diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 9572aa8a03..52a6e493a2 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -30,6 +30,8 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
     if (copter.motors->armed()) {
         return true;
     }
+    if(AP_Arming::get_enabled_checks() == 0)
+        return true;
     
     // check if motor interlock and Emergency Stop aux switches are used
     // at the same time.  This cannot be allowed.
@@ -368,7 +370,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
 
     // warn about hdop separately - to prevent user confusion with no gps lock
     if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
-        check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP");
+        check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP %d (need %d)",copter.gps.get_hdop(),copter.g.gps_hdop_good);
         AP_Notify::flags.pre_arm_gps_check = false;
         return false;
     }
diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 0331ee2f3e..3f7d6c4b2a 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -82,8 +82,13 @@ void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
     static bool before_fly = true;
-    if(motors->armed())
+    if(motors->armed()){
         before_fly = false;
+        relay.on(3);
+
+    }else{
+        relay.off(3);
+    }
     if(before_fly){
         uint8_t cnt,cacl_volt_pst;
         float delt_volt;
@@ -96,6 +101,15 @@ void Copter::userhook_SuperSlowLoop()
         cacl_volt_pst = 100 - cnt;
         battery.reset_remaining(0, cacl_volt_pst);
     } 
+    
+    // // check AHRS and GPS are within 10m of each other
+    //     const Location gps_loc = gps.location();
+    //     Location ahrs_loc;
+    //     if (AP::ahrs().get_position(ahrs_loc)) {
+    //         const float distance = gps_loc.get_distance(ahrs_loc);
+    //         gcs().send_text(MAV_SEVERITY_INFO, "GPS and AHRS differ by %4.1fm", (double)distance);
+    //     }
+
 }
 #endif
 
diff --git a/git_submodule.sh b/git_submodule.sh
new file mode 100755
index 0000000000..bba6af00ea
--- /dev/null
+++ b/git_submodule.sh
@@ -0,0 +1,8 @@
+date -R
+starttime=`date +'%Y-%m-%d %H:%M:%S'`
+proxychains git submodule update --init --recursive
+endtime=`date +'%Y-%m-%d %H:%M:%S'`
+date -R
+start_seconds=$(date --date="$starttime" +%s);
+end_seconds=$(date --date="$endtime" +%s);
+echo "本次运行时间： "$((end_seconds-start_seconds))"s" 
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp
index 3aed5a5c7e..b74889029c 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp
@@ -438,7 +438,7 @@ void AP_UAVCAN_Server::verify_nodes(AP_UAVCAN *ap_uavcan)
         /* Only report if the node was verified, otherwise ignore
         as this could be just Bootloader to Application transition. */
         if (isNodeIDVerified(curr_verifying_node)) {
-            gcs().send_text(MAV_SEVERITY_ERROR, "UC Node %d Down!", curr_verifying_node);
+            // gcs().send_text(MAV_SEVERITY_ERROR, "UC Node %d Down!", curr_verifying_node);
             // remove verification flag for this node
             verified_mask.clear(curr_verifying_node);
         }
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index cd63d64013..7224fdeb86 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -137,7 +137,13 @@ RC_Channel::update(void)
         radio_in = override_value;
     } else if (!rc().ignore_receiver()) {
         radio_in = hal.rcin->read(ch_in);
-    } else {
+    } else if(rc().ignore_ctrl_channel()){
+        if(ch_in < 7)
+            return false;
+        else
+            radio_in = hal.rcin->read(ch_in);
+    }
+    else {
         return false;
     }
 
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index cd891ac581..f194586f19 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -339,6 +339,9 @@ public:
     bool ignore_receiver() const {
         return _options & uint32_t(Option::IGNORE_RECEIVER);
     }
+    bool ignore_ctrl_channel() const {
+        return _options & uint32_t(Option::IGNORE_CTRLCHAN);
+    }
 
     float override_timeout_ms() const {
         return _override_timeout.get() * 1e3f;
@@ -350,6 +353,7 @@ protected:
         IGNORE_RECEIVER  = (1 << 0), // RC receiver modules
         IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
         IGNORE_FAILSAFE  = (1 << 2), // ignore RC failsafe bits
+        IGNORE_CTRLCHAN  = (1 << 3), // ignore RC failsafe bits
     };
 
     void new_override_received() {
diff --git a/modules/mavlink b/modules/mavlink
index ca507c39ff..18cab69509 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit ca507c39ff56b88ce78a072a691e4b0c2a95f527
+Subproject commit 18cab6950986cd7b9b7a507ec35f3501d4a7e019