Release Procedures¶

ArduPilot is very reliable because bug fixes are prioritised over new features and releases are performed carefully and only after sufficient testing has been completed.

This page outlines the steps that are normally followed for a new release. Listed mostly as a reference so that we don’t forget the steps.

Alpha Testing¶

The AutoTester runs after each commit and highlights issues that it has been setup to test.

Developers and some Alpha testers perform intermittent tests of master especially after new features have been added.

Releasing Beta Versions / Release Candidates¶

Beta Testing / Release candidates are made available to beta testers through the mission planner’s “Beta firmwares” link. The Mission Planner “Beta firmware” link pulls the firmware from the beta directories of firmware.ardupilot.org.

../_images/ReleaseProcedures_MPBetaFirmwares.jpg

Someone with ardupilot GitHub commit access (normally Randy) makes the new firmware available through the following steps:

For major releases create a new branch¶

Open a Git Bash terminal in the ardupilot repository.

For major releases (e.g 4.6 to 4.7) create a new branch in the ardupilot repository based on master:

git checkout -b ArduPilot-4.7 (“ArduPilot-4.7” should be replaced with the correct major version number)
git push to create the new directory in the ardupilot repo
On GitHub ensure the new branch is protected under the Branch protection rules
On the GitHub projects page, push the “New Project” button and create a new “4.x Backports” project. This is used to track features to be included in this release
Create a new GitHub issue for issue tracking (e.g. ArduPilot 4.7 Issues list)

Create a Release Pull Request¶

In your local repo, create a new branch based on the upstream release branch:

git checkout upstream/ArduPilot-4.7 (“ArduPilot-4.7” should be replaced with the correct major version number)

git checkout -b ap-470-xxx to create a new branch for the release PR

Check the Backports Projects to determine which PRs should be included in this release. For example the 4.7 Backports “pending” column holds the list of PRs that should be included in the next ArduPilot-4.7 release.
Create a new column in the project for this release (e.g. 4.7.1-beta1)

use gitk upstream/master to cherry-pick in each PR’s commits from master

As PRs are included in the new branch, move the PR from the “No Status” or “Pending” column of the project to the column for this release
Update version, release notes and tags

update the THISFIRMWARE and FIRMWARE_VERSION definitions in version.h

update ReleaseNotes.txt for each vehicle

Create the PR and gather signatures from other developers
Merge the PR

Update Release Tags¶

New firmwares will be built and made available to the ground stations once these ardupilot repo tags are updated:

Update Beta tags for Plane

git show ArduPlane-beta
git tag -d ArduPlane-beta
git push origin :refs/tags/ArduPlane-beta
git tag ArduPlane-beta HEAD
git push origin ArduPlane-beta

Update Beta tags for Copter and TradHeli

git show ArduCopter-beta and record the old git tag in case a backout is required
git show ArduCopter-beta-heli
git tag -d ArduCopter-beta to delete the beta tag from the local repo
git tag -d ArduCopter-beta-heli
git push origin :refs/tags/ArduCopter-beta to delete the beta tag from the shared repo
git push origin :refs/tags/ArduCopter-beta-heli
git tag ArduCopter-beta HEAD to create a new beta tag in the local repo
git tag ArduCopter-beta-heli HEAD
git push origin ArduCopter-beta to push the new beta tag to the shared repo
git push origin ArduCopter-beta-heli

Update Beta tags for Rover

git show APMrover2-beta
git tag -d APMrover2-beta
git push origin :refs/tags/APMrover2-beta
git tag APMrover2-beta HEAD
git push origin APMrover2-beta

Update Beta tags for Sub

git show ArduSub-beta
git tag -d ArduSub-beta
git push origin :refs/tags/ArduSub-beta
git tag ArduSub-beta HEAD
git push origin ArduSub-beta

Update Beta tags for AntennaTracker

git show AntennaTracker-beta
git tag -d AntennaTracker-beta
git push origin :refs/tags/AntennaTracker-beta
git tag AntennaTracker-beta HEAD
git push origin AntennaTracker-beta

Update Beta tags for Periph

git show AP_Periph-beta
git tag -d AP_Periph-beta
git push origin :refs/tags/AP_Periph-beta
git tag AP_Periph-beta HEAD
git push origin AP_Periph-beta

Check the GitHub Tags to ensure all tags have been updated

Pull the release notes commits into the ardupilot/master branch

Check the firmwares have been updated¶

Wait 8hrs to 24hrs for the binaries to be built. Check the “Build Dates” have updated on these links:

In case the firmwares have not updated it may help to check these links:

Finally open Mission Planner’s Setup / Install Firmware page, push the “Beta firmwares” link and check the versions displayed under each icon are correct.

Announce the release to the beta testers¶

Let Beta testers know the new version is available by posting on discuss and facebook

Discuss’s Plane category (create a new category if required)
Discuss’s Copter category (create a new category if required)
Discuss’s Rover category (create a new category if required)
Discuss’s Sub category (create a new category if required)
Discuss’s AntennaTracker category (create a new category if required)
ArduPilot facebook group. Include the contents of the ReleaseNotes.txt so people know what has changed and a video if possible

Issue Tracking¶

Beta testers should report issues in the appropriate category mentioned above (e.g. Discuss Copter-4.7 forum)
The release manager, with help from other developers, should investigate issues, identify developers to tackle them and keep the beta testers updated on progress
User reports should be tracked in the release’s GitHub issue (e.g. ArduPilot 4.7 Issues list)

Releasing Stable Versions¶

Stable releases are done after weeks or months of beta testing and normally only after two weeks have passed with no unexplained crashes.

The go-no-go decision on a stable release is discussed on the preceding weekly development call. This discussion normally includes a review of the outstanding issues.

Releasing a stable version is the same as a beta version except these tags are updated:

Update Stable tags for Plane

git show ArduPlane-stable
git tag -d ArduPlane-stable
git push origin :refs/tags/ArduPlane-stable
git tag ArduPlane-stable HEAD
git push origin ArduPlane-stable

Update Stable tags for Copter and TradHeli:

git show ArduCopter-stable
git show ArduCopter-stable-heli
git tag -d ArduCopter-stable
git tag -d ArduCopter-stable-heli
git push origin :refs/tags/ArduCopter-stable
git push origin :refs/tags/ArduCopter-stable-heli
git tag ArduCopter-stable HEAD
git tag ArduCopter-stable-heli HEAD
git push origin ArduCopter-stable
git push origin ArduCopter-stable-heli

Update Stable tags for Rover

git show APMrover2-stable
git tag -d APMrover2-stable
git push origin :refs/tags/APMrover2-stable
git tag APMrover2-stable HEAD
git push origin APMrover2-stable

Update Stable tags for Sub

git show ArduSub-stable
git tag -d ArduSub-stable
git push origin :refs/tags/ArduSub-stable
git tag ArduSub-stable HEAD
git push origin ArduSub-stable

Update Stable tags for AntennaTracker

git show AntennaTracker-stable
git tag -d AntennaTracker-stable
git push origin :refs/tags/AntennaTracker-stable
git tag AntennaTracker-stable HEAD
git push origin AntennaTracker-stable

Update Stable tags for Periph

git show AP_Periph-stable
git tag -d AP_Periph-stable
git push origin :refs/tags/AP_Periph-stable
git tag AP_Periph-stable HEAD
git push origin AP_Periph-stable

An additional tag is created for each vehicle that includes the patch release number

git tag Plane-4.7.0
git push origin Plane-4.7.0
git tag Copter-4.7.0
git push origin Copter-4.7.0
git tag Rover-4.7.0
git push origin Rover-4.7.0
git tag Sub-4.7.0
git push origin Sub-4.7.0
git tag AntennaTracker-4.7.0
git push origin AntennaTracker-4.7.0
git tag AP_Periph-4.7.0
git push origin AP_Periph-4.7.0

Announcements are done in much the same way as beta releases by posting on these sites:

Discuss’s Plane category
Discuss’s Copter category
Discuss’s Rover category
Discuss’s Sub category
Discuss’s AntennaTracker category
ArduPilot facebook group. Include the contents of the ReleaseNotes.txt so people know what has changed and a video if possible
LinkedIn
On Github, Draft a new release and add the Discuss link from above

Mission Planner will also show a pop-up informing users that a new version is available.

Didn’t find what you are looking for?¶

If you think of something that should be added to this site, please open an issue or post a comment on the ArduPilot Discord Chat.