From 13b2b76cfe6e13c869397dddec0caa2de4150afd Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Thu, 9 Mar 2017 17:29:59 -0500
Subject: [PATCH] Sub: Enable circle nav parameters, and set default circle
 rate

---
 ArduSub/Parameters.cpp | 1 +
 ArduSub/config.h       | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index a2f5ae837f..d94ec9356a 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -894,6 +894,7 @@ void Sub::load_parameters(void)
             AP_Arming::ARMING_CHECK_VOLTAGE |
             AP_Arming::ARMING_CHECK_BATTERY |
             AP_Arming::ARMING_CHECK_LOGGING);
+    AP_Param::set_default_by_name("CIRCLE_RATE", 2.0f);
 }
 
 void Sub::convert_old_parameters(void)
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 4aa466af78..078fa3af90 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -68,7 +68,7 @@
 //
 
 #ifndef CIRCLE_NAV_ENABLED
-# define CIRCLE_NAV_ENABLED DISABLED
+# define CIRCLE_NAV_ENABLED ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////