# 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

## Improvements

* 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

## Bugfixes

* 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