Merge branch 'zr-hexa-4.0.9-n' into zr_hexa_stable

libraries/AP_Camera/AP_Camera.cpp

@@ -602,11 +602,15 @@ void AP_Camera::send_camera_zr_status(mavlink_channel_t chan)
         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 > 3){
+            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
@@ -616,7 +620,6 @@ void AP_Camera::send_camera_zr_status(mavlink_channel_t chan)
             last_delt = delt_pic_num;
             delt_cnt = 0;
         }
-    }else{ 
     }
     mavlink_msg_camera_zr_status_send(
         chan,

libraries/AP_GPS/GPS_Backend.cpp

@@ -90,12 +90,6 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
     min  = v % 100; v /= 100;
     hour = v % 100;
 
-    int8_t rmon = mon - 2;
-    if (0 >= rmon) {    
-        rmon += 12;
-        year -= 1;
-    }
-
     time_t rawtime; 
     struct tm* timeinfo;
     time(&rawtime);