From e8827d037e1558db79dec53d7fea776be3ed4386 Mon Sep 17 00:00:00 2001
From: James O'Shannessy <12959316+joshanne@users.noreply.github.com>
Date: Thu, 14 Nov 2024 12:10:12 +1100
Subject: [PATCH] ArduPlane: Ensure Plane reaches loiter target for loiter
 turns

---
 ArduPlane/commands_logic.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 90c3e02480..2e0a3957e2 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -726,8 +726,10 @@ bool Plane::verify_loiter_turns(const AP_Mission::Mission_Command &cmd)
     // LOITER_TURNS makes no sense as VTOL
     auto_state.vtol_loiter = false;
 
-    if (condition_value != 0) {
-        // primary goal, loiter time
+    if (!reached_loiter_target()) {
+        result = false;
+    } else if (condition_value != 0) {
+        // primary goal, loiter turns
         if (loiter.sum_cd > loiter.total_cd && loiter.sum_cd > 1) {
             // primary goal completed, initialize secondary heading goal
             condition_value = 0;