"Thanks. Porblem has been solved. The problem is because that the sketch is too big, but arduino ide thought the size is ok, its the ide's issue. If the size too big, it will lead to verification failed."
I found that when using ardupilot-arduion ide 1.0.3 , the code can be compiled successfully,but when upload finished it verify failed. "avrdude: verification error, first mismatch at byte",and use this ide to flash bootloader, same issue. …