Sub-4.7.0-beta3 available for beta testing!

Sub Sub 4.7
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Sub4.7.0-beta3 has been released for beta testing and can be downloaded using Mission Planner, QGC or directly downloaded from firmware.ardupilot.org.

The list of changes vs the previous version are in the ReleaseNotes and copied below.

As per previously releases there should be no need to backup and restore parameters as part of the upgrade. This should all be handled automatically.

We are actively tracking issues here and all feedback whether positive or negative is greatly appreciated!

  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)
  1. 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)
  1. 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)
  1. 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)
  1. 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)
  1. Copter/Tradheli specific changes
  • Spool state is logged (Georacer, PR:31668)
  1. Plane specific changes
  • Rangefinder state is logged (Georacer, PR:31579)
  • AHRS log message rate not affected by full rate attitude logging (IamPete1, PR:32623)
  1. Sub specific changes
  • Automatically deal with misconfigured lights/actuators (Williangalvani, PR:31109)
  1. Rover specific changes
  • Battery watt limiter feature added to custom build server (mackay9, PR:32687)
  1. 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)
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