Decide if what you have is adequate for your needs. If everything functions correctly, it operates safely, and you are happy with what you have, there's little to be gained with an upgrade that was developed to improve functionality instead of correcting issues or deficiencies. Any upgrade developed to correct a problem should of course be installed to assure the safety of you and the public.
OTOH, if there are features and functionality to be had a a firmware update that you think you may want then an update is in order. A piece of cautionary advice; Before performing an update read all there is to be read about it at the Yuneec site. Read the PDF's describing the update and potentially new control functions in order to understand what you will be dealing with before having to deal with it. If there are specific instructions to be followed, be sure to follow them exactly. If there are instructional videos that can be viewed, take the time to watch them and have them available as you perform the update. Once the update is done, perform every calibration possible for the H.
Far too many perform an update in a manner that might best be described as half-assed. They don't read or follow the instructions, they leave steps out that are critical, they don't review posted videos demonstrating how to install an upgrade, create their own problems, and then post in forums like this about how their H or ST-16 is screwed up. They don't like to mention they know they executed the process wrong because it's a lot more comfortable to blame a product that to take any of the heat themselves. I suppose saying take the time to do it right might cover things as well.