From 1ec61c57ba8c3408a85b58c05048d464f3ceac77 Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Fri, 12 Jan 2024 15:14:20 +1100
Subject: [PATCH] Rover: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
---
 Rover/mode_auto.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

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);
 }
 
 /********************************************************************************/