Hi,
I am just wondering if the exit tangent is the box that I input the appropriate heading to ensure the plane departs the loiter at the correct heading after reaching the designated altitude?
if that is the case, then I think the parameter 1 should be in the place of the parameter 4 in the instructions? http://ardupilot.org/plane/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-nav-loiter-to-alt
Thanks,
Justin