diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index d10f64fdfd..dd99f363a1 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -945,8 +945,9 @@ bool ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
 
 bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
 {
+    const float turns = cmd.get_loiter_turns();
     // check if we have completed circling
-    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= LOWBYTE(cmd.p1));
+    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= turns);
 }
 
 /********************************************************************************/