Circle Mode

Circle will orbit a point located CIRC_RADIUS meters in front of the vehicle when the mode is entered.

Setting the CIRC_RADIUS to zero will cause the rover to simply stay in place.

The speed of the vehicle (in meters/second) is set by the CIRC_SPEED parameter. And the direction is set by the CIRC_DIR parameter, “0” is CW, “1” CCW.

Operation Notes

• The target point moving around the circle does not slowdown if the vehicle cannot keep up. This means that a too high a CIRC_RADIUS parameter value will lead to the vehicle driving at full throttle inside the desired radius.

• The radius, speed and direction parameters only take effect when the vehicle enters circle mode (or begins a LOITER_TURNS mission command) so users cannot easily change the radius or direction while in the mode. Instead they must exit and re-enter the mode. In missions, the speed can be changed using the DO_CHANGE_SPEED MAVlink or mission command.