Consistent offset

Hello there,

I have noticed a consistent offset in flight. While in hold mode, the orbiting radius of the vehicle is not matching with that of the set loiter radius. The estimated path and the set loiter path are concentric circles with radius error of about 10m.

Logs are attached. Can anyone please explain the reasons for this behavior and suggest required changes?

Thank you,
Sree Mayur.

I see that you set NAV_LOITER_RAD to 10m, which is impossible for a FW with an airspeed of 25m/s like yours to track. For this speed a loiter radius of 100m+ is appropriate.