From 585342ded206f5ea3207e00e6840b7a275ddaf21 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Mon, 16 Sep 2024 15:13:39 -0500 Subject: [PATCH] 4.6:Rover circle mode improvements --- copter/source/docs/circle-mode.rst | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/copter/source/docs/circle-mode.rst b/copter/source/docs/circle-mode.rst index a97902b8af..0e47c22733 100644 --- a/copter/source/docs/circle-mode.rst +++ b/copter/source/docs/circle-mode.rst @@ -47,10 +47,12 @@ When bit 3 is set of the :ref:`CIRCLE_OPTIONS` parameter the mou Other Notes =========== -The pilot does not have any control over the roll and pitch but can +- The pilot does not have any control over the roll and pitch but can change the altitude with the throttle stick as in :ref:`altholdmode` or :ref:`loiter-mode`. -The pilot can control the yaw of the copter, but the autopilot will not +- The pilot can control the yaw of the copter, but the autopilot will not retake control of the yaw until circle mode is re-engaged. -The mission command ``LOITER_TURNS`` invokes Circle mode during a mission. +- If the Rover cannot maintain a track close the circle desired it will automatically decrease speed until it can maintain the desired track. + +- The mission command ``LOITER_TURNS`` invokes Circle mode during a mission.