We're really excited to have D10/D100 firmware version 5.4 available for download.
The major new feature in 5.4 is improved Autopilot pitch axis control algorithms for better performance. In addition to the improved control algorithms, 5.4 offers some new adjustments to fine-tune the Autopilot for your aircraft's unique flight characteristics. See the updated Installation Guide for details on new adjustments that can be used to tune pitch performance.
The 5.4 firmware update can be found here.