diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index fc7be8bf8c..0ba056a705 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1456,7 +1456,7 @@ static void update_nav_wp() if (circle_angle > 6.28318531) circle_angle -= 6.28318531; - target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle)); + target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle) * scaleLongUp); target_WP.lat = next_WP.lat + (g.loiter_radius * sin(1.57 - circle_angle)); // calc the lat and long error to the target