ArduPilot 4.7 issues list

[rmackay9]

This is a list of issues discovered during ArduPilot 4.7 testing. Issues for 4.6 are here

Reports requiring investigation

• Allow for stabilization at zero throttle and zero rp demand when armed with airmode switch #33890
• Plane 4.7 regression: forward-throttle blip entering CRUISE/FBWB after a tiltrotor transition flown out in FBWA (from #29696) #33871
• AP_Follow: FOLL_ACCEL_D/JERK_D/ACCEL_H/JERK_H defaults are above their @Range maximum #33859
• AP_Rangefinder Lightware Lidar GRF 500 Driver Update Rate Parameter Set Improperly #33722
• Rover throttle failsafe interferes with GCS failsafe? (discussion)
• AP_Compass: persist dev_id for newly-detected compasses #33136
• Matek H743 servos issue on boot sometimes. Fix exists but needs to be added to ardupilot. #28876 (4.6 issue)

Confirmed issues

• Log per-core source set in XKFS #33904
• OSD: DJI o4 pro throttle symbol should be on right #33895 (PR)
• Copter, Plane: persist the fixed notch conversion to INS_HNTC2 #33878
• Version parameters on ardupilot.org need updating for 4.7 #33826 (PR)
• STM32H7 boards configured for 480MHz run without overdrive (VOS0) enabled #33783
• QuikTune Lua script should restrict which modes it operates in (PR)

Copter Specific Issues

• Mission: DO_JUMP_TAG execute incorrectly and creating phantom waypoints. #31021 (issue2, PR1, PR2, PR3)
• Mount POI sometimes not working? (discussion, PR)
• Copter crash while using AutoTune with fast rates (discussion, PR)
• RTL_ALT_FINAL is relative to home, not terrain, causing hard landing at rally point #31968

Tradheli Specifc Issues

• None

Plane Specific Issues

• Synthetic airspeed is fused for planes without airpseed sensor when dead-reckoning #33720 (PR)
• Plane: integer distance parameters prevent GCS unit conversion (m to ft) #32606
• Plane: soaring: soaring active in AutoLand mode when it should not be. #32518 -- @IamPete1 or @samuelctabor to resolve

Rover Specific Issues

• Rover jump after 8+ hours with RTK GPS (discussion, issue, PR, also 4.6)

Sub Specific Issues

• Sub has no proper message for current depth #33810 (also in 4.6)

Mission Planner Issues

• DroneCAN/UAVCAN parameter menu doesn't retrieve all parameters MissionPlanner#3751

QGC Issues

• None

Wiki Issues

• QuadPlane tuning process instructions need updating (reported in "documentation" channel by Ep, Bob Long)

Enhancements or Issues that may not be resolved before the stable release

• Copter PosHold/Loiter/PosControl not handling yaw resets completely? (discussion)
• Rover home position saved to storage at 1hz (discussion, issue)
• RC_CHANNEL_OVERRIDES of higher channels may lead to consumption of lower channels #33125 (4.6 issue as well)
• SpeedyBeeF405AIO not detecting Adafruit MMC56x3 compass (discussion, also not working with 4.6)
• Ardurover 4.7.0 beta - Crash falsely indicated when using a WP with hold set #32444 (also present in 4.6 and earlier)
• RC_CHANNEL_OVERRIDE fallback to normal RC may cause invalid channel input to be consumed #32862
• Logs: many small log files created #32689 (4.6.3, not 4.7 yet)
• Circle point-mount-at-ROI should only apply when circle radius > 0 (e.g. do not apply during panorama) (discussion, issue)
• Copter's SmartRTL always rises 2m before landing (discussion) -- present in 4.6 so not a blocker

Resolved issues

• Copter PSC_JERK_NE/D should be PSC_NE/D_JERK? (discussion, PR) -- resolved ahead of 4.7.1-beta1
• Correct Topotek handling of network connections #33803 (also in 4.6) -- resolved ahead of 4.7.1-beta1
• Continent terrain tiles failing prearm checks #33327 (PR) fix create_continents.py: rebuild continent zips from the current tiles terraingen#29 -- resolved shortly after 4.7.0 was released
• Copter yaw oscillation using Spline waypoints (discussion) -- user error, should have set WP_YAW_BEHAVIOR = 2 (the default)
• FlywooF405HD-AIOv2 - Onboard barometer not detected (discussion, PR) -- resolved ahead of 4.7.1-beta1
• Copter-4.7.0: Internal error: 0x200000, Param storage failed #33538 (discussion, discussion2, PR) -- resolved (we think) ahead of 4.7.1-beta1
• Custom Build Server compile error when AP_COMPASS_IST8310 disabled (discussion, PR) -- resolved ahead of 4.7.1-beta1
• Skyviper-v2450 build broken (issue, PR) -- resolved ahead of 4.7.1-beta1
• Avoid use of uninitialised values in m/cm conversion code #33715 -- resolved ahead of 4.7.1
• set-target-angle-and-climbrate used by scripting has climbrate scaling issue (PR) -- resolved ahead of 4.7.0-beta8
• follow init bug affecting yaw (PR) -- resolved ahead of 4.7.0-beta8
• Synthetic airspeed is fused for copters when dead-reckoning using wind estimates #33451 (PR, also in 4.6) -- resolved ahead of 4.7.0-beta8
• Tradheli 4.7.0-if governor not engaged, Not landed will not be declared in manual throttle modes #33612 (PR) -- resolved ahead of 4.7.0-beta8
• Copter PosHold start-stop during acceleration (discussion, issue, PR, related PR) -- resolved ahead of 4.7.0-beta8
• GPS-for-yaw fails to fuse if delay set too long (PR, also in 4.6) -- resolved ahead of 4.7.0-beta8
• Rover: jumps on map if SIM_GPS1_ENABLE = 0 MissionPlanner#3743 -- fixed with MP beta release on 03Jul2026
• Loiter braking essentially disabled by coordinated turns (PR) -- resolved for -beta8
• broken COMPASS_DISBLMSΚ for hwdef-ed compasses (master PR, AP4.7 PR, related PR) -- resolved ahead of 4.7.0-beta8
• crash with harmonic notch logging showing NaN (discussion) -- assumed AIO ESC hardware issue
• Loiter mode drifts agressively (discussion, issue) -- user was not expecting coordinated turns
• plane transitions worse? (discussion) -- no response to request for logs
• EKF using GPS-for-yaw loses attitude estimate after 2 hours (discussion)
• CustomBuildServer: Generator checked but no drivers #33403 -- fixed before 4.7.0-beta8 (or official release)
• Pre-arm stick arming issues (issue, PR) -- resolved for 4.7.0-beta7
• Mount POI lock not included in default firmware (discussion, PR) -- resolved ahead of 4.7.0-beta7
• Quadplane QLand over speed (discussion) -- no response from user
• still GCC 10? (discussion) -- yes
• Copter/ExtendedTuning: one more update for 4.7 MissionPlanner#3731 (PR) -- resolved ahead of 4.7.0-beta6 but not a flight code issue
• Floating Point Exceptions in Harmonic Notch Filters #33230 (PR, also in 4.6) -- resolved ahead of 4.7.0-beta6
• Joystick for mavlink overrides results in intermittent RC #33161 (PR also in 4.6)
• LIS2MDL / IIS2MDC found to be duplicate parts, consolidation required (PR) -- blocker
• Mission Planner Copter Swarm not working #32624 (PR) -- resolved ahead of 4.7.0-beta6 (but not an AP flight code issue anyway)
• Extended Tuning needs updating (discussion, issue, PR) -- resolved ahead of 4.7.0-beta6 (but not an AP flight code issue anyway)
• Avoid buffer over-read when passed extreme offset in FTP packet #33156 -- resolved ahead of 4.7.0-beta6
• Copter: RTL's ignore pilot yaw should apply to all stages of RTL #33168 (PR, also in 4.6) -- resolved ahead 4.7.0-beta6
• Plane: Loiter: roll steps when starting inside the radius #33083 (PR, also exists in 4.6) -- resolved ahead of 4.7.0-beta6
• ArduPlane 4.7.0 beta 5 - THR and THR_IDLE didn't working in TAKEOFF #33165 (discussion) -- user error
• Rover: EKF failsafe should only trigger if EKF has ever had a position estimate #32977 (PR, also exists in 4.6) -- resolved ahead of 4.7.0-beta6
• Copter follow mode alt overshoot bug (PR) -- resolved ahead of 4.7.0-beta6
• Copter: switch OFF does not abort an ongoing Flip #32491 (PR, 4.6 issue) -- resolved ahead of 4.7.0-beta6
• Spool up changes causing spurious errors (reported by AndyP, PR) -- resolved ahead of 4.7.0-beta6
• buffer overflow related to CAN logging (reported by PeterB, PR) -- resolved ahead of 4.7.0-beta6
• Streaming dataflash logs creates different sized bin files #32811 (PR1) -- resolved ahead of 4.7.0-beta6
• Copter follow mode bug (PR) -- resolved ahead of 4.7.0-beta6
• Copter: auto mode waypoints may use alt-above-home if terrain disabled #32942 (PR, also present in 4.6) -- resolved ahead of 4.7.0-beta6
• plane when enabling safety surfaces to to full deflection on tridge's hero, need to look with saleae, fixed in HAL_ChibiOS: fixed chopped oneshot pulses on safety-on #32979 -- included in 4.7.0-beta5
• Payload place may get stuck based on alt field (PR) -- resoled ahead of -4.7.0-beta5
• copter-circle-speed script not working correctly (issue) -- could not reproduce, appears to work fine
• Terrain downloaded to SD card unnecessarily reloaded in flight? (issue, wiki PR)
• Altitude estimate offset when switching between baro and rangefinder source (discussion1, discussion2, issue, PR) -- resolved for 4.7.0-beta4
• ELRS RC related crash (issue1, issue2, Wiki PR) -- existing issue, workaround added to wiki, covered by issue 32862
• TradHeli PID gain multiplier reset issue (PR) -- resolved ahead of 4.7.0-beta4
• AC_WPNav: Fix sign mistake in a sub-part of BendyRulerHorizontal #32892 -- resolved ahead of 4.7.0-beta4
• Copter surface tracking altitude error not limited? (discussion, issue, PR, 4.6 issue as well) -- resolved in 4.8, not immediately planning to backport unless there is demand for it
• Rover watt limiter not working correctly (relevant PR, discussion, PR) -- resolved for 4.7.0-beta4
• Potential mismatch in RTL_ALT handling for zero and very large values #32741
• crash dump on custom FC (discussion) -- unsupported board, can't help
• Bad custom dialect routing(CRC). #32688 -- user error
• Mission Planner SITL gets 4.6.2-beta1 binary (SITL firmware, should be fixed by this job, reported by @tridge) -- fixed ahead of 4.7.0-beta3
• SBF GPS driver issue (issue, PR1, PR2) -- resolved for 4.7.0-beta4
• Copter/Rover: SCurve calculation formula #32724 (PR, 4.6 issue as well?) -- resolved ahead of 4.7.0-beta4
• Rover custom build server issue (issue, relevant PR, discussion, PR) -- resolved for 4.7.0-beta3
• Loiter/QLoiter feels slower, looks like inaccurate position hold. Likely due to consider how we can make it feel closer to 4.6 automatically. Or provide instructions on parameter changes (relevant PR, PR, discussion) -- resolved for 4.7.0-beta3
• Realflight quadplanes not working? (discussion) -- could not reproduce the problem, RF evolution seems to work OK
• ArcWaypoints listed as WIP (reported by lthall, PR) -- resolved for 4.7.0-beta3
• ESCs and Motors: link to HobbyWing Telemetry Hub broken ardupilot_wiki#7604 -- wiki updated ahead of 4.7.0-beta3
• ARMING_SKIPCHK of 10 not skipping gyro and accel checks? (discussion) -- misunderstanding
• AP_Mount: fix scripting backend #32382 (PR) -- resolved for 4.7.0-beta3
• Circle mode points mount straight down when doing panorama (discussion) -- user misunderstanding
• Firmware Upload: allow forcing upload even if same as what is already on the board MissionPlanner#3693 -- resolved in MP ahead of 4.7.0-beta3 release
• RC_OPTIONS = 1 (Ignore RC Receiver) is not being respected (discussion, PR) -- resolved for 4.7.0-beta3
• BRD_SAFETY_DFLT = 0 should force BRD_SAFETYOPTION = 0? should update param desc? (discussion) -- working as expected, not new to 4.7
• CubeOrange+ Secure Bootloader breaks USB in release build (-Os), works only with --debug (-Og) #32511 -- could not reproduce, no response from user, created security wiki page and improved secure firmware instructions
• CUAV Pixhawk V3C not detecting IST8310 compass (discussion, PR) -- resolved for 4.7.0-beta3
• EKF3: Position Down snaps to ODOMETRY Z value when ExternalNav is not configured as POSZ source #32506 (PR) -- resolved ahead of 4.7.0-beta3
• Plane: Adjust slope terminology #29087 missing from release notes (discussion) -- @IamPete1 updated the plane 4.7.0-beta1 release notes
• Plane Follow's FOLLP_SIM_TlF_FN should have upper case L (PR) -- resolved for 4.7.0-beta2
• UM982 GPS-for-yaw on CUAV V6X not working (discussion) -- resolved by updating the UM982 firmware
• Copter: Ch6 tuning of WP Speed overshoots during the beginning of the first leg #31584 -- resolved for 4.7.0-beta2
• QGC altitude slider not working (discussion) -- fixed for daily build on 18Mar2026
• QGC takeoff slider not working (discussion) -- fixed in QGC 14148
• QGC Parameters need updating (@rmackay9 and @DonLakeFlyer discussed if dev-team channel, PR) -- fixed in QGC daily on 17-Mar-2026
• EKF's use of rangefinder and baro never switches back to rangefinder after switching to baro (discussion) -- user error
• update PSC_ACCZ_I and PSC_ACCZ_P tuning advice https://ardupilot.org/copter/docs/initial-tuning-flight.html#test-althold (PR) -- wiki updated ahead of 4.7.0-beta2
• SRV_Channel: Slew limit: always allocate even if disabled #32381 -- resolved for 4.7.0-beta2
• ATC_ACC conversion didn't work (discussion). Should we remove the "configured" checks (code). Caused by installing 4.7.0-dev prior to release of beta1
• AP_Camera: fix conversion for runcam #32428 -- resolved for 4.7.0-beta2

[DonLakeFlyer]

QGC should be up to date with Parameters by tomorrow:mavlink/qgroundcontrol#14148

[DonLakeFlyer]

I also verified that the Takeoff slider problem is fixed by the fixes in QGC 14148

[timtuxworth]

In Plane Follow, the parameter FOLLP_SIM_TLF_FN has a lowercase letter L ... "SIM_TlF_FN" which will cause mavproxy.py to fail displaying parameters on Linux.

[Derker2002]

FCU does not route custom dialect commands to components when the ‘MAV2_OPTIONS’ parameter is set to 8. Aka bad CRC packets.

[IamPete1]

FCU does not route custom dialect commands to components when the ‘MAV2_OPTIONS’ parameter is set to 8. Aka bad CRC packets.

@Derker2002 Please open a new issue and provide more details of how we can reproduce.

[timtuxworth]

Regarding the terrain loading issue, I'm fairly sure this is a problem. As far as I can see if I download STRM1 (30m) tiles from terrain.ardupilot.org onto the SD Card, and set TERRAIN_SPACING = 30, AP will ignore the SD card terrain data and download new terrain from the GCS. This is using 4.8 dev, I've also seen it on 4.7 dev (pre beta). I'll try to test this on 4.7 beta as soon as I can.

This is a tlog showing this happening: https://www.dropbox.com/scl/fi/49r4z59hbssz7xe7bosko/2026-04-05-11-48-23.tlog?rlkey=1sx220cu57ih8f50wrcegov4h&dl=0

This is the matching BIN log: https://www.dropbox.com/scl/fi/d1rxpgezvuc8c1lk3fy3b/log_126_2026-4-5-12-11-38.bin?rlkey=v32dug2at4f1requjkq8asjdj&dl=0

This is the terrain data that was in /APM/terrain when this happened: https://www.dropbox.com/scl/fo/afdb9hijyq2qzmdf3bgw1/ABDp4yUB7bp5ND6sSNeMZI0?rlkey=tx6uudh2fmoakk7osethz8kpd&dl=0