A problem that I have noticed is that sometimes after launch the plane climbs to altitude and simply circles the home location. Why does it do this? The setup procedure is as follows:

1. Load Arduplane xx firmware from APM Mission Planner
2. Select waypoints and altitude
3. Disconnect from the ccomputer once the WP's have been written
4. Get to launch location and connect battery
5. Wait for the gyro calibration to complete
6. Wait for GPS lock both on the GPS module and for a solid RED light on the ArduPilotMega Board
7. Throttle up in manual and launch
8. Switch to Autonomous mode

The plane will climb to altitude and simply circle the home location. Any insight as to why the plane does this? It is getting GPS data from what I can tell in our log files.

Platform: HK Bixler, 20A ESC Turnigy 2.2 mah battery

Also, the one time that the plane did not simply circle the home location, it attempted to go to waypoint 1. Here is a youtube video of our flight the other day, I suggest lowering your volume before proceeding.http://www.youtube.com/watch?v=UwZygReLPN0 I believe that it was circling waypoint 1 in attempt to hit it and move on to waypoint 2. Could the radius of 30 be to tight of a circle for the UAV to hit it? Any help is greatly appreciated.

Thank you!

Don