Loiter_turns only faces inside the WP, any way to change this?

ArduCopter Copter 4.5
1

Arducopter version: 4.5.7
MissionPlanner version: 1.3.82

Hello all!

As the title suggests I am trying to change where my copter is facing while conducting loiter_turns.

My goal is to have the copter face the direction it is travelling while flying the loiter turn orbit, kind of how a plane would loiter around a point. Is there a way to do this currently?

I have been unable to find a post similar enough to this, so apologies if this was asked somewhere else.

Thanks in advance,
DJ20

2

CIRCLE_OPTIONS check “face direction of travel”

2 Likes
3

Thanks Dave,

I’ll give this another look. While using the simulator with CICLE_OPTIONS set to 1 - face direction of travel - it did not seem to change behavior. When the sim arrived at the loiter_turns command in the stack, the copter was looking at the point and not the direction of travel.

To be a bit clearer, I am trying to use the plan page loiter_turns command and not circle mode.

Thanks!

Edit: I have circle_options set to 1.

4

That is clear, Loiter_turns is controlled by the Circle parameter in this case. When I run it in the simulator it does face the direction of travel. Did you set WP_YAW_BEHAVIOR to “Face next waypoint except RTL” also? Try that.

5

Found it!

The option to alter CIRCLE_OPTIONS bitmask was eluding me. Usually, I just set the number in the value field On this one I had to click on the param name, and a green button appeared titled “set bitmask”. There I found the option to set it and have the option take.

Thank you very much!