ArduPilot: 4.7.0-beta6 release#33296

Merged

rmackay9 merged 91 commits into

ArduPilot:ArduPilot-4.7from

Georacer:pr/4.7-beta6

Jun 5, 2026

Commits on Jun 1, 2026

Tools: correct syntax in install-prereqs-ubuntu

peterbarker
authored and
Georacer
committed
HAL_ChibiOS: add support for PilotGaeaSH7V1-bdshot

PilotGaea2001
authored and
Georacer
committed
Tools: add PilotGaeaSH7V1-bdshot to board list

PilotGaea2001
authored and
Georacer
committed
hwdef: update PilotGaeaSH7V1-bdshot definitions and add default params

PilotGaea2001
authored and
Georacer
committed
Copter: auto triggers terrain failsafe if 0-alt-above-terrain

rmackay9
authored and
Georacer
committed
Tools: copter terrain failsafe autotest

rmackay9
authored and
Georacer
committed
AP_Motors6DOF: Clarify MOT_FV_CPLNG_K applicability

ES-Alexander
authored and
Georacer
committed
AP_Follow: fix offset velocity and acceleration due to heading rotation

lthall
authored and
Georacer
committed
AP_Follow: comment offset velocity and acceleration due to heading rotation

lthall
authored and
Georacer
committed
AP_RangeFinder: factor LightWare GRF shared code into common class

rishabsingh3003
authored and
Georacer
committed
AP_RangeFinder: add LightWare GRF I2C driver

rishabsingh3003
authored and
Georacer
committed
SITL: add LightWare GRF I2C simulator

rishabsingh3003
authored and
Georacer
committed
autotest: add LightWare GRF I2C rangefinder test

rishabsingh3003
authored and
Georacer
committed
AP_CANManager: fix heap corruption when CAN log buffer fills

tpwrules
authored and
Georacer
committed
AP_Filesystem: drop can_log.txt sys file

bugobliterator
authored and
Georacer
committed
AP_CANManager: send log_text via GCS instead of buffered log

bugobliterator
authored and
Georacer
committed
AP_CANManager: disable `log_text` by default

tpwrules
authored and
Georacer
committed
AP_Airspeed: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_Baro: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_BattMonitor: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_CANManager: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_Compass: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_DroneCAN: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_GPS: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_HAL_ChibiOS: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_HAL_Linux: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_HAL_SITL: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_Mount: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_PiccoloCAN: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_RCProtocol: drop CAN log message calls

tpwrules
authored and
Georacer
committed
AP_CANManager: drop problematic `log_text` method

tpwrules
authored and
Georacer
committed
autotest: add positive takeoff check for spurious warnings

andyp1per
authored and
Georacer
committed
AP_Motors: hold spool-up block during ground-idle ramp

lthall
authored and
Georacer
committed
AP_Vehicle: reset takeoff_check warning timer eagerly when disarmed

lthall
authored and
Georacer
committed
Plane: clear spool-up block each cycle in QuadPlane motors_output

lthall
authored and
Georacer
committed
Copter: simplify takeoff_check and reset warning timer while unblocked

lthall
authored and
Georacer
committed
Copter: ThrowMode: Ignore spool up checks

lthall
authored and
Georacer
committed
Sub: clear spool-up block each cycle in motors_output

lthall
authored and
Georacer
committed
AP_Vehicle: Reduce Motors check time to 2 seconds

lthall
authored and
Georacer
committed
Copter: Reduce takeoff check time to 2 seconds

lthall
authored and
Georacer
committed
AP_Motors: AP_MotorsMulticopter: Set spoolup block only when ready for checks

lthall
authored and
Georacer
committed
Copter: Immediately clear the spool up block if not landed

lthall
authored and
Georacer
committed
AP_Baro: KellerLD: reject samples flagged as invalid by status byte

vshie
authored and
Georacer
committed
AP_HAL_ChibiOS: add SkyDroid-S3

lixiaowei123
authored and
Georacer
committed
Tools: add SkyDroid-S3

lixiaowei123
authored and
Georacer
committed
AP_HAL: fix ftoa_engine hang on infinities

tpwrules
authored and
Georacer
committed
AP_HAL: add ftoa_engine infinity/NaN tests

tpwrules
authored and
Georacer
committed
AP_Follow: Fix vertical interpolation.

lthall
authored and
Georacer
committed
AP_Follow: Fix comments

lthall
authored and
Georacer
committed
AP_Follow: Improve performance of default parameters

lthall
authored and
Georacer
committed
GCS_MAVLink: Fix units + add suffix for high_latency_tgt_dist

hunt0r
authored and
Georacer
committed
Rover: Fix units + add suffix for high_latency_tgt_dist

hunt0r
authored and
Georacer
committed
ArduSub: Fix units + add suffix for high_latency_tgt_dist

hunt0r
authored and
Georacer
committed
ArduPlane: Fix units + add suffix for high_latency_tgt_dist

hunt0r
authored and
Georacer
committed
ArduCopter: Fix units + add suffix for high_latency_tgt_dist

hunt0r
authored and
Georacer
committed
Copter: Land mode uses land-repositioning to enable pilot yaw control

rmackay9
authored and
Georacer
committed
AP_Filesystem_Sys: reject negative lseek offsets to prevent wild OOB read

authored and
Georacer
committed
AP_Filesystem_Sys: ensure final offset in file within boundaries

peterbarker
authored and
Georacer
committed
AP_FileSystem: add comment about sysfs out-of-bounds check

peterbarker
authored and
Georacer
committed
hwdef: SBUS inversion pin polarity on MambaF405v2 was inverted

andyp1per
authored and
Georacer
committed
Tools: suppress compiler warnings for gcc-14+

authored and
Georacer
committed
AP_OpenDroneID: fix out of bounds access to UAS ID

authored and
Georacer
committed
AP_HAL_ChibiOS: Add new baro for ZeroOneX6 series V2

Sharanie0612
authored and
Georacer
committed

Commits on Jun 3, 2026

AP_Compass: remove LIS2MDL driver, use IIS2MDC

dakejahl
authored and
Georacer
committed
AP_HAL_ChibiOS: remove LIS2MDL driver, use IIS2MDC

dakejahl
authored and
Georacer
committed
Tools: remove LIS2MDL driver, use IIS2MDC

dakejahl
authored and
Georacer
committed
AP_Compass: add AP_COMPASS_IIS2MDC_EXTERNAL_BUS_PROBING_ENABLED

peterbarker
authored and
Georacer
committed
hwdef: AIRBRAINH743: replace AP_COMPASS_LIS2MDL_EXTERNAL_BUS_PROBING_ENABLED with IIS2MDC equivalent

peterbarker
authored and
Georacer
committed
AP_Compass: reserve the sensor ID that was used for LIS2MDL

peterbarker
authored and
Georacer
committed
hwdef: add alias for LIS2MDL to IIS2MDC

peterbarker
authored and
Georacer
committed
Tools: add LIS2MDL back in with a comment that it generally wasn't used

peterbarker
authored and
Georacer
committed
hwdef: AIRBRAINH743 use LIS2MDL alias

peterbarker
authored and
Georacer
committed
AP_Compass: guard probing external IIS2MDC with new define

peterbarker
authored and
Georacer
committed
ArduSub: Added prearm initialization check

CSmith1539
authored and
Georacer
committed
autotest: add test for overridden overrides-not-allowed channel

peterbarker
authored and
Georacer
committed
RC_Channel: do not allow RC override channel to be overridden

peterbarker
authored and
Georacer
committed
autotest: make sure RCOverrides permitted with disable-overrides switch in play

peterbarker
authored and
Georacer
committed
Filter: HarmonicNotchFilter: fix out-of-bounds read in log_notch_centers

authored and
Georacer
committed

Commits on Jun 5, 2026

autotest: reduce SIM_FLOW_RND for OpticalFlow test

peterbarker
authored and
rmackay9
committed
Tracker: 4.7.0-beta6 release notes

Georacer
authored and
rmackay9
committed
Tracker: version to 4.7.0-beta6

Georacer
authored and
rmackay9
committed
AP_Periph: 4.7.0-beta6 release notes

Georacer
authored and
rmackay9
committed
AP_Periph: version to 4.7.0-beta6

Georacer
authored and
rmackay9
committed
Sub: 4.7.0-beta6 release notes

Georacer
authored and
rmackay9
committed
Sub: version to 4.7.0-beta6

Georacer
authored and
rmackay9
committed
Rover: 4.7.0-beta6 release notes

Georacer
authored and
rmackay9
committed
Rover: version to 4.7.0-beta6

Georacer
authored and
rmackay9
committed
Copter: 4.7.0-beta6 release notes

Georacer
authored and
rmackay9
committed
Copter: version to 4.7.0-beta6

Georacer
authored and
rmackay9
committed
Plane: 4.7.0-beta6 release notes

Georacer
authored and
rmackay9
committed
Plane: version to 4.7.0-beta6

Georacer
authored and
rmackay9
committed