LOIT_ parameters¶

7 parameters in the LOIT_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

LOIT_ACC_MAX_M¶

Loiter maximum correction acceleration

Loiter maximum correction acceleration in m/s/s. Higher values cause the copter to correct position errors more aggressively.

Units	`m/s/s`
Range	`1` to `9.81`
Increment	`0.01`
User level	Advanced

LOIT_ANG_MAX¶

Loiter pilot angle max

Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ATC_ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ATC_ANGLE_MAX

Units	`deg`
Range	`0` to `45`
Increment	`1`
User level	Advanced

LOIT_BRK_ACC_M¶

Loiter braking acceleration

Loiter braking acceleration in m/s/s. Higher values stop the copter more quickly when the stick is centered.

Units	`m/s/s`
Range	`0.25` to `2.5`
Increment	`0.01`
User level	Advanced

LOIT_BRK_DELAY¶

Loiter brake start delay (in seconds)

Loiter brake start delay (in seconds)

Units	`s`
Range	`0` to `2`
Increment	`0.1`
User level	Advanced

LOIT_BRK_JRK_M¶

Loiter braking jerk

Loiter braking jerk in m/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

Units	`m/s/s/s`
Range	`5` to `50`
Increment	`0.01`
User level	Advanced

LOIT_OPTIONS¶

Loiter mode options

Enables optional Loiter mode behaviors

User level

Standard

Bitmask¶

Value	Meaning
`0`	Enable Coordinated turns

LOIT_SPEED_MS¶

Loiter Horizontal Maximum Speed

Defines the maximum speed in m/s which the aircraft will travel horizontally while in loiter mode

Units	`m/s`
Range	`0.20` to `35`
Increment	`0.05`
User level	Standard