diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index ecda0b0886..c26c851233 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -85,9 +85,15 @@ void Copter::userhook_SuperSlowLoop()
     if(motors->armed()){
         before_fly = false;
         relay.on(3);
+        if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){
+            rc().set_disable_ch();
+        }else{
+            rc().set_enable_ch();
+        }
 
     }else{
         relay.off(3);
+        rc().set_enable_ch();
         updownStatus =UpDown_TakeOffStart;
         mavlink_zr_flying_status_t  zr_flying_status_t; 
         zr_flying_status_t.updown_status = updownStatus;
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index d9172e61fe..dc27d36a2d 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -597,7 +597,7 @@ void Mode::land_run_horizontal_control()
             update_simple_mode();
 
             // convert pilot input to lean angles
-            get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
+            // get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
 
             // record if pilot has overridden roll or pitch
             if (!is_zero(target_roll) || !is_zero(target_pitch)) {
@@ -609,7 +609,7 @@ void Mode::land_run_horizontal_control()
         }
 
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
             auto_yaw.set_mode(AUTO_YAW_HOLD);
         }
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index bb38f5fb0e..442945ce54 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1203,7 +1203,8 @@ void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
                 break;
             case MAV_CMD_NAV_RETURN_TO_LAUNCH:
                 // do not stop for RTL
-                fast_waypoint = true;
+                // fast_waypoint = true;
+                fast_waypoint = false;
                 break;
             case MAV_CMD_NAV_TAKEOFF:
             default:
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index c8cf2d296d..b89b74dd2a 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.4-rc1.0"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.4-rc1.1"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 7b0d79eb5f..16f83f0492 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1100,7 +1100,7 @@ bool AP_AHRS_DCM::set_home(const Location &loc)
     // send new home and ekf origin to GCS
     gcs().send_message(MSG_HOME);
     gcs().send_message(MSG_ORIGIN);
-
+    gcs().send_text(MAV_SEVERITY_INFO, "NOTICE:  Home点更新");
     AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
     pd.home_lat = loc.lat;
     pd.home_lon = loc.lng;
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 9a70b4c87f..b94784c009 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -136,7 +136,7 @@ RC_Channel::update(void)
     if (has_override() && !rc().ignore_overrides()) {
         radio_in = override_value;
     } else if (!rc().ignore_receiver()) {
-        if(rc().ignore_ctrl_channel() && ch_in < 6){
+        if(rc().ignore_ctrl_channel() && !rc().is_enable_ch(ch_in)){
             return false;
         }else{
             radio_in = hal.rcin->read(ch_in);
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index f194586f19..2374f76cb4 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -343,6 +343,17 @@ public:
         return _options & uint32_t(Option::IGNORE_CTRLCHAN);
     }
 
+    bool is_enable_ch(uint8_t ch) const {
+        return (_enable_ch == (ch+1) );
+    }
+
+    void set_disable_ch()   {
+        _options = uint32_t(Option::IGNORE_CTRLCHAN);
+    }
+    void set_enable_ch()   {
+        _options = 0;
+    }
+
     float override_timeout_ms() const {
         return _override_timeout.get() * 1e3f;
     }
@@ -369,6 +380,7 @@ private:
 
     AP_Float _override_timeout;
     AP_Int32  _options;
+    AP_Int8  _enable_ch;
 
     // flight_mode_channel_number must be overridden:
     virtual int8_t flight_mode_channel_number() const = 0;
diff --git a/libraries/RC_Channel/RC_Channels_VarInfo.h b/libraries/RC_Channel/RC_Channels_VarInfo.h
index b1e8dbd9d8..685cac3a44 100644
--- a/libraries/RC_Channel/RC_Channels_VarInfo.h
+++ b/libraries/RC_Channel/RC_Channels_VarInfo.h
@@ -89,5 +89,9 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
     // @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe
     AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, 0),
 
+
+    AP_GROUPINFO("_ENABLE_CH", 34, RC_CHANNELS_SUBCLASS, _enable_ch, 9),
+
+
     AP_GROUPEND
 };
diff --git a/zr_version b/zr_version
index 9af16d8c74..def40d0934 100644
--- a/zr_version
+++ b/zr_version
@@ -8,3 +8,15 @@ zr-dev-4.0.2: NMEA 时间修复，日志目录名
 v4.0.3: 快速解锁
 
 v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch,
+    rc1.1  降落倒计时，状态码刷新，测距日志增加，智能电池压差
+
+
+
+
+
+
+
+
+
+
+