_write(_led_index, red, green, blue) || success;
+        //    success = uavcan->send_zr_rgb_led(rgb_mode,red, green, blue) || success;//(_led_index, red, green, blue) || success
            success = uavcan->send_zr_rgb_led(rgb_mode,red, green, blue) || success;//(_led_index, red, green, blue) || success
         }
     }
diff --git a/libraries/AP_Notify/UAVCAN_RGB_LED.h b/libraries/AP_Notify/UAVCAN_RGB_LED.h
index 4b176a4397..9f1254862b 100644
--- a/libraries/AP_Notify/UAVCAN_RGB_LED.h
+++ b/libraries/AP_Notify/UAVCAN_RGB_LED.h
@@ -13,7 +13,12 @@ protected:
     virtual bool hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue) override;
     void set_rgb_mode(uint8_t mode) override;
 private:
+    
     uint8_t _led_index;
      uint8_t rgb_mode;
+    bool _need_update;
+    struct {
+        uint8_t r, g, b;
+    } rgb;
 };
 
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp
index 1534e4f2e8..7c6edc9ef5 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp
@@ -83,6 +83,12 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("_ADDR", 5,  OpticalFlow, _address,   0),
 
+    // @Param: _THRES
+    // @Description: min surface_quality value, below this value don't use flow
+    // @Range: 0 127
+    // @User: Brown
+    AP_GROUPINFO("_THRES", 6,  OpticalFlow, _threshold,   100),
+
     // the parameter description below is for GCSs (like MP) that use master for the parameter descriptions.  This should be removed when Copter-3.7 is released
     // @Param: _ENABLE
     // @DisplayName: Optical flow enable/disable
@@ -161,7 +167,8 @@ void OpticalFlow::update(void)
     }
 
     // only healthy if the data is less than 0.5s old
-    _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
+    // _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
+    _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500)&&(_state.surface_quality > _threshold);
 }
 
 void OpticalFlow::handle_msg(const mavlink_message_t &msg)
@@ -181,6 +188,10 @@ void OpticalFlow::update_state(const OpticalFlow_state &state)
     _state = state;
     _last_update_ms = AP_HAL::millis();
 
+    if(_state.surface_quality < _threshold )
+    {
+        _state.surface_quality = 0;
+    }
     // write to log and send to EKF if new data has arrived
     AP::ahrs_navekf().writeOptFlowMeas(quality(),
                                        _state.flowRate,
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.h b/libraries/AP_OpticalFlow/OpticalFlow.h
index d894212597..1a45fe3582 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/OpticalFlow.h
@@ -111,6 +111,7 @@ private:
     AP_Int16 _yawAngle_cd;          // yaw angle of sensor X axis with respect to vehicle X axis - centi degrees
     AP_Vector3f _pos_offset;        // position offset of the flow sensor in the body frame
     AP_Int8  _address;              // address on the bus (allows selecting between 8 possible I2C addresses for px4flow)
+    AP_Int8  _threshold;              // address on the bus (allows selecting between 8 possible I2C addresses for px4flow)
 
     // method called by backend to update frontend state:
     void update_state(const OpticalFlow_state &state);
diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index ca4d24ffc0..4c4a911f3d 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -23,7 +23,7 @@
 
 #ifndef SCRIPTING_DIRECTORY
   #if HAL_OS_FATFS_IO
-    #define SCRIPTING_DIRECTORY "/APM/scripts"
+    #define SCRIPTING_DIRECTORY "/ZRUAV/scripts"
   #else
     #define SCRIPTING_DIRECTORY "./scripts"
   #endif //HAL_OS_FATFS_IO
diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index c135508b41..b1e2486147 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -456,6 +456,14 @@ void AP_SerialManager::init()
                                          AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
                     break;
 
+                case SerialProtocol_Battery:
+                    state[i].baud = AP_SERIALMANAGER_ALEXMOS_BAUD / 1000;   // update baud param in case user looks at it
+                    state[i].uart->begin(map_baudrate(state[i].baud),
+                                         AP_SERIALMANAGER_SLCAN_BUFSIZE_RX,
+                                         AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
+                    break;
+                
+
 #ifndef HAL_BUILD_AP_PERIPH
                 case SerialProtocol_RCIN:
                     AP::RC().add_uart(state[i].uart);