diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 031c840ce4..0af7e3997b 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -141,6 +141,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Increment: 1
     // @User: Standard
     GSCALAR(zr_tk_delay,  "ZR_TK_DELAY", ZR_TK_DELAY),
+    GSCALAR(zr_use_rc,  "ZR_USE_RC", 1),
 
     // @Param: ZR_RTL_DELAY
     // @DisplayName: rtl  Altitude  when at final decent alt
@@ -1667,16 +1668,16 @@ const char* Copter::get_sysid_board_id(void)
     switch (type)
     {
         case 0:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.1 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 1:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.1 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.1 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 3:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.1 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
             break;
         
         default:
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 3fcae43663..ed5457a3bd 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -390,6 +390,7 @@ public:
         k_param_zr_tk_delay,
         k_param_zr_rtl_delay,
         k_param_zr_send_type,
+        k_param_zr_use_rc,
         // the k_param_* space is 9-bits in size
         // 511: reserved
     };
@@ -502,6 +503,8 @@ public:
     AP_Int16                 zr_tk_delay;
     AP_Int16                 zr_rtl_delay;
     AP_Int8                  zr_send_type;
+    AP_Int8                 zr_use_rc;
+    
     // Note: keep initializers here in the same order as they are declared
     // above.
     Parameters()
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 5ddb0a2b16..a25f424c2f 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -606,7 +606,8 @@ 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());
+            if(g.zr_use_rc)
+                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)) {
@@ -618,7 +619,8 @@ 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());
+        if(g.zr_use_rc)
+            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 cfdf4686fe..71e323b496 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -807,7 +807,7 @@ void ModeAuto::wp_run()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // 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);
         }
@@ -854,7 +854,7 @@ void ModeAuto::spline_run()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // get pilot's desired yaw rat
-        // 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);
         }
@@ -950,7 +950,7 @@ void ModeAuto::loiter_run()
     // accept pilot input of yaw
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
-        // 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());
     }
 
     // set motors to full range
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index f5eb039339..265a1a777b 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -191,7 +191,8 @@ void ModeRTL::climb_return_run()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // get pilot's desired yaw rate
-        // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        if(g.zr_use_rc)
+            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);
         }
@@ -248,7 +249,8 @@ void ModeRTL::loiterathome_run()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // get pilot's desired yaw rate
-        // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        if(g.zr_use_rc)
+            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);
         }
@@ -333,7 +335,8 @@ void ModeRTL::descent_run()
             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());
+        if(g.zr_use_rc)
+            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)) {
@@ -345,7 +348,8 @@ void ModeRTL::descent_run()
         }
 
         // get pilot's desired yaw rate
-        // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+        if(g.zr_use_rc)
+            target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
     }
 
     // set motors to full range
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 6ca1cf7286..2c6fb42f53 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,12 +6,12 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.1.1"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.1.2"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,1,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,1,2,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 1
-#define FW_PATCH 1
+#define FW_PATCH 2
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
diff --git a/zr-v4.sh b/zr-v4.sh
index d19b47f6cb..bc07027de9 100755
--- a/zr-v4.sh
+++ b/zr-v4.sh
@@ -1,2 +1,3 @@
 ./waf configure --board zr-v4
-./waf --targets bin/arducopter --upload
+./waf copter
+cp ./build/zr-v4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/flow-zrv4.px4