> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/~/changes/TDRfjBXXgHmxK48cWqay/release-notes/flight-control/apx4-2.6/apx4-2.6.1.md).

# APX4 2.6.1

## Compatibility

Please use Auterion Mission Control 1.15.0 or newer with this version of APX4:

{% content-ref url="/pages/13kx3WXBWrLkDXnU718n" %}
[AMC 1.15.0](/~/changes/TDRfjBXXgHmxK48cWqay/release-notes/auterion-mission-control-release-notes/amc-1.15/amc-1.15.0.md)
{% endcontent-ref %}

## New Features

* Log encryption
* ARK RTK GPS Support
* Wind-aware fixed wing guidance (optional)
* Support for Auterion 12S power module

## What improved <a href="#what-improved.1" id="what-improved.1"></a>

* Improved export controlled flight time and wind restriction notifications
* Balanced intensities of LED colors to prevent excessive power consumption on CAN bus
* Better direction based speed constraints
* Better GPS loss and jamming reporting
* Automatically switch to appropriate mode after land
* Possibility to have landing as part of a mission
* Spoiler / flaps support on VTOL

## Bug fixes <a href="#bug-fixes.1" id="bug-fixes.1"></a>

* Use estimated magnetometer bias to update the magnetometer calibration
* Fix false negative imbalanced propeller detection
* Fix memory access issues
* General stability improvements
* Improved performance of estimator calculations