diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index 42b09b072e..ae65594b1a 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -238,7 +238,7 @@ void ModeRTL::loiterathome_start()
     AP_Camera *camera = AP::camera();
     if (camera != nullptr)
     {
-        camera->create_new_folder();
+        camera->create_new_folder(9);
     }
 }
 
diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 6e9d80e7c8..a3daa9c0b0 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -657,7 +657,7 @@ void AP_Camera::send_camera_zr_status(mavlink_channel_t chan)
     mavlink_msg_camera_zr_status_send_struct(chan, &msg);
 }
 
-void AP_Camera::create_new_folder()
+void AP_Camera::create_new_folder(uint8_t type)
 {
 #if HAL_WITH_UAVCAN
     uint8_t can_num_drivers = AP::can().get_num_drivers();
@@ -666,7 +666,7 @@ void AP_Camera::create_new_folder()
         AP_UAVCAN *uavcan = AP_UAVCAN::get_uavcan(i);
         if (uavcan != nullptr)
         {
-            uavcan->set_zr_cam_cmd(camera_state.id, 10, 1, 0, 0, 0);
+            uavcan->set_zr_cam_cmd(camera_state.id, type, 1, 0, 0, 0);
         }
 
     }
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 229ae69a7b..3b5cea2fd7 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -74,7 +74,7 @@ public:
     void notice_send_camera_status_to_gcs(void);
     void update_zr_camera_version(void);
     void send_camera_zr_status(mavlink_channel_t chan);
-    void create_new_folder();
+    void create_new_folder(uint8_t type);
     static const struct AP_Param::GroupInfo        var_info[];
     void  set_image_index(uint16_t photo_index);
     uint16_t get_image_index();
diff --git a/remote_update.sh b/remote_update.sh
new file mode 100755
index 0000000000..ce2cdaecb6
--- /dev/null
+++ b/remote_update.sh
@@ -0,0 +1,8 @@
+date -R
+starttime=`date +'%Y-%m-%d %H:%M:%S'`
+git remote update origin -p
+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/版本说明.txt b/版本说明.txt
new file mode 100644
index 0000000000..181c7eb1ca
--- /dev/null
+++ b/版本说明.txt
@@ -0,0 +1,49 @@
+zr-v4.0:   经过飞行测试，稳定版本
+zr-v4.0-dev:   新添加的功能，并入主分支前先验证
+
+zr-v4.0.1:
+
+zr-dev-4.0.2: NMEA 时间修复，日志目录名
+
+v4.0.3: 快速解锁
+
+v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch,
+    rc1.1  降落倒计时，状态码刷新，测距日志增加，智能电池压差
+    rc1.2  降落锁定遥控,初始切定点,提示HOME点更新
+
+zr-v4.0.2
+	优化降落锁定
+	优化激光定高
+	
+zr-v4.0.3
+	合并bin固件
+	NMEA时间错误修复
+	日志时间错误修复
+	增加日志数量参数
+	
+v4.0.5-rc1
+	电池压差问题修复
+	遥控器出错判断，出错只能切RTL
+	
+v4.0.6-x8_camv1
+	添加CAN拍照，飞行测试正常
+	降落bug待修复
+	
+zr-v4.0.8
+	can通信bug修复，经过多台飞机多架次严重无问题
+	RC3-增加绕圈飞行支持
+	RC4-增加7s电量算法，六轴可通用固件
+	RC5-移除不必要的模块，减小体积和内存占用   11.09
+	RC6-RC7，增加照片数差异判断，修复照片差一张的误报错  11.12
+	RC8 增加默认参数写入，照片差异改成所有相机差值和
+	RC9 激光测距死机问题修复，北醒tfmini，超出距离判断问题
+		增加zr-hexa，默认参数写入固件
+
+zr-v4.0.9
+	RC0 双天线定向试飞成功，
+	RC1 定向角度offset代码位置修改，根据GPS2状态切换定向
+	RC2 自动切换问题修复，增加EFK高切定向，增加RTL遥控器输入控制,定向模式磁力计总是健康
+	RC3 RTL落地可控修复
+	RC5 遥控器切模式判断，去除油门判断
+	RC11 兼容旧版本ID
+	RC12 到期判断，月份问题修复
\ No newline at end of file