diff --git a/ports/behaviortree-cpp/001_port_fixes.patch b/ports/behaviortree-cpp/001_port_fixes.patch
deleted file mode 100644
index 9897caa188..0000000000
--- a/ports/behaviortree-cpp/001_port_fixes.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a390aed..658f994 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -233,7 +233,7 @@ if( ZMQ_FOUND )
- endif()
- 
- if(MSVC)
--    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W3 /WX)
-+    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W3 /wd4702)
- else()
-     target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-         -Wall -Wextra -Werror=return-type)
diff --git a/ports/behaviortree-cpp/002_fix_dependencies.patch b/ports/behaviortree-cpp/002_fix_dependencies.patch
deleted file mode 100644
index d554e37ce5..0000000000
--- a/ports/behaviortree-cpp/002_fix_dependencies.patch
+++ /dev/null
@@ -1,34 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 658f994..a04cf27 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -14,7 +14,7 @@ if(MSVC)
- endif()
- 
- #---- Include boost to add coroutines ----
--find_package(Boost COMPONENTS coroutine QUIET)
-+find_package(Boost REQUIRED) # coroutine2 is header-only
- 
- if(Boost_FOUND)
-     string(REPLACE "." "0" Boost_VERSION_NODOT ${Boost_VERSION})
-@@ -46,17 +46,18 @@ option(BUILD_SHARED_LIBS "Build shared libraries" ON)
- 
- #---- Find other packages ----
- find_package(Threads)
--find_package(ZMQ)
-+find_package(cppzmq)
- 
- list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES
-     ${CMAKE_THREAD_LIBS_INIT}
-     ${CMAKE_DL_LIBS}
- )
- 
--if( ZMQ_FOUND )
-+if( ZMQ_FOUND OR ON )
-     message(STATUS "ZeroMQ found.")
-     add_definitions( -DZMQ_FOUND )
-     list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
-+    list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES cppzmq)
- else()
-     message(WARNING "ZeroMQ NOT found. Skipping the build of [PublisherZMQ] and [bt_recorder].")
- endif()
diff --git a/ports/behaviortree-cpp/fix-x86_build.patch b/ports/behaviortree-cpp/fix-x86_build.patch
new file mode 100644
index 0000000000..164e9dff03
--- /dev/null
+++ b/ports/behaviortree-cpp/fix-x86_build.patch
@@ -0,0 +1,35 @@
+diff --git a/3rdparty/lexy/include/lexy/_detail/swar.hpp b/3rdparty/lexy/include/lexy/_detail/swar.hpp
+index a268abb..d31bdaa 100644
+--- a/3rdparty/lexy/include/lexy/_detail/swar.hpp
++++ b/3rdparty/lexy/include/lexy/_detail/swar.hpp
+@@ -141,8 +141,13 @@ constexpr std::size_t swar_find_difference(swar_int lhs, swar_int rhs)
+     auto bit_idx = __builtin_ctzll(mask);
+ #elif defined(_MSC_VER)
+     unsigned long bit_idx;
+-    if (!_BitScanForward64(&bit_idx, mask))
+-        bit_idx         = 64;
++    #if defined(_WIN64)
++        if (!_BitScanForward64(&bit_idx, mask))
++            bit_idx         = 64;
++    #elif defined(_WIN32)
++        if (!_BitScanForward(&bit_idx, mask))
++            bit_idx         = 32;
++    #endif
+ #else
+ #    error "unsupported compiler; please file an issue"
+ #endif
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 295b317..0f1cd5c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -154,6 +154,10 @@ else()
+     add_library(${BTCPP_LIBRARY} STATIC ${BT_SOURCE})
+ endif()
+ 
++if (MSVC)
++    target_compile_definitions(${BTCPP_LIBRARY} PRIVATE NOMINMAX)
++endif ()
++
+ message(STATUS "BTCPP_EXTRA_LIBRARIES: ${BTCPP_EXTRA_LIBRARIES}")
+ 
+ target_link_libraries(${BTCPP_LIBRARY}
diff --git a/ports/behaviortree-cpp/portfile.cmake b/ports/behaviortree-cpp/portfile.cmake
index 7b77e10c52..a15d5c9c19 100644
--- a/ports/behaviortree-cpp/portfile.cmake
+++ b/ports/behaviortree-cpp/portfile.cmake
@@ -1,17 +1,14 @@
-vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
-
 vcpkg_download_distfile(ARCHIVE
-    URLS "https://github.com/BehaviorTree/BehaviorTree.CPP/archive/3.5.6.tar.gz"
-    FILENAME "BehaviorTree.CPP.3.5.6.tar.gz"
-    SHA512 cd3b15eb7c5bab68239b697da166220b4df8dd7e6cf5e831f316d411e24be56c9ed74e54a3e3dd332164d740159eaf9ce62d005601fd65133809dab29430c9b7
+    URLS "https://github.com/BehaviorTree/BehaviorTree.CPP/archive/${VERSION}.tar.gz"
+    FILENAME "BehaviorTree.CPP.${VERSION}.tar.gz"
+    SHA512 4505c4c8798ccbbc02f58320810eb86e791fb6ef57d8c85882e62bd2b509b41e0549dc311ed61926a873b5b956eda979efda488f01d00746e1e8db559f60253c
 )
 
 vcpkg_extract_source_archive(
     SOURCE_PATH
     ARCHIVE "${ARCHIVE}"
     PATCHES
-        001_port_fixes.patch
-        002_fix_dependencies.patch
+        fix-x86_build.patch
 )
 
 vcpkg_cmake_configure(
@@ -19,19 +16,23 @@ vcpkg_cmake_configure(
     OPTIONS
         -DCMAKE_DISABLE_FIND_PACKAGE_ament_cmake=1
         -DCMAKE_DISABLE_FIND_PACKAGE_Curses=1
-        -DBUILD_EXAMPLES=OFF
-        -DBUILD_UNIT_TESTS=OFF
-        -DBUILD_TOOLS=OFF
+        -DBTCPP_EXAMPLES=OFF
+        -DBTCPP_UNIT_TESTS=OFF
+        -DBTCPP_BUILD_TOOLS=OFF
+        -DBTCPP_GROOT_INTERFACE=OFF
+        -DBTCPP_SQLITE_LOGGING=OFF
+    MAYBE_UNUSED_VARIABLES
+        CMAKE_DISABLE_FIND_PACKAGE_Curses
 )
 
 vcpkg_cmake_install()
-vcpkg_cmake_config_fixup(CONFIG_PATH lib/BehaviorTreeV3/cmake PACKAGE_NAME behaviortreev3)
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/behaviortree_cpp PACKAGE_NAME behaviortree_cpp)
 vcpkg_copy_pdbs()
 
-file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")
 
-file(REMOVE_RECURSE
-    "${CURRENT_PACKAGES_DIR}/debug/include"
-    "${CURRENT_PACKAGES_DIR}/lib/BehaviorTreeV3"
-    "${CURRENT_PACKAGES_DIR}/debug/lib/BehaviorTreeV3"
-)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
diff --git a/ports/behaviortree-cpp/vcpkg.json b/ports/behaviortree-cpp/vcpkg.json
index d99f0e5215..7305ae8c9e 100644
--- a/ports/behaviortree-cpp/vcpkg.json
+++ b/ports/behaviortree-cpp/vcpkg.json
@@ -1,7 +1,6 @@
 {
   "name": "behaviortree-cpp",
-  "version": "3.5.6",
-  "port-version": 3,
+  "version": "4.1.1",
   "description": "Behavior Trees Library in C++.",
   "homepage": "https://www.behaviortree.dev",
   "supports": "!uwp",
diff --git a/versions/b-/behaviortree-cpp.json b/versions/b-/behaviortree-cpp.json
index bc7a1610b6..b434fa52ae 100644
--- a/versions/b-/behaviortree-cpp.json
+++ b/versions/b-/behaviortree-cpp.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "66a97129b31a5e70e45a40c767ea96b1e0477a93",
+      "version": "4.1.1",
+      "port-version": 0
+    },
     {
       "git-tree": "7518e59f9f1e994e3af289b8de87115834dcb758",
       "version": "3.5.6",
diff --git a/versions/baseline.json b/versions/baseline.json
index 685681762a..34d46a3699 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -501,8 +501,8 @@
       "port-version": 2
     },
     "behaviortree-cpp": {
-      "baseline": "3.5.6",
-      "port-version": 3
+      "baseline": "4.1.1",
+      "port-version": 0
     },
     "benchmark": {
       "baseline": "1.8.0",