Es gibt eine neue Hasensoftware:
http://www.rcgroups.com/forums/showthread.php?t=1564594&page=149#post21211769
1. improved the way the fc determines "no throttle stick movement" in order to enter "height lock" mode
2. Unltrsonic height lock now works upto 2.5m. When the rotor is climbing, HL will change over from ultrasonic to baro at 2.5m, when decending, changeover from baro to ultrasonic at 1.5m
3. correct the case when while releasing the sticks for GPS position hold, the fc reacts as GO Home sometimes
4. fine tuned the GPS Go Home speed
5. Resoved the problem that at times, while doing the FW upgrade with battery plugged-in, the motor would suddently start..
6 correct sometimes while not activated the GPS position hold, the rotor's levelling is out...
It is too bad that the 500Hz ESC issue seems not be addressed this time and some buddies in China already got problem with the XA type ESC.. I would suggest those working with these type of ESC don't do the upgrade now until we understand more on this problem