ArduPilot · rmackay9 · Apr 29, 2025 · Jul 23, 2024 · Nov 18, 2024 · Nov 18, 2024
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,5 +1,53 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
+Release 4.6.0-beta6 28-Apr-2025
+
+Changes from 4.6.0-beta5
+
+1) Board specific changes
+
+- ARK FPV, LumenierLuxF765, MicroAir743, StellarF4v2, X-MAV-AP-H743v2 OSD Type defaults fixed
+- BETAFPV-F405-I2C UART6 fix
+- BrotherHobby F405v3 and H743 support
+- FlywooF405HD VTX power pin fixed
+- NarinFC-H7 support
+- TBS Lucid H7 Wing support
+- TBS Lucid H7 support for both I2C ports
+
+2) Driver bug fixes and enhancements
+
+- DroneCAN semaphore bug fixed which affected MPPT battery and Serial-over-CAN
+- GPS logs altitude above ellipsoid instead of undulation
+- GSOF GPS protects against port misconfiguration
+- UBlox GPS configuration sped up
+- Lua script battery monitor failures that could cause hardfaults fixed
+- Nova GPS undulation fix
+- Proximity backends increased to 5
+- SCHA63T IMU temperature reporting bug fixed
+
+3) Plane specific fixes and enhancements
+
+- Circle mode terrain alt handling fixed
+- Fence re-enable after fence breach fixed
+- Prevent rotation pitch calculations from running post-rotation
+- Takeoff leveloff timeout check added
+- Terrain guided target intermediate alt handling fixed
+
+4) Copter SCurve navigation fix to avoid excessive vertical speed when passing through waypoints
+
+5) Rover circle mode and QuickTune support smaller vehicles
+
+6) Bug Fixes and minor enhancements
+
+- AHRS initial orientation fixed when autopilot mounted in non-default orientation
+- AIRSPEED mavlink message health flags fixed
+- CAMERA_FOV_STATUS message always sent (once requested), attitude is earth-frame and FOV can be decimal numbers
+- DDS / ROS2 fix to provide clock_gettime only on ChibiOS boards
+- Lightware I2C and HC SR04 fixed timestamp for last reading (should only affect AP_Periph devices)
+- "No ap_message for mavlink id" warning removed
+- Power brick2 valid flag fixed on some boards
+- Pre-arm check that gyro read rate is at least the main loop rate
+------------------------------------------------------------------
 Release 4.6.0-beta5 31-Mar-2025
 
 Changes from 4.6.0-beta4

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.6.0-beta5"
+#define THISFIRMWARE "AntennaTracker V4.6.0-beta6"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+4
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+5
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,53 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Release 4.6.0-beta6 28-Apr-2025
+
+Changes from 4.6.0-beta5
+
+1) Board specific changes
+
+- ARK FPV, LumenierLuxF765, MicroAir743, StellarF4v2, X-MAV-AP-H743v2 OSD Type defaults fixed
+- BETAFPV-F405-I2C UART6 fix
+- BrotherHobby F405v3 and H743 support
+- FlywooF405HD VTX power pin fixed
+- NarinFC-H7 support
+- TBS Lucid H7 Wing support
+- TBS Lucid H7 support for both I2C ports
+
+2) Driver bug fixes and enhancements
+
+- DroneCAN semaphore bug fixed which affected MPPT battery and Serial-over-CAN
+- GPS logs altitude above ellipsoid instead of undulation
+- GSOF GPS protects against port misconfiguration
+- UBlox GPS configuration sped up
+- Lua script battery monitor failures that could cause hardfaults fixed
+- Nova GPS undulation fix
+- Proximity backends increased to 5
+- SCHA63T IMU temperature reporting bug fixed
+
+3) Plane specific fixes and enhancements
+
+- Circle mode terrain alt handling fixed
+- Fence re-enable after fence breach fixed
+- Prevent rotation pitch calculations from running post-rotation
+- Takeoff leveloff timeout check added
+- Terrain guided target intermediate alt handling fixed
+
+4) Copter SCurve navigation fix to avoid excessive vertical speed when passing through waypoints
+
+5) Rover circle mode and QuickTune support smaller vehicles
+
+6) Bug Fixes and minor enhancements
+
+- AHRS initial orientation fixed when autopilot mounted in non-default orientation
+- AIRSPEED mavlink message health flags fixed
+- CAMERA_FOV_STATUS message always sent (once requested), attitude is earth-frame and FOV can be decimal numbers
+- DDS / ROS2 fix to provide clock_gettime only on ChibiOS boards
+- Lightware I2C and HC SR04 fixed timestamp for last reading (should only affect AP_Periph devices)
+- "No ap_message for mavlink id" warning removed
+- Power brick2 valid flag fixed on some boards
+- Pre-arm check that gyro read rate is at least the main loop rate
+------------------------------------------------------------------
 Release 4.6.0-beta5 31-Mar-2025
 
 Changes from 4.6.0-beta4

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.6.0-beta5"
+#define THISFIRMWARE "ArduCopter V4.6.0-beta6"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+4
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+5
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -550,6 +550,9 @@ class Plane : public AP_Vehicle {
 
         // last home altitude for detecting changes
         int32_t last_home_alt_cm;
+
+        // have we finished the takeoff ratation (when it applies)?
+        bool rotation_complete;
     } auto_state;
 
 #if AP_SCRIPTING_ENABLED

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,5 +1,53 @@
 ArduPilot Plane Release Notes:
 ------------------------------------------------------------------
+Release 4.6.0-beta6 28-Apr-2025
+
+Changes from 4.6.0-beta5
+
+1) Board specific changes
+
+- ARK FPV, LumenierLuxF765, MicroAir743, StellarF4v2, X-MAV-AP-H743v2 OSD Type defaults fixed
+- BETAFPV-F405-I2C UART6 fix
+- BrotherHobby F405v3 and H743 support
+- FlywooF405HD VTX power pin fixed
+- NarinFC-H7 support
+- TBS Lucid H7 Wing support
+- TBS Lucid H7 support for both I2C ports
+
+2) Driver bug fixes and enhancements
+
+- DroneCAN semaphore bug fixed which affected MPPT battery and Serial-over-CAN
+- GPS logs altitude above ellipsoid instead of undulation
+- GSOF GPS protects against port misconfiguration
+- UBlox GPS configuration sped up
+- Lua script battery monitor failures that could cause hardfaults fixed
+- Nova GPS undulation fix
+- Proximity backends increased to 5
+- SCHA63T IMU temperature reporting bug fixed
+
+3) Plane specific fixes and enhancements
+
+- Circle mode terrain alt handling fixed
+- Fence re-enable after fence breach fixed
+- Prevent rotation pitch calculations from running post-rotation
+- Takeoff leveloff timeout check added
+- Terrain guided target intermediate alt handling fixed
+
+4) Copter SCurve navigation fix to avoid excessive vertical speed when passing through waypoints
+
+5) Rover circle mode and QuickTune support smaller vehicles
+
+6) Bug Fixes and minor enhancements
+
+- AHRS initial orientation fixed when autopilot mounted in non-default orientation
+- AIRSPEED mavlink message health flags fixed
+- CAMERA_FOV_STATUS message always sent (once requested), attitude is earth-frame and FOV can be decimal numbers
+- DDS / ROS2 fix to provide clock_gettime only on ChibiOS boards
+- Lightware I2C and HC SR04 fixed timestamp for last reading (should only affect AP_Periph devices)
+- "No ap_message for mavlink id" warning removed
+- Power brick2 valid flag fixed on some boards
+- Pre-arm check that gyro read rate is at least the main loop rate
+------------------------------------------------------------------
 Release 4.6.0-beta5 31-Mar-2025
 
 Changes from 4.6.0-beta4

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
@@ -382,6 +382,7 @@ void Plane::do_takeoff(const AP_Mission::Mission_Command& cmd)
     next_WP_loc.lng = home.lng + 10;
     auto_state.takeoff_speed_time_ms = 0;
     auto_state.takeoff_complete = false; // set flag to use gps ground course during TO. IMU will be doing yaw drift correction.
+    auto_state.rotation_complete = false;
     auto_state.height_below_takeoff_to_level_off_cm = 0;
     // Flag also used to override "on the ground" throttle disable
 

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
@@ -73,6 +73,9 @@ bool Mode::enter()
     // disable taildrag takeoff on mode change
     plane.auto_state.fbwa_tdrag_takeoff_mode = false;
 
+    // wipe the takeoff rotation complete state
+    plane.auto_state.rotation_complete = false;
+
     // start with previous WP at current location
     plane.prev_WP_loc = plane.current_loc;
 

diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
@@ -183,7 +183,7 @@ void Plane::takeoff_calc_pitch(void)
 {
     // First see if TKOFF_ROTATE_SPD applies.
     // This will set the pitch for the first portion of the takeoff, up until cruise speed is reached.
-    if (g.takeoff_rotate_speed > 0) {
+    if (!auto_state.rotation_complete && g.takeoff_rotate_speed > 0) {
         // A non-zero rotate speed is recommended for ground takeoffs.
         if (auto_state.highest_airspeed < g.takeoff_rotate_speed) {
             // We have not reached rotate speed, use the specified takeoff target pitch angle.
@@ -202,6 +202,7 @@ void Plane::takeoff_calc_pitch(void)
             return;
         }
     }
+    auto_state.rotation_complete = true;
 
     // We are now past the rotation.
     // Initialize pitch limits for TECS.

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.6.0-beta5"
+#define THISFIRMWARE "ArduPlane V4.6.0-beta6"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+4
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+5
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
@@ -1,5 +1,53 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Release 4.6.0-beta6 28-Apr-2025
+
+Changes from 4.6.0-beta5
+
+1) Board specific changes
+
+- ARK FPV, LumenierLuxF765, MicroAir743, StellarF4v2, X-MAV-AP-H743v2 OSD Type defaults fixed
+- BETAFPV-F405-I2C UART6 fix
+- BrotherHobby F405v3 and H743 support
+- FlywooF405HD VTX power pin fixed
+- NarinFC-H7 support
+- TBS Lucid H7 Wing support
+- TBS Lucid H7 support for both I2C ports
+
+2) Driver bug fixes and enhancements
+
+- DroneCAN semaphore bug fixed which affected MPPT battery and Serial-over-CAN
+- GPS logs altitude above ellipsoid instead of undulation
+- GSOF GPS protects against port misconfiguration
+- UBlox GPS configuration sped up
+- Lua script battery monitor failures that could cause hardfaults fixed
+- Nova GPS undulation fix
+- Proximity backends increased to 5
+- SCHA63T IMU temperature reporting bug fixed
+
+3) Plane specific fixes and enhancements
+
+- Circle mode terrain alt handling fixed
+- Fence re-enable after fence breach fixed
+- Prevent rotation pitch calculations from running post-rotation
+- Takeoff leveloff timeout check added
+- Terrain guided target intermediate alt handling fixed
+
+4) Copter SCurve navigation fix to avoid excessive vertical speed when passing through waypoints
+
+5) Rover circle mode and QuickTune support smaller vehicles
+
+6) Bug Fixes and minor enhancements
+
+- AHRS initial orientation fixed when autopilot mounted in non-default orientation
+- AIRSPEED mavlink message health flags fixed
+- CAMERA_FOV_STATUS message always sent (once requested), attitude is earth-frame and FOV can be decimal numbers
+- DDS / ROS2 fix to provide clock_gettime only on ChibiOS boards
+- Lightware I2C and HC SR04 fixed timestamp for last reading (should only affect AP_Periph devices)
+- "No ap_message for mavlink id" warning removed
+- Power brick2 valid flag fixed on some boards
+- Pre-arm check that gyro read rate is at least the main loop rate
+------------------------------------------------------------------
 Release 4.6.0-beta5 31-Mar-2025
 
 Changes from 4.6.0-beta4

diff --git a/Rover/mode.h b/Rover/mode.h
@@ -418,6 +418,9 @@ class ModeCircle : public Mode
     Number mode_number() const override { return Number::CIRCLE; }
     const char *name4() const override { return "CIRC"; }
 
+    // return the distance at which the vehicle is considered to be on track along the circle
+    float get_reached_distance() const;
+
     // initialise with specific center location, radius (in meters) and direction
     // replaces use of _enter when initialised from within Auto mode
     bool set_center(const Location& center_loc, float radius_m, bool dir_ccw);

diff --git a/Rover/mode_circle.cpp b/Rover/mode_circle.cpp
@@ -1,8 +1,7 @@
 #include "Rover.h"
 
 #define AR_CIRCLE_ACCEL_DEFAULT         1.0 // default acceleration in m/s/s if not specified by user
-#define AR_CIRCLE_RADIUS_MIN            0.5 // minimum radius in meters
-#define AR_CIRCLE_REACHED_EDGE_DIST     0.2 // vehicle has reached edge if within 0.2m
+#define AR_CIRCLE_RADIUS_MIN            0.1 // minimum radius in meters
 
 const AP_Param::GroupInfo ModeCircle::var_info[] = {
 
@@ -39,6 +38,15 @@ ModeCircle::ModeCircle() : Mode()
     AP_Param::setup_object_defaults(this, var_info);
 }
 
+// get the distance at which the vehicle is considered to be on track along the circle
+float ModeCircle::get_reached_distance() const
+{
+    if (config.radius >= 0.5) {
+        return 0.2;
+    }
+    return 0.1;
+}
+
 // initialise with specific center location, radius (in meters) and direction
 // replaces use of _enter when initialised from within Auto mode
 bool ModeCircle::set_center(const Location& center_loc, float radius_m, bool dir_ccw)
@@ -158,12 +166,12 @@ void ModeCircle::update()
     // Update depending on stage
     if (!reached_edge) {
         update_drive_to_radius();
-    } else if (dist_to_edge_m > 2 * MAX(g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST) && !tracking_back) {
+    } else if (dist_to_edge_m > 2 * MAX(g2.turn_radius, get_reached_distance()) && !tracking_back) {
         // if more than 2* turn_radius outside circle radius, slow vehicle by 20%
         config.speed = 0.8 * config.speed;
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Circle: cannot keep up, slowing to %.1fm/s", config.speed);
         tracking_back = true;
-    } else if (dist_to_edge_m < MAX(g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST) && tracking_back) {
+    } else if (dist_to_edge_m < MAX(g2.turn_radius, get_reached_distance()) && tracking_back) {
         // if within turn_radius, call the vehicle back on track
         tracking_back = false;
     } else {
@@ -184,7 +192,7 @@ void ModeCircle::update()
 void ModeCircle::update_drive_to_radius()
 {
     // check if vehicle has reached edge of circle
-    const float dist_thresh_m = MAX(g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST);
+    const float dist_thresh_m = MAX(g2.turn_radius, get_reached_distance());
     reached_edge |= dist_to_edge_m <= dist_thresh_m;
 
     // calculate target point's position, velocity and acceleration

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.6.0-beta5"
+#define THISFIRMWARE "ArduRover V4.6.0-beta6"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+4
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+5
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
@@ -295,6 +295,10 @@ AP_HW_MicoAir743-AIO                 1176
 AP_HW_MicoAir743v2                   1179
 AP_HW_FlywooF405HD_AIOv2             1180
 AP_HW_FlywooH743Pro                  1181
+AP_HW_CBU_StampH743_LC               1182
+AP_HW_NarinH7                        1183
+
+AP_HW_JFB200                         1200
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -11994,12 +11994,12 @@ def AutoContinueOnRCFailsafe(self):
         self.set_rc(1, 1200)
         self.delay_sim_time(1)  # build up some pilot desired stuff
         self.change_mode('AUTO')
-        self.wait_waypoint(2, 2)
+        self.wait_waypoint(2, 2, max_dist=3)
         self.set_parameters({
             'SIM_RC_FAIL': 1,
         })
 #        self.set_rc(1, 1500)  # note we are still in RC fail!
-        self.wait_waypoint(3, 3)
+        self.wait_waypoint(3, 3, max_dist=3)
         self.assert_mode_is('AUTO')
         self.change_mode('LOITER')
         self.wait_groundspeed(0, 0.1, minimum_duration=30, timeout=450)