# AOS 4.3.14

### Compatibility <a href="#compatibility" id="compatibility"></a>

This version of AuterionOS comes bundled with the following APX4 release:

{% content-ref url="../../flight-control/apx4-3.3/apx4-3.3.21" %}
[apx4-3.3.21](https://docs.auterion.com/release-notes/flight-control/apx4-3.3/apx4-3.3.21)
{% endcontent-ref %}

Please use the following version, or newer, of Auterion Mission Control with this version of AOS:

{% content-ref url="../../auterion-mission-control-release-notes/amc-1.38/amc-1.38.16" %}
[amc-1.38.16](https://docs.auterion.com/release-notes/auterion-mission-control-release-notes/amc-1.38/amc-1.38.16)
{% endcontent-ref %}

Check out the respective Release notes to see what's new in APX4 and AMC!

### What's new <a href="#what-improved.1" id="what-improved.1"></a>

**Components**

* Updated APX4 to 3.3.21
* Updated Payload Manager and drivers to `v12`
  * Disables  RTSPT by default
  * Enables intra-refresh frames by default
  * Added support for Nextvision cameras without TRIP to Payload Manager
  * Added support for Nextvision X80 camera
  * Improvement: reduced startup time
  * Improvement: automatically reconnect if mavlink-router restarts
  * Improvement: improve threading for less latency jitter
* Updated "Skynode" bootloader to `v16`
  * Introduced self-locking bootloader for "Skynode", would flash fuses and permanently enable secure boot when installed
* Updated "Skynode N"/"AI Node ONX" bootloader from `v1.1` to `v1.4`
* Updated Auterion Radio Framework (ARF) radio stack from `v3.0.3` to `v3.0.18`
* Updated Parameter Server to `v0.6.1`
* Updated Vehicle Sysinfo API from `v4.4.1` to `v4.5.2`&#x20;
* Updated Vehicle WebUI from `v4.4.10` to `v4.5.1`&#x20;
* Updated App Configurator from `v0.3.4` to `v0.6.1`
* Updated Suite Service to `v4.7.9`&#x20;
* Updated Version Tracking to
* Updated AP Configuration from `v2.2.1` to `v2.3.0`
* Updated Mavlink Router from `v1.4.2-4` to `v1.4.5`

**Features**

* Introduced AES-XTS encryption cypher for "Skynode"/"Skynode S", significantly speeds-up update times from AuterionOS `v4.2`
* Introduced GPU support for "Skynode"
* Introduced PX4 'Translation App' to ensure message compatibility between apps and PX4 moving forward
* Introduced Auterion Gimbal stack
* Upgraded "Skynode" kernel to 6.6, now aligned with "Skynode S"
* Added support for [mountsets](https://docs.auterion.com/app-development/app-framework/mountsets)
* Added support for Auterion App installation control via environment variables
* Added device UUID, kernel messages to ulog

**Security**

* STIG hardening, resolved known CVEs across Ubuntu/Docker/Nginx and other critical components
* Fix secondary tty over USB exposed to host on some combinations of AuterionOS for "AI Node ONX"
* `/data/override.env` is automatically wiped for upon AuterionOS update for security and stability reasons

### Bug Fixes <a href="#what-improved.1" id="what-improved.1"></a>

* Fixed `gstreamer` memory leaks
* Fixed LED status indication occasionally not working on "Skynode"&#x20;
* Fixed system being left in read-write mode instead of read-only on "Skynode"/"Skynode S"
* Fixed USB Type-C host/device mode switching only working on cold-boot on "Skynode S"
* Fixed fake-hardware clock not working on production flavor of AuterionOS for "Skynode S"/"Skynode N"
* Fixed root filesystem being full after AuterionOS updates on "Skynode N"/"AI Node ONX"
* Fixed video-capture service for external Nextvision adapter not working  on "Skynode N"/"AI Node ONX"
* Fixed system being in broken state after switching between development and production flavors of AuterionOS
* Fixed inability to perform direct update from old patch version of AuterionOS `v3.7` to AuterionOS >=`v4.2`&#x20;
* Fixed diagnostic report occasionally not generating or timing-out
* Fixed mavlink-router verbose debug logs spam
* Improved update process robustness, isolate edge cases bricking the device

### What improved <a href="#what-improved" id="what-improved"></a>

* System boot time significantly reduced for all platforms
* System update time significantly reduced for all platforms
* CPU load during video streaming reduced for all platforms
* System logs are now preserved across updates

### Breaking changes <a href="#what-improved" id="what-improved"></a>

* "Skynode" kernel bump from 5.10 to 6.6 introduces breaking ABI changes for dma access. Auterion apps relying on low level access must be rebuilt.
* To ensure robustness of update process, downgrade it only possible to recent patch releases of desired minor AuterionOS release. Specifically, once updated to AuterionOS `v4.3`, downgrade is only possible to the following versions:

  * AuterionOS `v4.2.23` or higher patch release
  * AuterionOS `v4.1.28` or higher patch release
  * AuterionOS `v3.7.32` or higher patch release

  If a lower patch release is desired, intermediate update to specified versions is required first.
* Self-locking bootloader would permanently enabled secure boot on "Skynode" if installed. This makes rollback to AuterionOS versions prior to `v3.7` impossible.
* Payload Manager's intra-refresh frames may not be compatible with some video streaming pipelines (eg. Suite video streaming) and may need to be disabled via `PAYLOAD_MANAGER_USE_INTRA_REFRESH=0`
* Connection Manager is now disabled by default.<br>