APX4 2.2.0

New Features

• Autotuning for Multirotors

• Orbit mode in fixed wing (VTOL)

• Custom action waypoints: add functionality to trigger custom actions at waypoints

• Auto-detect mag orientation during calibration

• Warn pilot if strong magnetic interference present at takeoff

• VTOL flight path improvements for windy conditions

• For long flights, estimate baro bias changes using GPS altitude

Improvements

• TECS rewrite for more robust fixed wing altitude/airspeed control

• Airspeed estimation accuracy improvements

• Dual GPS fallback logic added

• DSM R/C input handling more robust

• Manual control now also available during VTOL transition

• Smooth yaw control enabled in orbit mode

• Automatically move gimbal to neutral position after mission to prevent lens damage

• If ESC telemetry available, check for motor stuck at arming

Bugfixes

• Fix 5s drift after stick release in position mode

• Yaw setpoint changes during takeoff now correctly handled

• Fix yaw-recovery in cases of high accel noise

• Fix joystick initialization which could lead to false RC override triggering