# APX4 2.5.14

## Compatibility

Please use Auterion Mission Control 1.14.6 or newer with this version of APX4:

{% content-ref url="../../auterion-mission-control-release-notes/amc-1.14/amc-1.14.6" %}
[amc-1.14.6](https://docs.auterion.com/release-notes/auterion-mission-control-release-notes/amc-1.14/amc-1.14.6)
{% endcontent-ref %}

## What improved:

* Improved Remote ID message structure initialisation.
* Protect DMA setup against DMA transfer failure.
* Guard against boosted idle thread.

## Resolved Issues:

* Emergency yaw reset (due to bad magnetometer data) previously also reset the z-gyro bias and variance which degraded the performance of the filter. The gyro bias/variance are no longer reset, resulting in bias state stability despite an emergency yaw reset.
* Resolved inability to conduct more than 1 motor test in succession by regularly refreshing the IO when in test mode.
* Resolved failure to descend in RTL due to erroneously set heading flag.
* Resolved race condition causing momentary thrust dropout on mode switch from manual to altitude mode.