Original L1 control paper state that, L1 algorithm can control to within 1.6 meters RMS when following circular path. With our modified algorithm and APM 2.6 hardware, how many meters RMS we gan get when following circular or straight path.
That depends on the wind and aircraft performance. It’s important to have good PID tuning so run a couple of Autotune flights. On a fairly calm day it circles exactly on the mission planner circle line. Also if you have unreasonably small loiter and WP radii that’s beyond your airplanes capability it’s not going to do well.
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