APX4 2.2.0

New Features

  • Autotuning for Multirotors

  • Orbit mode in fixed wing (VTOL)

  • Custom action waypoints: add functionality to trigger custom actions at waypoints

  • Auto-detect mag orientation during calibration

  • Warn pilot if strong magnetic interference present at takeoff

  • VTOL flight path improvements for windy conditions

  • For long flights, estimate baro bias changes using GPS altitude


  • TECS rewrite for more robust fixed wing altitude/airspeed control

  • Airspeed estimation accuracy improvements

  • Dual GPS fallback logic added

  • DSM R/C input handling more robust

  • Manual control now also available during VTOL transition

  • Smooth yaw control enabled in orbit mode

  • Automatically move gimbal to neutral position after mission to prevent lens damage

  • If ESC telemetry available, check for motor stuck at arming


  • Fix 5s drift after stick release in position mode

  • Yaw setpoint changes during takeoff now correctly handled

  • Fix yaw-recovery in cases of high accel noise

  • Fix joystick initialization which could lead to false RC override triggering

Last updated