Copter-4.7.0-beta6 is available for beta testing!

ArduCopter Copter 4.7
1

Copter-4.7.0-beta6 has been released for beta testing and can be downloaded using Mission Planner, QGC or directly downloaded from firmware.ardupilot.org.

As with earlier, versions, if you’re using QGC, please use the daily build which has been updated for the parameter changes in 4.7.

The list of changes vs 4.7.0-beta5 are in the ReleaseNotes and copied below.

  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)
  1. 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)
  1. 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)
  1. 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)
  1. 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)

This may be the final beta before the official release so all feedback is greatly appreciated!

2

Regarding gcc-14 warnings: what is currently the preferred version of GCC? Are we still mostly on 10?

3

Hi @MaxBuzz,

Yes, I think the preferred gcc version is still 10. This is what is installed using the install-prereqs-ubuntu.sh script.

I’ll double check with others in the dev call tomorrow.

4

Hi @MaxBuzz,

We confirmed on the dev call this morning that gcc-10 is the default and recommended compiler to use. This is what the centralised AP server uses to build binaries.