ArduPilot · rmackay9 · Apr 30, 2026 · Apr 14, 2026 · Apr 14, 2026 · Apr 14, 2026
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Antenna Tracker Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.7.0-beta3"
+#define THISFIRMWARE "AntennaTracker V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.7.0-beta3"
+#define THISFIRMWARE "ArduCopter V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Plane Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.7.0-beta3"
+#define THISFIRMWARE "ArduPlane V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/ArduSub/GCS_MAVLink_Sub.cpp b/ArduSub/GCS_MAVLink_Sub.cpp
@@ -736,16 +736,14 @@ void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)
         break;
     }
 
-    // This adds support for leak detectors in a separate enclosure
-    // connected to a mavlink enabled subsystem
+    // Remote leak sensor support (e.g. in a separate enclosure), via MAVLink status messages.
     case MAVLINK_MSG_ID_SYS_STATUS: {
-        uint32_t MAV_SENSOR_WATER = 0x20000000;
         mavlink_sys_status_t packet;
         mavlink_msg_sys_status_decode(&msg, &packet);
         if ((msg.sysid == gcs().sysid_this_mav()) &&
-            (packet.onboard_control_sensors_enabled & MAV_SENSOR_WATER) &&
-            !(packet.onboard_control_sensors_health & MAV_SENSOR_WATER)
-        ) {
+            (packet.onboard_control_sensors_present & MAV_SYS_STATUS_EXTENSION_USED) &&
+            (packet.onboard_control_sensors_enabled_extended & MAV_SYS_STATUS_SENSOR_LEAK) &&
+            !(packet.onboard_control_sensors_health_extended & MAV_SYS_STATUS_SENSOR_LEAK)) {
             sub.leak_detector.set_detect();
         }
         break;

diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
@@ -461,7 +461,7 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
 #if AP_BARO_PROBE_EXT_PARAMETER_ENABLED
     { "BARO_PROBE_EXT",      768},
 #endif
-    { "SERVO9_FUNCTION",     59},    // k_rcin9, lights 1
+    { "SERVO9_FUNCTION",     181},   // k_lights1
     { "SERVO10_FUNCTION",    7},     // k_mount_tilt
 #endif
 };
diff --git a/ArduSub/ReleaseNotes.txt b/ArduSub/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Sub Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

diff --git a/ArduSub/version.h b/ArduSub/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduSub V4.7.0-beta3"
+#define THISFIRMWARE "ArduSub V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot Rover Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.7.0-beta3"
+#define THISFIRMWARE "ArduRover V4.7.0-beta4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
@@ -571,6 +571,7 @@ AP_HW_CUAV-X25-EVO                   7002
 
 # IDs 7100-7109 reserved for V-UAV
 AP_HW_VUAV-V7pro                     7100
+AP_HW_VUAV-TinyV7                    7101
 
 # IDs 7110-7119 reserved for AEROFOX
 AP_HW_AEROFOX_H7                     7110

diff --git a/Tools/AP_Periph/ReleaseNotes.txt b/Tools/AP_Periph/ReleaseNotes.txt
@@ -1,4 +1,40 @@
 ArduPilot AP_Periph Release Notes
+------------------------------------------------------------------
+Release 4.7.0-beta4 30-Apr-2026
+
+Changes from 4.7.0-beta3
+
+1) Board specific changes
+
+- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
+
+2) Driver changes
+
+- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
+- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
+
+3) Library changes
+
+- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
+- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
+- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
+- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
+- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
+- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
+
+4) Plane specific changes
+
+- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
+
+5) Sub specific changes
+
+- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
+- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
+
+6) Rover specific changes
+
+- Power limiting UX improved (@stephendade, PR:32788)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta3 10-Apr-2026
 

diff --git a/Tools/AP_Periph/version.h b/Tools/AP_Periph/version.h
@@ -7,7 +7,7 @@
 #include "ap_version.h"
 #include <AP_HAL/AP_HAL.h>
 
-#define THISFIRMWARE "AP_Periph 4.7.0-beta3"
+#define THISFIRMWARE "AP_Periph 4.7.0-beta4"
 
 // defines needed due to lack of GCS includes
 #ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
@@ -17,7 +17,7 @@
 #endif
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+3
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_cube_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_cube_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_cube_highpolh.bin b/Tools/IO_Firmware/iofirmware_cube_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_cube_lowpolh.bin b/Tools/IO_Firmware/iofirmware_cube_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_cubered.bin b/Tools/IO_Firmware/iofirmware_cubered.bin
diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_highpolh.bin b/Tools/IO_Firmware/iofirmware_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_lowpolh.bin b/Tools/IO_Firmware/iofirmware_lowpolh.bin
diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
@@ -39,6 +39,12 @@ def default_speedup(self):
     def is_heli(self):
         return True
 
+    def subgroupvarptr_activation_params(self):
+        ret = super(AutoTestHelicopter, self).subgroupvarptr_activation_params()
+        # AC_CustomControl is disabled on heli (AC_CUSTOMCONTROL_MULTI_ENABLED is false)
+        ret.pop("CC_TYPE", None)
+        return ret
+
     def rc_defaults(self):
         ret = super(AutoTestHelicopter, self).rc_defaults()
         ret[8] = 1000