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zr-v4.0: 经过飞行测试，稳定版本 |
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zr-v4.0-dev: 新添加的功能，并入主分支前先验证 |
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zr-v4.0.1: |
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zr-dev-4.0.2: NMEA 时间修复，日志目录名 |
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v4.0.3: 快速解锁 |
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v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch,
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