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Sub: 4.7.0-beta8 release notes

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George Zogopoulos authored and Randy Mackay committed 2026-07-13 20:04:24 +09:00
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ArduSub/ReleaseNotes.txt
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ArduPilot Sub Release Notes:
------------------------------------------------------------------
Release 4.7.0-beta8 13-July-2026
Changes from 4.7.0-beta7
1) Board specific changes
- BCubeF745v2 board added (@petrosaccone, PR:32753)
- CORVON743V2 board added (@holydust, PR:33307)
- Navigator board supports lsm6dsv IMU (@Williangalvani, PR:33219)
- SkystarsH7HDv3 onboard baro changed to SPL06 (@andyp1per, PR:33333)
- TBS LUCID H7 OEM board added (@andyp1per, PR:33337)
- TBS LUCID H7 V3 board added (@andyp1per, PR:33337)
2) Driver changes
- ASM330LHH IMU axes order fixed (@n-ito2222, PR:32921)
- TMP119 temperature sensor driver added (@Williangalvani, PR:33322)
3) Library changes
- Compass: COMPASS_DISBLMSK bug on internal compasses fixed (@Georacer, PR:33553)
- Custom Build Server dependency fix for DroneCAN and Generator (@peterbarker, PR:33429)
- EKF3: Fix rejected GPS yaw when the measurement is older than the fusion horizon (@lthall, PR:33643)
- Follow: Small fixes to maths and logic (@lthall, PR:33652)
- GCS_MAVLink: Serial port blocking write bug fixed (@tridge, PR:33437)
- MAVLinkCAN: CAN_FORWARD rejects negative CAN bus indices (@CSmith1539, PR:33376)
- Mount: POI_LOCK does not need terrain to build (@peterbarker, PR:33396)
- Mount: POI_LOCK function enabled by default in all >2MB boards (@rmackay9, PR:33372)
- Scripting: New `vehicle:is_crashed()` Lua binding (@yuri-rage, PR:33258)
4) Copter specific changes
- CIRCLE_OPTIONS descriptions improved (@rmackay9, PR:33669)
- EKF3 prevented from fusing probably-bad airspeed estimate (@peterbarker, PR:33607)
- Guided mode set-target-angle-and-climbrate scaling used by scripting fixed (@rmackay9, PR:33692)
- PosHold "jerky" response fixed (@zebulon-86, PR:33590)
- WPNav: Fixed LOITER breaking, broken by the turn coordinator (@IamPete1, PR:33631)
5) TradHeli specific changes
- Fixed run up complete flag not posting in manual throttle modes when governor doesn't engage (@bgnsgeyer, PR:33693)
6) Rover specific changes
- AHRS does not fall back to DCM when AHRS_OPTIONS=3 (@deepak31296, PR:33392)
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Release 4.7.0-beta7 13-June-2026