APX4 3.2.12

Please use Auterion Mission Control 1.34 or newer with this version of APX4.

Changes compared to APX4 3.2.10

General Improvements

• 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

Parameter Name	Old Value	New Value	About
CBRK_BUZZER	0	782097	Disable buzzer by default. Only applies to Skynode X and E.