# APX4 3.2.14

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Please use Auterion Mission Control 1.34 or newer with this version of APX4.
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Changes compared to APX4 3.2.12
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### General Improvements <a href="#gnss-denied-operational-enhancements" id="gnss-denied-operational-enhancements"></a>

* Commander Failsafe: Never override a user intended *Termination*. Fixes: system switches out of *Termination* during a failsafe event.
  * Example: The user sends a termination command to the vehicle (e.g. by pressing the *Shutdown* button in the AMC Emergency Actions) and then switches off the remote control station before the vehicle is disarmed. Without this fix the drone will execute the "manual control loss" failsafe (by default: *Return to Launch*) and spin up the motors again. With this fix a switch to *Termination* is not reversible, the vehicle cannot switch to another mode and has to be rebooted to be flown again.
* Navigator: RTL type reverse: during last stage of landing, set next waypoint to invalid. Fixes: Vehicle oscillates horizontally while in landing during a RTL type *reverse* (RTL\_TYPE=2 and no mission landing).
* EKF2: Initialize global position from GNSS position when no global position measurement exists but GNSS velocity is active. Fixes: Position estimation not initialized in these cases.
* Increase stack size of UAVCAN workqueue. Fixes: Removes "Low on stack" warnings.


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