Copter: circle mode can't point vehicle at center if CIRCLE_RATE > ATC_SLEW_YAW

[rmackay9]

As discovered in this discussion if the CIRCLE_RATE is higher than ATC_SLEW_YAW then the vehicle's yaw will not be able to keep pointed at the circle's center. Most of the time the CIRCLE_RATE is much lower than the ATC_SLEW_YAW so this hasn't been noticed before.

We should probably do one of the following:

1. add a note to the CIRCLE_RATE parameter description <-- I think I like this idea best
2. limit the CIRCLE_RATE to be no more than ATC_SLEW_YAW (I'm not a fan of this idea)
3. print a warning to the user when they enter circle mode for the first time that CIRCLE_RATE is too high
4. add a pre-arm check in the parameter section

[timtuxworth]

Number 4 (as a warning or pre-arm blocking error) could be implemented in Lua script - so can be enabled/disabled without being baked into the firmware. I have a draft PR for this concept here #20930

[mohitkenia7]

Hi
I want to work on this

[mohit-marathe]

Hey @rmackay9, I'm new here and want to work on this issue. Can you help me with where I should get started?

[ConnectBhawna]

Hii,
I am working on this issue