Don't try to chase an upgrade cycle. Buy the iPad you want, when you want it.
Unless you're REALLY hoping that the new Mini has Pencil support, check out the Mini 4 - it's an excellent device.
Looking at the Pro 12.9"? It's an amazing device and it's doubtful an upgraded device will offer a monumental improvement over the next one.
If rumors are to believed, no no iPads until Spring 2017 (and even then, minor updates with a larger update coming in 2018). If it eases your mind, think about that. Of course, do you wait until Spring or do you wait until 2018?
That's the problem with trying to predict release dates. Don't buy into it - buy what you need/want when you need/want it.
There are a lot of reasons Apple doesn't discuss it's product update cycles, and one of them is cannibalization of current products. Another reason is focus - I'm sure there isn't "one planned release of iPads" - they announce and release iPads when they think they have a product that is ready. iPhones are a little more predictable, but that hasn't always been the case.
I get buying a device and having a new one come out a month later, but that doesn't make the one you bought any less of a device.
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In my case, my ipad 2 is dying - slow response and unable to update software ver.. And I don't really care if I have the latest. However, if I buy one now and Apple releases a new iPad then the iPad I buy now will be cheaper after the release of the new iPad. That's my only concern. it would be wise to wait until mid Oct. to see if Apple will announce a new iPad product or not.
If you can wait, all the better. Rumors say no new iPads until Spring of 2017 (and that the Fall event will be a Mac event). If you wait, just don't fall into the "Well, it would be foolish to buy one now when Spring is just around the corner..." Trap.