Tracker-4.7.0-beta4 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 4.7.0-beta3 are in the ReleaseNotes and copied below.
- Board specific changes
- VUAV-TinyV7 board added (@viewpro-caijie, PR:32058)
- Driver changes
- LSM6DSV16X IMU from ST is now supported (@zebulon-86, PR:32574)
- MMP581 driver handles data corruption better (@peterbarker, PR:32171)
- Library changes
- AC_PID: NTF and NEF parameters metadata includes 0 as a valid value (@IamPete1, PR:32898)
- AC_WPNav: BendyRuler altitude bug fixed (@hunt0r, PR:32892)
- AP_Arming: E-stop value is taken into account (@IamPete1, PR:32705)
- AP_GPS: SBF driver improvement in Do Not Use values (@UAVcihang, PR:32642)
- AP_Math: S-Curve bugs fixed (@lthall, PR: 32730)
- RC_Channel: RCx_PROTOCOLS metadata updated with SITLUDP option (@peterbarker, PR:32778)
- Plane specific changes
- AP_IOMCU: Throttle will not output on failsafe while disarmed (@IamPete1, PR:32912)
- Sub specific changes
- Lights servo channels defaults fixed (@ES-Alexander, PR:32764)
- Remote leak detector MAVLink interface support added (@ES-Alexander, PR:32614)
- Rover specific changes
- Power limiting UX improved (@stephendade, PR:32788)
BTW, we are getting closer to the official release with the number of issues shrinking and most reporting that it seems quite stable.