Tricopter - ArduCopter in CRIUS - Problem with Circle and Auto mode

Hi all,

I am not sure if I'm doing something wrong or not sure if it works on a tricopter but when going in CIRCLE mode, my tricopter just drifts away. I do have a GPS and I always fly when the GPS is set to "3D Fix" 

This are my parameters

CIRCLE_RADIU

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