First of all there is no ST16+ controller. That was a moniker given to the ST16 when they moved the internal 2.4GHz antenna for the Zigbee RC transceiver to the outside, thus the 3 external antenna version of the ST16.
The ST16 is for the Typhoon H (H480) and DataPilot is for controlling the H520. DataPilot will not work with your Typhoon H. As covered in another thread you posted, you can use the windows version of DataPilot to create a mission. Save it as a .plan file and import it into UAVToolbox for the ST16 which will then convert it to a usable CCC mission. There is no other way to use DataPilot with the Typhoon H.