diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 889d5d16b9..3559385226 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.16-RC3"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.16-RC4"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,16,FIRMWARE_VERSION_TYPE_OFFICIAL
diff --git a/ArduCopter/zr_flight.cpp b/ArduCopter/zr_flight.cpp
index dba940d9eb..126040be02 100644
--- a/ArduCopter/zr_flight.cpp
+++ b/ArduCopter/zr_flight.cpp
@@ -169,7 +169,7 @@ void Copter::do_avoid_action(){
 
 uint8_t Copter::avoid_area_detect(float dist)
 {
-    Proxy_Area area = PROXY_OUTRANGE;;
+    static Proxy_Area area = PROXY_OUTRANGE;
     if(dist < avoid.get_zr_avd_min()){
         if(area != PROXY_TOO_CLOSE && area != PROXY_FIND_BARRIER){  // 前一个状态不是障碍物过近
             area = PROXY_OUTRANGE;
diff --git a/modules/mavlink b/modules/mavlink
index 5fc095d170..72b407db39 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 5fc095d17043557589ecc6a28d62fb234081fc87
+Subproject commit 72b407db3991ed74631fa59a5e826615f569819f