避障增加mode3，版本AVDv6

ArduCopter/UserCode.cpp

@@ -58,8 +58,10 @@ if(avoid.get_zr_mode() > 0 && (control_mode == Mode::Number::BRAKE || control_mo
         enable_avoid = true;
     }
 }else if(control_mode == Mode::Number::LOITER && !avoid.get_avoid_action() ){
-    if(far_from_home){
+    if(avoid.get_zr_mode() == 3){      // 1: 避不开障碍直接返航，2：避不开降落，3：避不开返航+可以Loiter测试功能
-        enable_avoid = true;
+        if(far_from_home){
+            enable_avoid = true;
+        }
     }
 }
 if(last_flag != enable_avoid){

ArduCopter/version.h

@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.16-AVDv5"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.16-AVDv6"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,16,FIRMWARE_VERSION_TYPE_OFFICIAL
@@ -15,3 +15,7 @@
 #define FW_MINOR 0
 #define FW_PATCH 16
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+/**
+ * AVDv6: avoid.get_zr_mode() = 3时可以用Loiter模式测试自动避障
+ * 
+ */

d100.sh

@@ -1,3 +1,3 @@
 ./waf configure --board d100
 ./waf copter
-cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/d100-v4.0.15.px4
+cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/d100-v4.0.16-AVDv6.px4

d100h.sh

@@ -1,3 +1,3 @@
 ./waf configure --board d100h
 ./waf copter
-cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/d100h-v4.0.15.px4
+cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/d100h-v4.0.16-AVDv6.px4