# 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


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.auterion.com/release-notes/flight-control/apx4-2.2/auterion-enterprise-px4-2.2.2-release-notes.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.