APX4 2.5.0


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

pageAMC 1.14.0

New Features


  • 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


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

What improved

  • 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

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


  • 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


  • 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


  • 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

Last updated