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# APX4 3.0.8

## What improved

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Changes compared to APX4 3.0.5
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* EKF2: add yaw align event such that operator is notified correctly about aligned or not aligned estimator yaw before takeoff.
* Add Skynode Lite support
* Commander: set correct health component when reporting errors, such that they end up in the correct group when reporting them to the operator.
* FW Position Controller: allow to run Altitude mode without valid z reference.
  * Reported issue: invalid controller outputs in fixed-wing Altitude mode until GNSS signal is received or absolute position is initialized through other ways.
* Commander: add check for 5V over voltage
* Commander: fix notification for 5V over current
* Enable SIH on Skynode X
* Commander: make sure to count all valid magnetometers in preflight check.
  * Reported issue: if a magnetometers was not required (not index 0 and not used by EKF2), it was not counted.
* bsondump: add check if BSON document size is set to zero and set to decoded size.
  * Reported issue: The mtd\_caldata is 0 when it was calibrated with an old version of PX4, and thus the calibration data used to be ignored.