There are two ways to fix this issue,
1. Reflash the APs with any standalone code 114.x, which could be time consuming, as you would need to factory reset each AP before performing upgrade.
2. You can run below AP CLI commands from each AP, which allows the AP to contact ZD FTP server and download the firmware.
fw set control r710/10.5.1.0.176/rcks_fw.bl7
fw set proto ftp
fw set host <ZD IP>
fw set user ftpuser
fw set password Rks@zdap1234
Make sure to update the ZD IP in above code, post update reboot the AP to let the AP bootup with new image 10.5.1.