ArduPilot: 4.7.0-beta3 release - #32733

Merged

rmackay9 merged 99 commits into

ArduPilot:ArduPilot-4.7from

Georacer:pr/4.7.0-beta3

Apr 17, 2026

Commits on Apr 14, 2026

Tools: autotest: deduplicate ExternalAHRS mission into Generic_Missions

authored and
Georacer
committed
bdfdcfa
AP_Filesystem_FlashMemory_LittleFS:Add support for ZB25VQ128Q

LoyalLinjy
authored and
Georacer
committed
0a9de83
AP_Logger: Add support for ZB25VQ128Q

LoyalLinjy
authored and
Georacer
committed
6a5d0d1
AP_ExternalAHRS: Add support for Kebni SensAItion as External AHRS

magnus-lindhe-kebni
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Georacer
committed
24f6e9b
AP_GPS: Make conversion from BCD to GPS time externally available

magnus-lindhe-kebni
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Georacer
committed
bd1e754
AP_Math: Add checksum function used by AP_ExternalAHRS_SensAItion

magnus-lindhe-kebni
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Georacer
committed
cbf272f
AP_HAL_SITL: Add support for Kebni SensAItion as External AHRS

magnus-lindhe-kebni
authored and
Georacer
committed
9ccc00e
SITL: Add support for Kebni SensAItion as External AHRS

magnus-lindhe-kebni
authored and
Georacer
committed
3867d52
Tools: Add ArduPlane tests for Kebni SensAItion

magnus-lindhe-kebni
authored and
Georacer
committed
506d037
AP_HAL_ChibiOS: add HWH7 board

Arwayday
authored and
Georacer
committed
13df895
Tools: add HWH7 bootloader

Arwayday
authored and
Georacer
committed
6b07a9d
AC_Fence: added FENCE_ALT_TYPE

tridge
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Georacer
committed
2c93d89
Copter: use fence max alt frame for RTL

andyp1per
authored and
Georacer
committed
0e7ea04
Plane: use get_relative_safe_alt_min_m and get_relative_safe_alt_max_m

andyp1per
authored and
Georacer
committed
c0124c6
AP_Arming: check fence terrain requirements in pre-arm

andyp1per
authored and
Georacer
committed
4c89af5
AC_Fence: specify alt frame for min and max fences separately

andyp1per
authored and
Georacer
committed
00e77a0
AC_Avoidance: take alt frame into account when avoiding min or max alt fences

andyp1per
authored and
Georacer
committed
c0f95db
autotest: add alt frame fence tests

andyp1per
authored and
Georacer
committed
3b06836
AC_Fence: clear manual recovery started on fence disable

peterbarker
authored and
Georacer
committed
372ae7b
AC_Fence: add safe alt methods that also return the frame

andyp1per
authored and
Georacer
committed
40f6090
AP_Scripting: return alt frame from safe alt fence bindings

andyp1per
authored and
Georacer
committed
2ae04dd
autotest: fix fence alt-frame test isolation issues

andyp1per
authored and
Georacer
committed
9ce69c1
autotest: make fence alt-frame tests clean up after themselves

andyp1per
authored and
Georacer
committed
d280abd
AC_Fence: add _m suffix to altitude getters and fix comments

andyp1per
authored and
Georacer
committed
48a6223
AC_Avoidance: use renamed fence alt getters with _m suffix

andyp1per
authored and
Georacer
committed
d12c7e0
AC_Fence: remove deprecated altitude getter aliases

andyp1per
authored and
Georacer
committed
38178f4
autotest: use home_position_as_mav_location for fence test home capture

andyp1per
authored and
Georacer
committed
abffcda
AP_NavEKF3: loop over states in FuseMagnetometer Kalman gain computation

tpwrules
authored and
Georacer
committed
c4f9307
AP_NavEKF3: loop over states in FuseDeclination Kalman gain computation

tpwrules
authored and
Georacer
committed
638fe84
AP_NavEKF3: loop over states in FuseAirspeed Kalman gain computation

tpwrules
authored and
Georacer
committed
4b04192
AP_NavEKF3: loop over states in FuseSideslip Kalman gain computation

tpwrules
authored and
Georacer
committed
518ae2d
AP_NavEKF3: loop over states in FuseOptFlow Kalman gain computation

tpwrules
authored and
Georacer
committed
bd84700
AP_NavEKF3: loop over states in FuseRngBcn Kalman gain computation

tpwrules
authored and
Georacer
committed
059dbe6
AP_NavEKF3: Reset to extnav only when configured

snktshrma
authored and
Georacer
committed
3bdd066
AP_NavEKF3: add configuredToUseGPSForPos()

andyp1per
authored and
Georacer
committed
812ffec
AP_AHRS: add using_gps_for_posxy and fix recorded origin check

andyp1per
authored and
Georacer
committed
9d4abe6
AP_NavEKF3: delay external origin setting until filter is initialised

andyp1per
authored and
Georacer
committed
05f832c
Plane: Logged rangefinder state
Georacer
committed
f519de1
AP_Camera_Servo.cpp: Fix broken CAMERA_INFORMATION flags

Davidsastresas
authored and
Georacer
committed
69c8eac
AP_Logger: Added SPOL message
Georacer
committed
9e501a3
AP_Motors: Logged SPOL message
Georacer
committed
1a1c90d
Copter: Logged SPOL message
Georacer
committed
2445dd1
AP_Scripting: plane_follow.lua fix sendtext error if no target vehicle

timtuxworth
authored and
Georacer
committed
ee7ce71
AP_Mount_Backend: set RC rate yaw_is_ef flag

KSimeonAVTA
authored and
Georacer
committed
9f0d703
AP_Scripting: plane_follow.lua fix crosstrack oscillation

timtuxworth
authored and
Georacer
committed
4802d10
AP_DAL: correctly comment all fields of replay beacon data message

tpwrules
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Georacer
committed
8b9e6cc
hwdef: re-instate probing for external IST8310 compasses on fmuv3 boards

peterbarker
authored and
Georacer
committed
653b6ed
AP_Camera: fix RunCam param metadata names to match code

tpwrules
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Georacer
committed
bf897ca
AP_DAL: fill missing fields in replay body odometry message

tpwrules
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Georacer
committed
4291a7f
autotest: add copter EKF FuseBodyVel Replay subtest

tpwrules
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Georacer
committed
4261793
autotest: add test for Copter yaw speed when no RC input

peterbarker
authored and
Georacer
committed
ac9067d
autotest: zero throttle in RTL

peterbarker
authored and
Georacer
committed
e3ea5ad
RC_Channel: understand ignore-receiver when reading rc inputs

peterbarker
authored and
Georacer
committed
ba30bb9
autotest: reduce circling time in Arc waypoint test

peterbarker
authored and
Georacer
committed
613e484
AP_NavEKF3: loop over states in FuseBodyVel Kalman gain computation

tpwrules
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Georacer
committed
3cccd8b
Plane: drop AHRS out of full rate attitude logging

IamPete1
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Georacer
committed
1f6b055
AP_Scripting: add mount-driver example

robertlong13
authored and
Georacer
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0b05b74
autotest: add ScriptMountDriver test

robertlong13
authored and
Georacer
committed
1b0b50b
AP_Mount: fix get_angle_target for converted cmds

robertlong13
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Georacer
committed
e9e6068
AP_Mount: fix scripting backend for non-angle target modes

authored and
Georacer
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9d7fd20
AP_Mount: gate get_angle/rate_target behind AP_SCRIPTING_ENABLED; scripting backend fully self-contained

authored and
Georacer
committed
afb9b09
AP_Scripting: fix language check issues

IamPete1
authored and
Georacer
committed
6f08e6e
mavlink: Update subprepo
Georacer
committed
943da73
GCS_MAVLink: adjust for new SYS_STATUS fields

peterbarker
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Georacer
committed
4c7ed90
Sub: refactor jsbutton_function_is_assigned() out of has_disarm_function()

Williangalvani
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Georacer
committed
4fdf95e
Sub: add parameters migration for lights and actuators

Williangalvani
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Georacer
committed
c5ccd08
Sub: create and use param for controlling parameters migration

Williangalvani
authored and
Georacer
committed
2f530dd
AP_Camera: support per-instance CAMERA_INFORMATION via REQUEST_MESSAGE param2

authored and
Georacer
committed
af3acf0
GCS_MAVLink: support per-instance CAMERA_INFORMATION via REQUEST_MESSAGE param2

authored and
Georacer
committed
57c348a
AP_HAL_SITL: add simulation for ZT30, Topotek and ViewPro gimbals

peterbarker
authored and
Georacer
committed
cdafa12
SITL: add simulation for ZT30, Topotek and ViewPro gimbals

peterbarker
authored and
Georacer
committed
963423e
autotests: add tests for ZT30, Topotek and ViewPro gimbals

peterbarker
authored and
Georacer
committed
61feb8d
AP_Mount: use 'static constexpr' in place of 'static const'

peterbarker
authored and
Georacer
committed
fad17f8
AP_Mount: Viewpro: replace strncpy with memcpy to fix -Wstringop-truncation

authored and
Georacer
committed
4c12d4f
AP_Mount: use char[] rather than uint8_t[] for gimbal model name

authored and
Georacer
committed
a636a05
AP_Mount: avoid buffer-overread sending Viewpro camera_information

peterbarker
authored and
Georacer
committed
da7172d
AP_Mount: use MAVLink field len defines and strncpy_noterm for camera_information strings

authored and
Georacer
committed
9245250
AP_Mount: remove static from model_name buffer in send_camera_information

authored and
Georacer
committed
9932c9b
AP_Mount: validate wire-data lengths before using as buffer/loop bounds

authored and
Georacer
committed
20ac18d
SITL: correct response to Viewpro model query

peterbarker
authored and
Georacer
committed
c868e84
AP_HAL_ChibiOS: update hwdef.dat for Atlas-Control

oleksandrivashyna-pixel
authored and
Georacer
committed
e56b6dd
AC_AttitudeControl: reduce INPUT_TC default

rmackay9
authored and
Georacer
committed
36c5fee
AP_NavEKF3: add missing constraints to FuseDragForces

tpwrules
authored and
Georacer
committed
10a7932
Tools: extract features fix for batt watt max

rmackay9
authored and
Georacer
committed
1699f7d
Tools: test-build-option fix for battery watt limiting

rmackay9
authored and
Georacer
committed
18c7069
hwdef: MPU6000 version of TBS_LUCID_H7

andyp1per
authored and
Georacer
committed
367ebc6

Commits on Apr 15, 2026

mavlink: Update mavlink repo
Georacer
committed
344ff8c
Tracker: 4.7.0-beta3 release notes
Georacer
committed
1aa34b3
Tracker: version to 4.7.0-beta3
Georacer
committed
c26ddb6
AP_Periph: 4.7.0-beta3 release notes
Georacer
committed
2f267ef
AP_Periph: version to 4.7.0-beta3
Georacer
committed
0b3df9a
Sub: 4.7.0-beta3 release notes
Georacer
committed
6ecec50
Sub: version to 4.7.0-beta3
Georacer
committed
aaa21a0
Rover: 4.7.0-beta3 release notes
Georacer
committed
221f787
Rover: version to 4.7.0-beta3
Georacer
committed
3f23ded
Copter: 4.7.0-beta3 release notes
Georacer
committed
a8a95de
Copter: version to 4.7.0-beta3
Georacer
committed
cc438b9
Plane: 4.7.0-beta3 release notes
Georacer
committed
1ee50da
Plane: version to 4.7.0-beta3
Georacer
committed
8660eca