# 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 --- # 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-1.md?ask= ``` 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.