Copter not supporting MAV_CMD_NAV_LOITER_TURNS question


I have been working on a GCS for Arducopter targeting Copter 4.0.0+.

I am wondering if there is a specific reason why the MAV_CMD_NAV_LOITER_TURNS is not supported on Copter 4.0.0 while in guided mode. I want to be able to task my copter to go loiter in circles until it is told to do something else, but now I understand to do that automatically, I would need to update a set of parameters on the drone dealing with circle speed, and radius then flip into Circle mode for some amount of time. For my use case it would seem much easier to just be able to send a MAV_CMD_NAV_LOITER_TURNS command specifying center point, radius, direction, etc. but that seems not to be the case unless I am missing something (but its really easy for me to miss things!).

Thanks you to anyone who can provide insight or a solution!

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I’m afraid we just haven’t implemented Circle within Guided mode. It’s certainly possible so I’ve raised an enhancement request for it here. I’m afraid I can’t make a promise as to when someone will get to this though.