测试先不用Loiter手动避障，不启用时切换到自动避障

ArduCopter/UserCode.cpp

@@ -57,6 +57,10 @@ if(avoid.get_zr_mode() > 0 && (control_mode == Mode::Number::AUTO || control_mod
     if(far_from_home){
         enable_avoid = true;
     }
+}else if(control_mode == Mode::Number::LOITER && !avoid.get_avoid_action() ){
+    if(far_from_home){
+        enable_avoid = true;
+    }
 }
 if(last_flag != enable_avoid){
     if(enable_avoid){

ArduCopter/zr_flight.cpp

@@ -317,7 +317,7 @@ void Copter::avoid_action(uint8_t area,uint8_t state,float dist)
                 gcs().send_text(MAV_SEVERITY_INFO,"NOTICE:人为控制，已离开障碍");
             }
             if(tnow - rtl_wait_time > (uint32_t)(g.zr_avd_wait * 1000)){
-                if(avoid.get_zr_mode() == 1){ 
+                if(avoid.get_zr_mode() == 2){ 
                     action = PROXY_WAIT;
                     gcs().send_text(MAV_SEVERITY_INFO,"NOTICE:等待超时，原地降落");
                     set_mode(Mode::Number::LAND,ModeReason::AVOIDANCE);