Hello,
A newer boat that my company produces is having problems with loiter mode that doesn’t happen on our smaller boats. It’s an 18ft gimballed catamaran with one motor per pontoon. The problem is that despite having the loit_radius set to 20m, and even have the loit_speed_gain set to 0, the boat starts to try to correct it’s position almost instantly. Is there any reason that loiter would start correcting the position when it is still well within the radius or is there some other issue I’m overlooking? If it matters loit_type is 0 and we have tried several values of loit_speed_gain, it was originally 0.5.