A lot of firmware fixes have been bug fixes. For the 135E there was a fix for DEC excursions that were happening randomly when guiding. But the firmware has been better with every update. There has been work done on a new driver for INDI, which allows you to make a simple sky model with 7 point alignment. That could improve tracking as most imagers only solve a single point. And prior to this new driver, it only allowed one sync point to be stored.

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