Hi,
Please refer below link for release notes of YA.16.04.0016 and refer 'Minimum supported software versions' section on pg.6 and it seems its supported to upgrade from YA.15.12.0015.
https://support.hpe.com/hpesc/public/docDisplay?docId=a00051262en_us

Also it is always recommended to upgrade the switch via cli and should have console access.
Refer below steps:
1. Access the switch by console.
2. Copy new software to primary or secondary flash memory on active management module:
a. TFTP – HPE2530#copy tftp flash <TFTP IP add> <software file name.swi> pri/sec
Or
b. USB – HPE2530#copy usb flash <Ksoftware file name.swi> pri/sec
3. Make sure boot setting is configured to boot to correct flash software was copied to.
a. HPE2530#boot set-default flash primary <Set the boot on either primary or secondary on which new images is loaded>
b. HPE2530# write memory
This change will also be synchronized to standby management module.
At this point in time, you can simply reboot the whole switch from the primary or secondary depending on where the New FW was loaded and if downtime is not an issue, use the boot system command to do so.
# boot sys flash <pri/sec>
Thanks!