EKF failed causes Hold when turn fence action as hold

[lumono]

I found references

WP_RADIUS limits TURN_RADIUS. Why?

Took a while to figure out why changing TURN_RADIUS was having no effect in AUTO. Seems it is limited by WP_RADIUS. Why? The WP_RADIUS sets how close to get before its considered ‘arrived’. I would still like a small WP_RADIUS (0.5mts) but need a large turn radius (5 mts) so my vehicle does not collide with its trailer. Any suggestions please?