How can I have WPNAV_LOIT_SPEED on an RC channel? I want to be able to control the rate from the transmitter. Thanks!

10 WP Speed
And set Tune_High and Tune_Low

I’m not certain that it’s what you’re after though, as I’ve not tried it myself.
I have RC_Feel on Ch6.

That’s how I do it with the range set by one of the pots on the Taranis.

So not Velocity XY kP or Velocity XY kI? If you look at the tuning

in MP, WP Nav Speed is separate from Loiter Speed. That’s why I’m asking. Thanks!