The performance of version 4.01 is the same as 4.00, it is just for Improving the compatibility of servos and ESC.
Helicopter and airplane firmware is: ZYX_S_401_HA.bin and ZYX_401_HA.bin.
Quadrotor firmware is: ZYX_S_401_QUADROTOR.bin and ZYX_401_QUADROTOR.bin.

