Autotest for new auto mode "wait for yaw" option

.github/ISSUE_TEMPLATE/feature_request.md

@@ -4,23 +4,25 @@ about: If you have an idea for a new feature, choose this option
 
 ---
 
-# Feature Request
+# IF YOU DON'T REMOVE THIS ENTIRE SECTION, THEN YOUR REQUEST WILL BE CLOSED AUTOMATICALLY
 
-**IF YOU DON'T REMOVE THESE FOUR LINES, THEN YOUR REQUEST WILL BE CLOSED AUTOMATICALLY**
-Questions and user problems should be directed at the [ArduPilot forum](http://discuss.ardupilot.org)
-_**Please do a careful search before opening this, there are already a lot of feature requests**_
-If there was a previous discussion in the forum, link to it
+- Questions and user problems should be directed at the [ArduPilot forum](http://discuss.ardupilot.org)
+- Please do a careful search before opening this, there are already a lot of feature requests
+- If there was a previous discussion in the forum, link to it
 
-## Feature request
+## Feature Request
 
-**Is your feature request related to a problem? Please describe.**
-_A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]_
+### Is your feature request related to a problem? Please describe
 
-**Describe the solution you'd like**
-_A clear and concise description of what you want to happen._
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
 
-**Describe alternatives you've considered**
-_A clear and concise description of any alternative solutions or features you've considered._
+### Describe the solution you'd like
+
+A clear and concise description of what you want to happen.
+
+### Describe alternatives you've considered
+
+A clear and concise description of any alternative solutions or features you've considered.
 
 ### Platform
 
@@ -33,4 +35,4 @@ _A clear and concise description of any alternative solutions or features you've
 
 ### Additional context
 
-_Add any other context or screenshots about the feature request here._
+Add any other context or screenshots about the feature request here.

AntennaTracker/ReleaseNotes.txt

@@ -1,4 +1,50 @@
 ArduPilot Antenna Tracker Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta6 01-June-2026
+
+Changes from 4.7.0-beta5
+
+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)
+
+2) 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)
+
+3) 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)
+
+4) Plane specific changes
+
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
+5) 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)
+
+6) 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)
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta5 15-May-2026
 
@@ -11,7 +57,7 @@ Changes from 4.7.0-beta4
 2) Library changes
 
 - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
-- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013)
+- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
 - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
 - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
 - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)

ArduCopter/ReleaseNotes.txt

@@ -1,4 +1,50 @@
 ArduPilot Copter Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta6 01-June-2026
+
+Changes from 4.7.0-beta5
+
+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)
+
+2) 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)
+
+3) 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)
+
+4) Plane specific changes
+
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
+5) 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)
+
+6) 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)
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta5 15-May-2026
 
@@ -11,7 +57,7 @@ Changes from 4.7.0-beta4
 2) Library changes
 
 - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
-- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013)
+- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
 - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
 - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
 - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)

ArduPlane/ReleaseNotes.txt

@@ -1,4 +1,50 @@
 ArduPilot Plane Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta6 01-June-2026
+
+Changes from 4.7.0-beta5
+
+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)
+
+2) 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)
+
+3) 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)
+
+4) Plane specific changes
+
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
+5) 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)
+
+6) 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)
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta5 15-May-2026
 
@@ -11,7 +57,7 @@ Changes from 4.7.0-beta4
 2) Library changes
 
 - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
-- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013)
+- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
 - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
 - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
 - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)

ArduSub/ReleaseNotes.txt

@@ -1,4 +1,50 @@
 ArduPilot Sub Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta6 01-June-2026
+
+Changes from 4.7.0-beta5
+
+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)
+
+2) 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)
+
+3) 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)
+
+4) Plane specific changes
+
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
+5) 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)
+
+6) 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)
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta5 15-May-2026
 
@@ -11,7 +57,7 @@ Changes from 4.7.0-beta4
 2) Library changes
 
 - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
-- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013)
+- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
 - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
 - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
 - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)

Rover/ReleaseNotes.txt

@@ -1,4 +1,50 @@
 ArduPilot Rover Release Notes:
+------------------------------------------------------------------
+Release 4.7.0-beta6 01-June-2026
+
+Changes from 4.7.0-beta5
+
+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)
+
+2) 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)
+
+3) 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)
+
+4) Plane specific changes
+
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
+5) 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)
+
+6) 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)
+- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955)
+
 ------------------------------------------------------------------
 Release 4.7.0-beta5 15-May-2026
 
@@ -11,7 +57,7 @@ Changes from 4.7.0-beta4
 2) Library changes
 
 - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975)
-- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013)
+- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030)
 - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020)
 - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931)
 - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177)

Tools/AP_Bootloader/board_types.txt

@@ -334,6 +334,8 @@ AP_HW_CSKY_PMU                       1212
 AP_HW_PilotGaeaSH7V1                 1213
 AP_HW_JPilot-C                       1214
 AP_HW_SIYI-UniFC-6-PICO              1215
+AP_HW_CSKY_AVEGA6X                   1216
+AP_HW_CSKY_AVEGALITER03              1217
 
 AP_HW_MUPilot                        1222
 AP_HW_HWH7                           1223
@@ -540,6 +542,7 @@ AP_HW_IOMCU_F103                     5711
 AP_HW_IOMCU_F103_8MHZ                5712  # some boards are clocked differently
 AP_HW_IOMCU_F100                     5713
 
+# IDs 5730-5739 reserved for NWBlue
 
 #IDs 5800-5809 reserved for Droneer
 AP_HW_DroneerF405                    5800
@@ -600,6 +603,8 @@ AP_HW_CUAV-V6X-V2_ODID              17001
 AP_HW_CUAV-X25-EVO_ODID             17002
 AP_HW_SKYDROID-S3_ODID              11300
 AP_HW_CUBEORANGEPLUS_ODID           11063
+AP_HW_SIYI_N7_ODID                  11123
+AP_HW_SIYI-UniFC-6-PICO_ODID        11215
 
 # do not allocate board IDs above 10,000 for non-ODID boards.
 # do not allocate board IDs above 19,999 in this file.