I was out playing around with "Circle mode" the other day and noticed that circle will stop the helicopter in it's tracks and point east for some reason. I love the fact that it's holding a position cause I was unable to do so with "Loiter". I thought that Loiter is position hold, am I way off? My main goal is to have the helicopter stop and sit at any given point, in the sky even when the wind is blowing.
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Sean,
I think you might be the first person to try circle mode with the helictoper at least in real life (i've tried it in the simulator).
circle mode is implemented in a pretty simple way. it just drags the target location around in a circle and hopes that the regular loiter controller manages to achieve that. at the same time the yaw controller independently points the nose at the target location. So it sounds like in this case your copter was unable to reach the target which ws to the east. my wild guess is that your loiter I terms are too low.