diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 04767fd4e6..d88c64c704 100644
--- a/ArduCopter/UserCode.cpp
+++ b/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){
-        enable_avoid = true;
+    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
+        if(far_from_home){
+            enable_avoid = true;
+        }
     }
 }
 if(last_flag != enable_avoid){
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 7ce8a9f08e..21c9bde034 100644
--- a/ArduCopter/version.h
+++ b/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
+ * 
+ */
\ No newline at end of file
diff --git a/d100.sh b/d100.sh
index 9bdda25f44..3496303604 100755
--- a/d100.sh
+++ b/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
diff --git a/d100h.sh b/d100h.sh
index 98f49a36bc..b2d4417feb 100755
--- a/d100h.sh
+++ b/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