Hi. When doing this setup and simulation in mission planner, the radius for each loiter turns commands shows up to be very weird sizes. For example the radius is set to go from 100 to 400m but you see the simulation doesn’t look right.
100m is the 2nd smallest
200m is the biggest circle
300m is the smallest circle then
400m is the 3rd biggest
assuming the first loiter circle is correct, to me it looks more like
at least there’s most likely no 300 and 400 m circle at all.
have you checked your mission items have been saved correctly by reading back the mission after saving it?
@vierfuffzig thank you for that , I actually know what is happening now . thanks for doing the simulations yourself, I really appreciate it @tridge yes I realised that at 0 wp_loiter_rad will be used, but I cannot change that during mission.
I want to basically have a spiral of my plane going down and changing altitude. and one time I want it to change the radius half way down. Do you know how I can do that?
at the moment there‘s no option to command individual radii above 255 other than what WP_LOITER_RAD is set to.
you might want to set param WP_LOITER_RAD to your desired maximum above 255, like 400 m for example, then set MAV_CMD_NAV_LOITER_TURNS radius = 0 to use 400 m on those first turns in your flight plan.
adding smaller LOITER_TURNS with individual radii below 255 m will work as expected: