# APX4 3.2.12

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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 3.2.10
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### General Improvements <a href="#gnss-denied-operational-enhancements" id="gnss-denied-operational-enhancements"></a>

* Disable buzzer on Skynode X/E base boards. Fixes: Some buzzers pulling too much power and cause brown-outs on GPS power rail.
* v6s: Do not start MAVLink on external connector by default, instead should be configurable by parameters.
* DShot: Allow swapping RX/TX pins of DShot telemetry. Enables: Use of the ESC telemetry RX pin on Skynode S.
* Battery warning messaging: Fix reporting of error severity and failsafe activation when `COM_LOW_BAT_ACT` set to "warning".
* Battery warning messaging: Reintroduce separate user messages for low, critical, emergency battery state.
* `VehicleOdometry` uORB message: protect `angular_velocity` field against aliasing by accumulating delta-angles between each publication.

### Sensors / State Estimation

* BMP388 barometer driver: Multiple initialization attempts. Fixes: Driver not starting due to slow boot up of sensor on first power-on.
* EKF2: Tilt estimate improvements. Improves: More robust attitude estimate in GNSS-denied environments.

### Parameters with Changed Defaults <a href="#new-parameters" id="new-parameters"></a>

<table><thead><tr><th width="216">Parameter Name</th><th>Old Value</th><th>New Value</th><th>About</th></tr></thead><tbody><tr><td>CBRK_BUZZER</td><td>0</td><td>782097</td><td>Disable buzzer by default. Only applies to Skynode X and E.</td></tr></tbody></table>