Timeout = 90 minute
Timeout for this behavior.
LapTimeout = 240 minute
Timeout for each individual lap.
MaxLaps = 32 count
Maximum number of repeat circles.
CenterLat = NaN degree
Latitude of center of circle.
CenterLon = NaN degree
Longitude of center of circle.
Radius = 250 meter
Radius of circle around CenterLat and CenterLon
MaxError = 250 meter
If this distance away from the circle, drive straight towards (or away from) the center. Otherwise, try to reduce distance from the ideal circle.
TurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
FloatTime = 60 second
Pitch = 20 degree
Speed = 1 meter_per_second