ArduPilot · rmackay9 · Apr 17, 2026 · Mar 9, 2026 · Mar 10, 2026 · Mar 10, 2026
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,66 @@
 ArduPilot Antenna Tracker Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta3 10-Apr-2026
+
+Changes from 4.7.0-beta2
+
+1) Board specific changes
+
+- Atlas-Control has updated hwdef.dat file (@AltasFlight, PR:32268)
+- HWH7 flight controller added to supported boards (@Arwayday, PR:32248)
+- TBS_LUCID_H7 now has an MPU6000 version (@andyp1per, PR:32512)
+
+2) Driver changes
+
+- ZB25VQ128D flash chip now supported for onboard logging (@LoyalLinjy, PR:32408)
+- Kebni SensAItion as External AHRS now supported in IMU and INS modes (@magnus-lindhe-kebni, PR:31775)
+- IST8310 compass probing corrected on fmuv3-based boards (@peterbarker, PR:32462)
+
+3) AHRS specific changes
+
+- EKF3 flash space requirements reduced (@tpwrules, PRs:32213, 32618)
+- EKF3 is fixed to no longer reset to external altitude when it is configured to another source (@snktshrma, PR:32508)
+- AHRS recorded origin check will correctly use the GPS (@andyp1per, PR: 32469)
+- AHRS external origin setting will be delayed until filter is initialised (@andyp1per, PR: 32505)
+- EKF3 missing constraints to FuseDragForces added (@tpwrules, PR:32128)
+- Fix replay involving body odometry data (@twprules, PR:32598)
+
+4) Camera and mount specific changes
+
+- Camera servo driver's CAMERA_INFORMATION flags fixed (@Davidsastresas, PR:32564)
+- RunCam param metadata names are fixed to match code (@tpwrules, PR:32601)
+- Mount fix to angular rates when using FPV mode (@KSimeonAVTA, PR:32540)
+- Mount scripting driver accepts rate targets (@peterbarker, PR:32626)
+- Fix wire data issues with various Mount backends (@peterbarker, PR:32630)
+
+5) Other libraries changes
+
+- Fence for Plane and Copter supports alt above terrain (@andyp1per, PR:31619)
+- Ignore-receiver in RC_OPTIONS is now respected during RC loss (@peterbarker, PR:32488)
+- ATC_INPUT_TC and Q_A_INPUT_TC param defaults reduced (@rmackay9, PR:32643)
+
+6) Copter/Tradheli specific changes
+
+- Spool state is logged (@Georacer, PR:31668)
+
+7) Plane specific changes
+
+- Rangefinder state is logged (@Georacer, PR:31579)
+- AHRS log message rate not affected by full rate attitude logging (@IamPete1, PR:32623)
+
+8) Sub specific changes
+
+- Automatically deal with misconfigured lights/actuators (@Williangalvani, PR:31109)
+
+9) Rover specific changes
+
+- Battery watt limiter feature added to custom build server (@mackay9, PR:32687)
+
+10) Scripting changes
+
+- plane_follow.lua messages will no longer crash the script if there is no target vehicle (@timtuxworth, PR:32567)
+- plane_follow.lua has a fix for crosstrack oscillation (@timtuxworth, PR:32575)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta2 21-Mar-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-beta2"
+#define THISFIRMWARE "AntennaTracker V4.7.0-beta3"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+1
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -651,6 +651,8 @@ void Copter::loop_rate_logging()
     if (should_log(MASK_LOG_IMU_FAST)) {
         AP::ins().Write_IMU();
     }
+
+    motors->Log_Write_SPOL();
 }
 
 // ten_hz_logging_loop

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,66 @@
 ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta3 10-Apr-2026
+
+Changes from 4.7.0-beta2
+
+1) Board specific changes
+
+- Atlas-Control has updated hwdef.dat file (@AltasFlight, PR:32268)
+- HWH7 flight controller added to supported boards (@Arwayday, PR:32248)
+- TBS_LUCID_H7 now has an MPU6000 version (@andyp1per, PR:32512)
+
+2) Driver changes
+
+- ZB25VQ128D flash chip now supported for onboard logging (@LoyalLinjy, PR:32408)
+- Kebni SensAItion as External AHRS now supported in IMU and INS modes (@magnus-lindhe-kebni, PR:31775)
+- IST8310 compass probing corrected on fmuv3-based boards (@peterbarker, PR:32462)
+
+3) AHRS specific changes
+
+- EKF3 flash space requirements reduced (@tpwrules, PRs:32213, 32618)
+- EKF3 is fixed to no longer reset to external altitude when it is configured to another source (@snktshrma, PR:32508)
+- AHRS recorded origin check will correctly use the GPS (@andyp1per, PR: 32469)
+- AHRS external origin setting will be delayed until filter is initialised (@andyp1per, PR: 32505)
+- EKF3 missing constraints to FuseDragForces added (@tpwrules, PR:32128)
+- Fix replay involving body odometry data (@twprules, PR:32598)
+
+4) Camera and mount specific changes
+
+- Camera servo driver's CAMERA_INFORMATION flags fixed (@Davidsastresas, PR:32564)
+- RunCam param metadata names are fixed to match code (@tpwrules, PR:32601)
+- Mount fix to angular rates when using FPV mode (@KSimeonAVTA, PR:32540)
+- Mount scripting driver accepts rate targets (@peterbarker, PR:32626)
+- Fix wire data issues with various Mount backends (@peterbarker, PR:32630)
+
+5) Other libraries changes
+
+- Fence for Plane and Copter supports alt above terrain (@andyp1per, PR:31619)
+- Ignore-receiver in RC_OPTIONS is now respected during RC loss (@peterbarker, PR:32488)
+- ATC_INPUT_TC and Q_A_INPUT_TC param defaults reduced (@rmackay9, PR:32643)
+
+6) Copter/Tradheli specific changes
+
+- Spool state is logged (@Georacer, PR:31668)
+
+7) Plane specific changes
+
+- Rangefinder state is logged (@Georacer, PR:31579)
+- AHRS log message rate not affected by full rate attitude logging (@IamPete1, PR:32623)
+
+8) Sub specific changes
+
+- Automatically deal with misconfigured lights/actuators (@Williangalvani, PR:31109)
+
+9) Rover specific changes
+
+- Battery watt limiter feature added to custom build server (@mackay9, PR:32687)
+
+10) Scripting changes
+
+- plane_follow.lua messages will no longer crash the script if there is no target vehicle (@timtuxworth, PR:32567)
+- plane_follow.lua has a fix for crosstrack oscillation (@timtuxworth, PR:32575)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta2 21-Mar-2026
 

diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
@@ -567,8 +567,8 @@ void ModeRTL::compute_return_target()
     //       the vehicle not climbing at all as RTL begins.  This can be overly conservative and it might be better
     //       to apply the fence alt limit independently on the origin_point and return_target
     if ((copter.fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
-        // get return target as alt-above-home so it can be compared to fence's alt
-        if (rtl_path.return_target.get_alt_m(Location::AltFrame::ABOVE_HOME, target_alt_m)) {
+        // get return target in max alt frame so it can be compared to fence's alt
+        if (rtl_path.return_target.get_alt_m(copter.fence.get_alt_max_frame(), target_alt_m)) {
             float fence_alt_m = copter.fence.get_safe_alt_max_m();
             if (target_alt_m > fence_alt_m) {
                 // reduce target alt to the fence alt

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.7.0-beta2"
+#define THISFIRMWARE "ArduCopter V4.7.0-beta3"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+1
+#define FIRMWARE_VERSION 4,7,0,FIRMWARE_VERSION_TYPE_BETA+2
 
 #define FW_MAJOR 4
 #define FW_MINOR 7

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
@@ -53,8 +53,6 @@ void Plane::Log_Write_Attitude(void)
     if (steerController.active()) {
         logger.Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
     }
-
-    AP::ahrs().Log_Write();
 }
 
 // do fast logging for plane
@@ -192,6 +190,45 @@ void Plane::Log_Write_Nav_Tuning()
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
 
+#if AP_RANGEFINDER_ENABLED
+struct PACKED log_RFNS {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    bool in_use;
+    bool in_range;
+    uint8_t in_range_count;
+    bool have_initial_reading;
+    float initial_range;
+    float last_distance;
+    float correction;
+    float initial_correction;
+    float last_stable_correction;
+    uint32_t last_correction_time_ms;
+    float height_estimate;
+};
+
+// Write a Rangefinder State packet
+void Plane::Log_Write_RFNS()
+{
+    const struct log_RFNS pkt {
+        LOG_PACKET_HEADER_INIT(LOG_RFNS_MSG),
+        time_us                 : AP_HAL::micros64(),
+        in_use                  : rangefinder_state.in_use,
+        in_range                : rangefinder_state.in_range,
+        in_range_count          : rangefinder_state.in_range_count,
+        have_initial_reading    : rangefinder_state.have_initial_reading,
+        initial_range           : rangefinder_state.initial_range,
+        last_distance           : rangefinder_state.last_distance,
+        correction              : rangefinder_state.correction,
+        initial_correction      : rangefinder_state.initial_correction,
+        last_stable_correction  : rangefinder_state.last_stable_correction,
+        last_correction_time_ms : rangefinder_state.last_correction_time_ms,
+        height_estimate         : rangefinder_state.height_estimate
+    };
+    logger.WriteBlock(&pkt, sizeof(pkt));
+}
+#endif  // AP_RANGEFINDER_ENABLED
+
 struct PACKED log_Status {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -501,6 +538,25 @@ const struct LogStructure Plane::log_structure[] = {
     { LOG_OFG_MSG, sizeof(log_OFG_Guided),     
       "OFG", "QffffBffB",    "TimeUS,Arsp,ArspA,Alt,AltA,AltF,Hdg,HdgA,AltL", "snnmo-d--", "F--------" , true }, 
 #endif
+
+#if AP_RANGEFINDER_ENABLED
+// @LoggerMessage: RFNS
+// @Description: Rangefinder state
+// @Field: TimeUS: Time since system startup
+// @Field: InUse: Whether the rangefinder is in use.
+// @Field: InRng: Whether the rangefinder is in range.
+// @Field: IRCnt: Count of in-range measurements
+// @Field: Ms0OK: Whether there has been an initial measurement.
+// @Field: Ms0: The initial measured range
+// @Field: Dst: The last recorded distance
+// @Field: Cor: The rangefinder correction
+// @Field: Cor0: The initial rangefinder correction
+// @Field: CorL: The last stable correction
+// @Field: TimeCL: The last correction time
+// @Field: HE: Height estimate
+    { LOG_RFNS_MSG, sizeof(log_RFNS),
+        "RFNS", "QBBBBfffffIf", "TimeUS,InUse,InRng,IRCnt,Ms0OK,Ms0,Dst,Cor,Cor0,CorL,TimeCL,HE", "s----mmmmmsm", "F----00000C0", true },
+#endif  // AP_RANGEFINDER_ENABLED
 };
 
 uint8_t Plane::get_num_log_structures() const

diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
@@ -268,32 +268,53 @@ void Plane::update_compass(void)
  */
 void Plane::update_logging10(void)
 {
-    bool log_faster = (should_log(MASK_LOG_ATTITUDE_FULLRATE) || should_log(MASK_LOG_ATTITUDE_FAST));
-    if (should_log(MASK_LOG_ATTITUDE_MED) && !log_faster) {
+    const bool attitude_med = should_log(MASK_LOG_ATTITUDE_MED);
+    const bool attitude_faster = should_log(MASK_LOG_ATTITUDE_FULLRATE) || should_log(MASK_LOG_ATTITUDE_FAST);
+
+    // Log attitude only if no faster logging is selected
+    if (attitude_med && !attitude_faster) {
         Log_Write_Attitude();
-        ahrs.Write_AOA_SSA();
-    } else if (log_faster) {
+        AP::ahrs().Log_Write();
+    }
+
+    // If any attitude logging is enabled log AOA and SSA
+    if (attitude_med || attitude_faster) {
         ahrs.Write_AOA_SSA();
     }
+
 #if HAL_MOUNT_ENABLED
     if (should_log(MASK_LOG_CAMERA)) {
         camera_mount.write_log();
     }
 #endif
+#if AP_RANGEFINDER_ENABLED
+    if (should_log(MASK_LOG_NTUN)) {
+        if (rangefinder.has_orientation(rangefinder_orientation()) &&
+            (g.rangefinder_landing.get() > 0)) {
+            Log_Write_RFNS();
+        }
+    }
+#endif
 }
 
 /*
   do 25Hz logging
  */
 void Plane::update_logging25(void)
 {
-    // MASK_LOG_ATTITUDE_FULLRATE logs at 400Hz, MASK_LOG_ATTITUDE_FAST at 25Hz, MASK_LOG_ATTIUDE_MED logs at 10Hz
-    // highest rate selected wins
-    bool log_faster = should_log(MASK_LOG_ATTITUDE_FULLRATE);
-    if (should_log(MASK_LOG_ATTITUDE_FAST) && !log_faster) {
+    const bool attitude_fast = should_log(MASK_LOG_ATTITUDE_FAST);
+    const bool attitude_full_rate = should_log(MASK_LOG_ATTITUDE_FULLRATE);
+
+    // Log at fast rate if fast logging is the fastest enabled
+    if (attitude_fast && !attitude_full_rate) {
         Log_Write_Attitude();
     }
 
+    // Log AHRS at fast rate if either fast or full rate is selected
+    if (attitude_fast || attitude_full_rate) {
+        AP::ahrs().Log_Write();
+    }
+
     if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
 #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -955,6 +955,9 @@ class Plane : public AP_Vehicle {
     void Log_Write_OFG_Guided();
     void Log_Write_Guided(void);
     void Log_Write_Nav_Tuning();
+#if AP_RANGEFINDER_ENABLED
+    void Log_Write_RFNS();
+#endif
     void Log_Write_Status();
     void Log_Write_RC(void);
     void Log_Write_Vehicle_Startup_Messages();

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,4 +1,66 @@
 ArduPilot Plane Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta3 10-Apr-2026
+
+Changes from 4.7.0-beta2
+
+1) Board specific changes
+
+- Atlas-Control has updated hwdef.dat file (@AltasFlight, PR:32268)
+- HWH7 flight controller added to supported boards (@Arwayday, PR:32248)
+- TBS_LUCID_H7 now has an MPU6000 version (@andyp1per, PR:32512)
+
+2) Driver changes
+
+- ZB25VQ128D flash chip now supported for onboard logging (@LoyalLinjy, PR:32408)
+- Kebni SensAItion as External AHRS now supported in IMU and INS modes (@magnus-lindhe-kebni, PR:31775)
+- IST8310 compass probing corrected on fmuv3-based boards (@peterbarker, PR:32462)
+
+3) AHRS specific changes
+
+- EKF3 flash space requirements reduced (@tpwrules, PRs:32213, 32618)
+- EKF3 is fixed to no longer reset to external altitude when it is configured to another source (@snktshrma, PR:32508)
+- AHRS recorded origin check will correctly use the GPS (@andyp1per, PR: 32469)
+- AHRS external origin setting will be delayed until filter is initialised (@andyp1per, PR: 32505)
+- EKF3 missing constraints to FuseDragForces added (@tpwrules, PR:32128)
+- Fix replay involving body odometry data (@twprules, PR:32598)
+
+4) Camera and mount specific changes
+
+- Camera servo driver's CAMERA_INFORMATION flags fixed (@Davidsastresas, PR:32564)
+- RunCam param metadata names are fixed to match code (@tpwrules, PR:32601)
+- Mount fix to angular rates when using FPV mode (@KSimeonAVTA, PR:32540)
+- Mount scripting driver accepts rate targets (@peterbarker, PR:32626)
+- Fix wire data issues with various Mount backends (@peterbarker, PR:32630)
+
+5) Other libraries changes
+
+- Fence for Plane and Copter supports alt above terrain (@andyp1per, PR:31619)
+- Ignore-receiver in RC_OPTIONS is now respected during RC loss (@peterbarker, PR:32488)
+- ATC_INPUT_TC and Q_A_INPUT_TC param defaults reduced (@rmackay9, PR:32643)
+
+6) Copter/Tradheli specific changes
+
+- Spool state is logged (@Georacer, PR:31668)
+
+7) Plane specific changes
+
+- Rangefinder state is logged (@Georacer, PR:31579)
+- AHRS log message rate not affected by full rate attitude logging (@IamPete1, PR:32623)
+
+8) Sub specific changes
+
+- Automatically deal with misconfigured lights/actuators (@Williangalvani, PR:31109)
+
+9) Rover specific changes
+
+- Battery watt limiter feature added to custom build server (@mackay9, PR:32687)
+
+10) Scripting changes
+
+- plane_follow.lua messages will no longer crash the script if there is no target vehicle (@timtuxworth, PR:32567)
+- plane_follow.lua has a fix for crosstrack oscillation (@timtuxworth, PR:32575)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta2 21-Mar-2026