I think it makes sense to promote 1.6 to release status and create a 1.7 dev branch before merging.
This seems reasonable. I might try to slip a few other things into 1.6.
There is still a question on what to do with the YUV drawing code.
One option is to remove it and just keep the 8 bit and XIMR versions.
As reyalp pointed out earlier initial porting of other cameras may be easier with the YUV drawing system; but that means keeping three drawing variants.
Yeah, I'm still not sure what the best approach is. I would really like not to have 3 different drawing codebases, but implementing the XIMR method in a brand new port might be ugly. I suppose if someone gets stuck on a port, it would be to hard to switch to the pre XIMR tree. If we keep the D6 YUV code but don't use it, there's a fair chance it will be broken when someone does go to use it.
The other idea I had is an ifdef with some minimal YUV draw capability, just enough to draw text or something, but I'm not sure this is doable or worthwhile.