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2 changes in libmscore/undo.cpp:
orig. line 1735:
keysig->staff()->setKey(keysig->segment()->tick(), ks);
was commented out. It does however fix the issue 16506. Do I miss any negative side effects?
starting orig. line 1647:
qSwap(oldElement, newElement) was called too early.
setUpdateKeymap(true) doesn't work because the call to score->cmdUpdateNotes() in Score::undoChangeKeySig will still use the old keymap.