ArduPilot · rmackay9 · Jun 5, 2026 · Mar 31, 2026 · Mar 13, 2026 · Mar 13, 2026
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,50 @@
 ArduPilot Antenna Tracker 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)

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.7.0-beta5"
+#define THISFIRMWARE "AntennaTracker V4.7.0-beta6"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+4
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+5
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/ArduCopter/GCS_MAVLink_Copter.cpp b/ArduCopter/GCS_MAVLink_Copter.cpp
@@ -1328,12 +1328,11 @@ uint8_t GCS_MAVLINK_Copter::high_latency_tgt_heading() const
     return 0;     
 }
 
-uint16_t GCS_MAVLINK_Copter::high_latency_tgt_dist() const
+uint16_t GCS_MAVLINK_Copter::high_latency_tgt_dist_dam() const
 {
     if (copter.ap.initialised) {
-        // return units are dm
         const Mode *flightmode = copter.flightmode;
-        return MIN(flightmode->wp_distance_m(), UINT16_MAX) / 10;
+        return MIN(static_cast<uint16_t>(flightmode->wp_distance_m() * 0.1), UINT16_MAX);
     }
     return 0;
 }

diff --git a/ArduCopter/GCS_MAVLink_Copter.h b/ArduCopter/GCS_MAVLink_Copter.h
@@ -94,7 +94,7 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
 #if HAL_HIGH_LATENCY2_ENABLED
     int16_t high_latency_target_altitude() const override;
     uint8_t high_latency_tgt_heading() const override;
-    uint16_t high_latency_tgt_dist() const override;
+    uint16_t high_latency_tgt_dist_dam() const override;
     uint8_t high_latency_tgt_airspeed() const override;
     uint8_t high_latency_wind_speed() const override;
     uint8_t high_latency_wind_direction() const override;

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,50 @@
 ArduPilot Copter 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)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -678,8 +678,9 @@ class ModeAuto : public Mode {
     void loiter_to_alt_run();
     void nav_attitude_time_run();
 
-    // return the Location portion of a command.  If the command's lat and lon and/or alt are zero the default_loc's lat,lon and/or alt are returned instead
-    Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const;
+    // get the Location portion of a command.  If the command's lat and lon and/or alt are zero the default_loc's lat,lon and/or alt are returned instead
+    // returns false if the location cannot be determined which only happens if the terrain data is unavailable
+    bool get_loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& loc) const WARN_IF_UNUSED;
 
     SubMode _mode = SubMode::TAKEOFF;   // controls which auto controller is run
 
@@ -691,12 +692,12 @@ class ModeAuto : public Mode {
     void do_nav_wp(const AP_Mission::Mission_Command& cmd);
     bool set_next_wp(const AP_Mission::Mission_Command& current_cmd, const Location &default_loc);
     void do_land(const AP_Mission::Mission_Command& cmd);
-    void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
+    bool do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
     void do_circle(const AP_Mission::Mission_Command& cmd);
     void do_loiter_time(const AP_Mission::Mission_Command& cmd);
     void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
     void do_spline_wp(const AP_Mission::Mission_Command& cmd);
-    void get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline);
+    bool get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline);
 #if AC_NAV_GUIDED
     void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
     void do_guided_limits(const AP_Mission::Mission_Command& cmd);
@@ -1312,6 +1313,7 @@ class ModeLand : public Mode {
     bool controlling_position() const { return control_position; }
 
     void set_land_pause(bool new_value) { land_pause = new_value; }
+    bool use_pilot_yaw() const override;
 
     // parameter accessors
     float get_land_speed_ms() const { return land_speed_ms.get(); }