Loiter Circles Radius

ArduPlane
1

I’ve been flying some large loiter circles and noticed that the plane is flying consistently larger than radius set in WP_LOITER_RAD. It’s the same behavior in the field and in SITL. Same in Loiter or Guided. I’m playing with radius between 200 and 400m, so this is not a tuning performance issue.

The image below is a 300m radius, however the plane is flying 360m. WP_RADIUS is 2m. Default quad-plane (stable FW) SITL.

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image1920×1040 240 KB

This isn’t a big issue for me, I’m just more curious about the behavior and why the plane is doing it.

1 Like
2

IIRC it is related to not setting NAVL1_LIM_BANK

2 Likes
3

Interesting. Thanks. I’ll play with that in the sim and see what comes of it.

4

Looks like you’re right. I was just trying it in the sim and that seemed to do the trick. Thanks.