Hi
In one of my auto missions for the iris+ , I gave a command (LOITER_TURNS) where I gave circle_radius parameter and also the circle_rate parameter.

I gave circle_rate parameter as 10 degree/second and for circle_radius tried various radii 100,500,1000,2000 but I did not see the behaviour where iris+ should rotate in a circle , instead it was doing yaw at almost the same place.
I am not able to understand the behaviour. IRIS+ has firmware version 3.2 where circle_radius is said to have a unit of centimetres.

Can someone tell me as to should be the parameter values if I want to see the iris orbiting in a circle with some radius or is there some other parameter also that I should take care of

Thanks Mike
I set the circle_radius by tuning the CIRCLE_RADIUS parameter only, since it is not a mission command but what I am saying is that documentation says that it has units in centimeters (for AC3.2) where as I couldn’t see a proper loitering behavior even at a value of 2000.

I am unclear about the actual units of this parameter.

The units changed from 3.1.5 to Centimeters in 3.2.
Mission Planner should be updated to show the correct labeling in Centimeters.
So radius is going to be 2000 cm or 20 meters in version 3.1.5.

yes that is true but after giving this parameter and setting one of the command as loiter_turns in my mission, the iris does a circle but the radius of that circle seems like 2metres. and at a value of circle_radius=200 iris did not rotate in a circle at all. It was only doing yaw at a position.

Is there any parameter in telemetry logs which might help me to figure out what the radius of the circle that the iris actually did?