# APX4 2.5.4

## Compatibility

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

{% content-ref url="/pages/2BsyeQOIJiAHjquFSydq" %}
[AMC 1.14.0](/release-notes/auterion-mission-control-release-notes/amc-1.14/amc-1.14.0.md)
{% endcontent-ref %}

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

* Automatically switch to a mode suitable for takeoff after landing
* Support for ADS1115 ADC battery measurements
* Better remaining battery estimation

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

* Magnetometer IST8310 failing to start up on certain boards
* DroneCAN not starting up in certain conditions
* Prevent sending out invalid mission back to GCS
* Robustify bad vertical acceleration check
* Fix case where weather vane landing would not work on VTOL
* Fix case when vehicle would not automatically exit a loiter
* Fixes edge case that could cause DMA to stop working
* Fix case that could cause camera trigger not executing in mission
* Prevent a case in which a go-to location could be pending on arming
* Prevent PWM ESCs from detecting loss of signal on terminate
* NuttX update to mitigate some OS issues


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