# APX4 2.2.2

### What Improved <a href="#apx4" id="apx4"></a>

* Fix "switching between different protocols" bug on DSM input
* Fix fault bit numbering for MAVLink battery status messages
* Make parameters for Fixed Wing Position Control more clear by providing more feedback
* Add option for vendor version string to be added to logs
* Fix bad yaw detection to now actually trigger yaw recovery
* Disable Nuttx networking to harden against malformed ethernet packets
* Enable autotune also on RTPS builds