Waypoints crossing issue


I am currently controlling my plane in guided mode by sending MAV_CMD_NAV_WAYPOINT periodically to the board.

The plane actually responds to my commands however it never goes directly to the waypoint. In starts a circle before crossing the waypoint.

This is not the same behavior as Arducopter, where the copter directly crosses the waypoint.

I understand physical properties of the vehicle are very different, but is there a way to cross the WP before starting to circle around?

Is there a way to change this behavior? I need, in guided mode, to find a way to ensure a plane goes exactly where I command.



A .bin log with a flight would help to help you.