ArduPilot 4.7 issues list
Author: rmackay9Created Mar 7, 2026Updated Sep 17, 2026
LabelsDevCallTopicReleaseAdmin
This is a list of issues discovered during ArduPilot 4.7 testing. Issues for 4.6 are here
Reports requiring investigation
- Copter switches from RTL to Land if RC failsafe occurs during landing phase? (reported by Partner to Randy)
- https://github.com/ArduPilot/ardupilot/issues/34407
- Copter with GSF (discussion)
- Copter toilet bowling (discussion)
- CSRF broken on Linux (PR)
- Hargrave ESC errors using Dshot + DroneCAN (discussion)
- Copter compassmot displays "disarm-to-allow-calibration" message (discussion)
- https://github.com/ArduPilot/ardupilot/issues/34179
- mount roll/lock aux function not initialised on startup (discussion)
- Holybro Tekko AM32 ESC errors (discussion)
- https://github.com/ArduPilot/ardupilot/pull/34070 (also in 4.6)
- https://github.com/ArduPilot/ardupilot/pull/33942
- https://github.com/ArduPilot/ardupilot/issues/33722
- Rover throttle failsafe interferes with GCS failsafe? (discussion)
- https://github.com/ArduPilot/ardupilot/issues/28876 (4.6 issue)
Confirmed issues
- https://github.com/ArduPilot/ardupilot/issues/33926 (PR1, PR2)
- https://github.com/ArduPilot/ardupilot/pull/33878
- https://github.com/ArduPilot/ardupilot/issues/33783 (master PR, 4.7 PR)
- QuikTune Lua script should restrict which modes it operates in (PR)
Copter Specific Issues
- https://github.com/ArduPilot/ardupilot/issues/34408
- https://github.com/ArduPilot/ardupilot/issues/31021 (issue2, PR1, PR2, PR3)
- Copter crash while using AutoTune with fast rates (discussion, PR)
- https://github.com/ArduPilot/ardupilot/issues/31968
Tradheli Specifc Issues
- None
Plane Specific Issues
- https://github.com/ArduPilot/ardupilot/issues/33720 (PR)
- https://github.com/ArduPilot/ardupilot/issues/32606
- https://github.com/ArduPilot/ardupilot/issues/32518 -- @IamPete1 or @samuelctabor to resolve
Rover Specific Issues
- None
Sub Specific Issues
- https://github.com/ArduPilot/ardupilot/issues/33810 (also in 4.6)
Mission Planner Issues
- None
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
- https://github.com/ArduPilot/ardupilot/issues/34219 (related PR)
- https://github.com/ArduPilot/ardupilot/issues/34226 (also in 4.6 and earlier)
- https://github.com/ArduPilot/ardupilot/issues/34126 -- also in 4.6
- https://github.com/ArduPilot/ardupilot/issues/34074 -- known issue, also in 4.6, handle through documentation
- https://github.com/ArduPilot/ardupilot/issues/1311 <-- enhancement re-requested on facebook release announcement
- Copter PosHold/Loiter/PosControl not handling yaw resets completely? (discussion)
- Rover home position saved to storage at 1hz (discussion, issue)
- https://github.com/ArduPilot/ardupilot/issues/33125 (4.6 issue as well)
- SpeedyBeeF405AIO not detecting Adafruit MMC56x3 compass (discussion, also not working with 4.6)
- https://github.com/ArduPilot/ardupilot/issues/32444 (also present in 4.6 and earlier)
- https://github.com/ArduPilot/ardupilot/issues/32862
- https://github.com/ArduPilot/ardupilot/issues/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
- Watchdog at startup on 4.7 and 4.6 (discussion) -- crash dump too small, user resolved with parameter write and can't reproduce
- https://github.com/ArduPilot/ardupilot/issues/33826 (PR)
- Copter Loiter coordinated turns roll too much at start, not enough at end? (discussion) -- leonard explained algorithm to user
- https://github.com/ArduPilot/ardupilot/issues/33954 (related PR, PR) -- resolved for 4.7.2-beta1
- Add back QMC5883P compass by default? (issue master PR, PR) -- included in 4.7.1
- TBS H7 OEM default orientation incorrect (discussion) -- confirmed user error
- https://github.com/ArduPilot/MissionPlanner/issues/3751 -- MP issue resolved around time of 4.7.1
- https://github.com/ArduPilot/ardupilot/pull/34027 -- resolved ahead of 4.7.2-beta1
- https://github.com/ArduPilot/ardupilot/issues/34106 -- could not reproduce issue
- https://github.com/ArduPilot/ardupilot/pull/34061 (master PR) -- resolved for 4.7.2-beta1
- https://github.com/ArduPilot/ardupilot/pull/33974 -- resolved for 4.7.2-beta1
- https://github.com/ArduPilot/ardupilot/issues/33871 (PR) -- resolved for 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/issues/33936 (PR) -- resolved for 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/issues/33895 (PR) -- resolved ahead of 4.7.1-beta1
- Mount POI sometimes not working? (discussion, PR) -- user needed to set gimbal's yaw range to zero
- Rover jump after 8+ hours with RTK GPS (discussion, issue, PR, also 4.6)
- https://github.com/ArduPilot/ardupilot_wiki/issues/7943 -- red herring (msg removed in 4.7)
- https://github.com/ArduPilot/ardupilot/issues/33892
- https://github.com/ArduPilot/ardupilot/pull/33136 -- not sure why closed by community developer
- https://github.com/ArduPilot/ardupilot/issues/33859 (PR) -- resolved ahead of 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/pull/33890 -- resolved ahead of 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/pull/33904 -- resolved ahead of 4.7.1-beta1
- Copter PSC_JERK_NE/D should be PSC_NE/D_JERK? (discussion, PR) -- resolved ahead of 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/pull/33803 (also in 4.6) -- resolved ahead of 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/issues/33327 (PR) fix https://github.com/ArduPilot/terraingen/pull/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
- https://github.com/ArduPilot/ardupilot/issues/33538 (discussion, discussion2, PR) -- resolved (we think) ahead of 4.7.1-beta1
- https://github.com/ArduPilot/ardupilot/pull/32381 -- resolved for 4.7.0-beta2
- 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
- https://github.com/ArduPilot/ardupilot/pull/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
- https://github.com/ArduPilot/ardupilot/issues/33451 (PR, also in 4.6) -- resolved ahead of 4.7.0-beta8
- https://github.com/ArduPilot/ardupilot/issues/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
- https://github.com/ArduPilot/MissionPlanner/issues/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)
- https://github.com/ArduPilot/ardupilot/issues/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
- https://github.com/ArduPilot/MissionPlanner/issues/3731 (PR) -- resolved ahead of 4.7.0-beta6 but not a flight code issue
- https://github.com/ArduPilot/ardupilot/issues/33230 (PR, also in 4.6) -- resolved ahead of 4.7.0-beta6
- https://github.com/ArduPilot/ardupilot/issues/33161 (PR also in 4.6)
- LIS2MDL / IIS2MDC found to be duplicate parts, consolidation required (PR) -- blocker
- https://github.com/ArduPilot/ardupilot/issues/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)
- https://github.com/ArduPilot/ardupilot/pull/33156 -- resolved ahead of 4.7.0-beta6
- https://github.com/ArduPilot/ardupilot/issues/33168 (PR, also in 4.6) -- resolved ahead 4.7.0-beta6
- https://github.com/ArduPilot/ardupilot/issues/33083 (PR, also exists in 4.6) -- resolved ahead of 4.7.0-beta6
- https://github.com/ArduPilot/ardupilot/issues/33165 (discussion) -- user error
- https://github.com/ArduPilot/ardupilot/issues/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
- https://github.com/ArduPilot/ardupilot/issues/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
- https://github.com/ArduPilot/ardupilot/issues/32811 (PR1) -- resolved ahead of 4.7.0-beta6
- Copter follow mode bug (PR) -- resolved ahead of 4.7.0-beta6
- https://github.com/ArduPilot/ardupilot/issues/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 https://github.com/ArduPilot/ardupilot/pull/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
- https://github.com/ArduPilot/ardupilot/pull/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
- https://github.com/ArduPilot/ardupilot/issues/32741
- crash dump on custom FC (discussion) -- unsupported board, can't help
- https://github.com/ArduPilot/ardupilot/issues/32688 -- user error
- Mission Planner SITL gets 4.6.2-beta1 binary ([SITL firmware](https://firmware.ardupilot.org/Tools/MissionPlanner
Source: ArduPilot/ardupilot