> 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/apx4-2.7/apx4-2.7.20.md).

# APX4 2.7.20

## Compatibility

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

{% content-ref url="/pages/G1CtmOSaJ8nWv9GYmpjJ" %}
[AMC 1.19.5](/~/changes/TDRfjBXXgHmxK48cWqay/release-notes/auterion-mission-control-release-notes/amc-1.19/amc-1.19.5.md)
{% endcontent-ref %}

## What's new

* RTL behavior updated for VTOLs (with `RTL_TYPE` set to default, `1`)
  * If a valid mission landing and valid safe area both exist
    * Before this update: the mission landing was executed.
    * After this update: the safe area is executed.
  * Why? – Safe areas have an easier in-air manipulation workflow, giving more flexibility to the operator during RTL.
* Added a new option to `SYS_FAC_CAL_MODE` param to enable factory calibration for all sensors *excluding magnetometer*.
* Exposed tilting time for the back transition of tilt-rotor VTOLs as parameter `VT_BT_TILT_DUR` and reduce the overall default back transition duration.

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

* Smoothed yaw setpoint during forward transition for VTOLs.
* Robustified VTOL transition to hover by extending unexpected altitude loss checks 5 seconds beyond transition completion.
* Robustified VTOL RTL landing phase to strong wind driven approach offsets
* Improved ADSB traffic warning management.
* Fixed incorrect magnetometer rotation on v6x board config.
* Fixed bug to ensure landing descent starts promptly on entering the home acceptance radius after VTOL transition to hover (during landing modes).
* Fixed bug that put descent orbit center as position setpoint when an RTL is triggered for VTOL during a mission landing, when already in hover. Now correctly keeps landing position setpoint.