# APX4 2.5.0

## Compatibility

Please use Auterion Mission Control 1.14.0 or newer with this version of APX4:

{% content-ref url="../../auterion-mission-control-release-notes/amc-1.14/amc-1.14.0" %}
[amc-1.14.0](https://docs.auterion.com/release-notes/auterion-mission-control-release-notes/amc-1.14/amc-1.14.0)
{% endcontent-ref %}

## New Features

### **Powered-by-Auterion:**

* Support for Parachutes from Drone Rescue Systems
* General Flight UX:
  * Three-stage smooth landing in automatic modes -
  * Survey: allow resuming a survey and have gimbal pointing back down
  * Data link fail safe available in all modes
  * Margin for horizontal multi-copter control when prioritizing vertical authority: improves horizontal flight behavior in primarily vertical operations
  * Automatically switch to remote control loss behavior on yaw emergency detection
  * Directional speed constraints for Multicopter
  * Beta/Preview: Basic rover support (please reach out if you are interested to use AEPX4 on ground vehicles)
* VTOL:
  * Rally Points: Support Multiple Land Approaches for VTOL / FW as on normal landing points
  * Support VTOL missions without takeoff waypoint
  * Smooth orbit approach trajectory , also fixes instances where Orbit altitude was not followed
  * Yaw-less multicopter mixer for use with tiltrotor type vehicles
  * Multicopter hover trust estimator takes into account additional lift on VTOL vehicles
* Workflows
  * Add support to capture for syncing GPS and image capture to enable high precision survey workflows
* Peripherals:
  * Battery over voltage protection/handling
  * Allow setting idle throttle on UAVCAN ESCs
  * Support for ADS1115 ADC
  * Enable HITL over UDP
  * Support for INA237 12S power module
  * Actuator endurance test feature
  * Support for radio\_status\_extension messages

### **Powered-by-upstream-PX4:**

* All the new features made available in upstream PX4 v1.12 release

## What improved <a href="#what-improved.1" id="what-improved.1"></a>

* General Flight UX:
  * Delay before triggering RTL on critical battery
  * Improved accuracy of yaw emergency trigger
    * Commander: update yaw emergency messaging towards the user
  * Improved accuracy of imbalanced propeller check metric
  * Add support for toggle buttons via RC channels
  * GNSS yaw: handle sensor reset (observed on F9P)
  * Parameterized range setting for hover thrust estimator range
  * rotations: introduce support for ROTATION\_PITCH\_90\_YAW\_45
  * Do not re-check feasibility of commenced mission when already in-air
  * Only allow arming in modes that are suitable for take off
  * Required mag used by EKF as mandatory for arming
  * Better user notifications on battery pre-warnings
* VTOL:
  * TECS: stay in flight phase level if only small altitude changes are demanded
  * Orbit flight behavior improvements
  * Fixed-wing loiter: set yaw setpoint tangentially to loiter
  * VTOL: Tiltrotor: enable hovering in non-zero tilts with forward tilt assist
  * Autotuning improvements for vehicles with slower response like VTOL
  * Don't fly mission land pattern when triggered RTL in hover on VTOL
  * Better airspeed selector messaging and warnings to user
  * front transition: fade out yaw control
  * Don't start Orbit, if radius not in allowed range + increase allowed range
  * Also use VTOL Safe Area feature after after geofence event
  * Prevent interrupting VTOL takeoff when failsafe happens at the same time
  * support alternative pitch setpoint offset in hover for landing
  * Trigger quadchute RTL on airspeed failure also in VTOL takeoff and loiter modes
  * Reset hover thrust when disarmed to prevent wrong estimate from landing affecting flight
* System:
  * Overhaul of control allocation architecture to support dynamic control allocation (available as preview)
  * Prevent vehicle arm during calibration
  * Increase number of mavlink remote components
  * Check target field in mavlink shell
  * Too early reporting of pre-flight checks
* Peripherals:
  * UAVCAN battery upgraded to use battery lib to enable taking into account internal resistance parameters
  * power monitor module is started now automatically
  * Point gimbal to neutral on RTL and failsafe
  * Do not trigger/warn user about a navigation failure during sensor calibration
  * Move capture and PPS pins to be Skynode compatible
  * preflight checks: to not require to have a transition switch
  * Stop capturing images on mission exit
  * Gimbal frames wrong when using vmount v1 on v2 input

## Resolved Issues <a href="#bug-fixes.1" id="bug-fixes.1"></a>

The following bugs have been fixed:

### General Flight UX

* ROI location handled incorrectly
* GPS loss messaging unclear
* Immediate rearming after landing cant bypass all checks
* Unexpected yaw on go-to with altitude change
* Slow descent on stuck distance sensor
* Yaw nudging conflicting with weather vane → only allow yaw nudging when weather vane is disabled
* COMMAND\_CANCEL not being handled properly by custom action waypoints
* position main-state achievable over RC before GPS lock
* Not switching to hold mode when mission finished
* False in-ground-effect landing signal on long range distance sensor
* Thrust step at takeoff
* Pitch & Roll Oscillations During Go-To Descent
* Vehicle does not stop properly when paused during a mission but instead it turns around and goes back to where it was paused.
* Wrong gimbal user input scale
* Rejected mission can be executed
* Vehicle not switching to goto immediately when commanded to do so
* Direction change in Orbit not accepted
* Vehicle does yaw step on takeoff
* ROI as part of mission not working
* Consider vehicle still landed in all cases before motor spool-up is complete
* Take pictures on takeoff on mission resume
* Incorrect handling of zero remaining flight time state

### VTOL

* Tight curve during back-transition on landing
* automatic approach selection: wrong direction selected
* wind estimate incorrect after VTOL landing
* takeoff: loiter sector choice changes after transition to fixed-wing mode
* tiltrotor vehicles: wrong throttle setpoint during stabilized transition
* incorrect descend tracking in back-transition
* wrong manual cimb rate
* altitude setpoint issues on descend
* Flight Time Estimator RTL action interferes with active landing
* safe areas from previous flight used
* mag bias estimator not operational after landing and re-takeoff
* Commanded orbit altitude not followed
* undefined flight path flight path when changing altitude during position flight mode in fixed wing mode

### System

* Error message when reading old storage formats
* Corner case that could make vehicle uncontrollable by user until automatic RTL starts
* Battery failsafe can interfere with time based RTL
* SD-card file storage failures
* When using two Power Modules on skynode, only one battery was displayed in AMC
* Fix sensors not starting up in some cases
* IMU coning warnings
* Camera capture message do not arrive in low bandwidth link
* Glitch in startup sound

### Peripherals

* Iridium modem can't be connected after boot
* Map Camera Viewpoint Cone / Sensor Point of Interest Incorrect
* Dshot Voltage reading jumps to 0 / UAVCAN ESC reported even if there are no UAVCAN ESCs
* INA226 Power monitor reports wrong current
* sdp3x: fix situation when wire/contact gets disconnected SDP3X sensor was not able to reconfigure.

\+ several other bug-fixes

### **Fixed by community**

* Incorrect rejection of messages during MAVLink forwarding
* All bug-fixes made available in the upstream PX4 v1.12 release