> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/release-notes/flight-control/apx4-2.7/apx4-2.7.6.md).

# APX4 2.7.6

## Compatibility

Please use Auterion Mission Control 1.17.9 or newer with this version of APX4:

{% content-ref url="/pages/bEdYQNA6ej4Mx7iISbN4" %}
[AMC 1.17.9](/release-notes/auterion-mission-control-release-notes/amc-1.17/amc-1.17.9.md)
{% endcontent-ref %}

## What's new

* Fixed-wing figure-8 flight mode
* Enable “nudging” the lateral position during a fixed-wing landing approach
* Enable “nudging” the lateral position during failsafe hovering descent mode
* ADSB-out callsign support
* Support for BMP390 barometer
* Optionally disable position data from logs
* Added configurable low position accuracy warning and RTL thresholds for GPS-denied flight ops

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

* Estimation:
  * Increased robustification to bad magnetometer measurements
  * Improved altitude estimate stability
  * Improved GNSS health monitoring
  * Improved sensor data validity checking
  * Improved robustness to non-zero sideslip during GNSS denied fixed-wing flight
  * Improved protection against IMU sample integration jitter
  * Fixed temperature compensation handling in sensor bias learning
  * Robustified airspeed selector scale factor estimation
* Fixed-wing:
  * Improved accelerated stall protection
  * Improved runway takeoff functionality
  * Improved runway landing functionality
  * Improved hand-launch functionality
  * Improved airspeedless altitude/speed control
* Multicopter/VTOL:
  * Improved land detector
  * Enabled operator triggered transition to forward flight after a quad-chute
  * Expanded configurable quad-chute failsafe conditions
* System:
  * Updated flight time warnings
  * Improved low battery handling