I pushed 2.0.43 to Git.
What's new - Simple mode is dead. It's now an option per switch position. There is an APVar bitmask called simple_modes or "SIMPLE". Setting any bits 0 - 5 to 1 will cause that switch position to access simple mode. You can also do this with radio channel 7 if you compile for it.
Until the mission planner is updated, you can use the CLI by using the rudder as an on/off swicth in setup::modes. It's very easy.
There are now two battery values to set, input_voltage ("IN_VOLT"), and low_voltage("LOW_VOLT"). These are for folks editing battery information.
Circle mode is now tested and running well. It's very cool, but requires dialed in Loiter PIs.
Guided mode is not tested but should work just fine.
Lot's of other minor tweaks and code cleanup.