Sub-4.7.2-beta1 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 4.7.1 are in the ReleaseNotes and copied below.
The 3 most impactful changes are bolded below. In particular we would really like anyone with a ZeroOneX6 board to test this beta and ensure that the compass heading is OK.
Changes from 4.7.1
- Board specific changes
- CoreWing F405 Wing V2 and Wing Mini V2 boards (@MakeSomeFakeNews, PR:33717)
- CUAV-X25-MEGA board support (@cuav-chen2, PR:33475)
- GPilot P1 board support (@gokhan-iha, PR:33067)
- KakuteH7 and KakuteH7Mini support LSM6DSV-family IMUs (@zebulon-86, PR:34092)
- Lectron Pi5 board support (@lectronuser, PR:33423)
- NWBLUE_PROH757 board support (@andyp1per, PR:33349)
- Pixhawk6X supports LSM6DSV-family IMUs (@zebulon-86, PR:33758)
- ZeroOneX6 and ZeroOneX6_Air support bmm350 internal compasses (@ZeroOne-Aero, PR:32541)
- Library/Driver changes
- Analog Devices ADIS16607 IMU support (@cuav-chen2, PR:32109)
- Baro: bmp581 read thrice to get corrected data (@peterbarker, PR:34265)
- Baro: MS5837 BARO_DEVID devtype fixed (@Williangalvani, PR:34339)
- BMP390 baro init performs soft reset to clear sensor config (@crvogt, PR:33813)
- Follow discards target state when FOLL_SYSID changes (@lthall, PR:33891)
- Follow loses automatic sysid detection (@lthall, PR:33937)
- GCS_MAVLink: statustext chunk tracking compid comparison fixed (@masonzeng702550, PR:34295)
- Harmonic Quintuple Notch fixed (@IamPete1, PR:33974)
- IIS2MDC compass fixes and enable by default (@andyp1per, PR:33780)
- InertialSensor: LSM6DSV IMU heater not being driven fixed (@RunnyCow, PR:34116)
- Linux CAN bus regression fixed (@landswellsong, PR:34062)
- Linux boards read multiple UDP packets per cycle (@landswellsong, PR:33828)
- Logger: dBm unit added to log structure (@olliw42, PR:34320)
- OSD uses correct yaw (@IamPete1, PR:34007)
- QMC5883P enabled on 1M boards by default (@IamPete1, PR:34101)
- AHRS / EKF fixes
- Drag fusion fixed when using GPS for yaw (@IamPete1, PR:34027)
- Inertial sensor accel board rotation kept during gyro cal (@andyp1per, PR:33988)
- Merge zeroRows and zeroCols into P-specific form (non-functional change, @tpwrules, PR:33132)
- Optical flow terrain scale height sign fixed (@andyp1per, PR:34360)
- Zero wind cross-covariances when treating wind as truth, fixes DeadReckoningNoAirspeed tests (@peterbarker, PR:33326)
- Sub specific changes
- Guided mode supports acceleration targets (@clydemcqueen, PR:34298)
- Bug fixes and minor enhancements
- Copter: PosHold brake-to-loiter speed threshold units fixed (@peterbarker, PR:34287)
- ATC_RAT_YAW_NTF param units description fixed (@andyp1per, PR:34122)
- Tool changes
- Cygwin build upgraded to use Python 3.12 (@tpwrules, PR:32586)
- Debian Bullseye support removed (@khancyr, PR:34336)
- Extend compiler warning suppression to include gcc 16.2 (@Williangalvani, PR:34058)
- Remove now-unnecessary Python future dependency (@tpwrules, PR:32531)
- ROS2/colcon: rosdep install fixed by skipping microxrcedds_agent key (@peterbarker, PR:34285)
