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Sub: 4.7.0-beta6 release notes

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George Zogopoulos
2026-06-05 15:42:59 +09:00
committed by Randy Mackay
parent 8ff21d32a6
commit cdfb1fb2aa
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ArduSub/ReleaseNotes.txt
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ArduPilot Sub Release Notes:
------------------------------------------------------------------
Release 4.7.0-beta6 01-June-2026
Changes from 4.7.0-beta5
1) Board specific changes
- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203)
- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416)
- SkyDroid-S3 board added (@UAVcihang, PR:32920)
- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237)
2) Driver changes
- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140)
- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230)
- KellerLD barometer has better corruption rejection (@vshie, PR:32889)
- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923)
- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275)
3) Library changes
- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031)
- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156)
- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109)
- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038)
- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224)
- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232)
- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138)
4) Plane specific changes
- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
5) Copter specific changes
- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943)
- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169)
- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
6) Sub related changes
- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076)
- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217)
- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
------------------------------------------------------------------
Release 4.7.0-beta5 15-May-2026
@@ -11,7 +57,7 @@ Changes from 4.7.0-beta4
2) Library changes
- AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013)
- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
- AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
- AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
- AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)