> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/release-notes/flight-control/apx4-2.1/auterion-enterprise-px4-2.1.1-release-notes.md).

# APX4 2.1.1

## Compatibility

Please ensure to use Auterion Mission Control v1.10.1 or newer:

{% content-ref url="/pages/6FZpZFilm9L9HlrhIqXZ" %}
[AMC 1.10.1](/release-notes/auterion-mission-control-release-notes/amc-1.10/auterion-mission-control-1.10.0-release.md)
{% endcontent-ref %}

## New Features

### **Powered-by-Auterion**

* Added support for flight mode switching through multiple toggle buttons.
* Arming is now prevented if a smart-battery failure is detected and reported.
* Now, in the case of strong magnetic interference, the pilot is warned and will still be able to arm the vehicle.

## Bug fixes

### **Fixed-by-Auterion**

* After a mission, and on Landing mode, a gimbal camera lens would be facing down instead of being in a neutral position.
* In Acceleration Manual control mode, there’s 5s drift when releasing sticks.
* In Acceleration Manual control mode, drone flips on takeoff if moved after startup.
* On S.BUS, RC glitches sometimes occur on signal regained.
* Gyro dropouts sometimes occur due to parameter saving on disarm.
* Battery warnings being seen even with the battery disconnected.

### **Fixed-by-upstream-PX4**

* Estimator variance collapses in emergency yaw recovery.