diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 4185f35e03..6a2b336b82 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -2190,8 +2190,10 @@ bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
         return false;
     }
 
+    const float turns = cmd.get_loiter_turns();
+
     // check if we have completed circling
-    return fabsf(copter.circle_nav->get_angle_total()/float(M_2PI)) >= LOWBYTE(cmd.p1);
+    return fabsf(copter.circle_nav->get_angle_total()/float(M_2PI)) >= turns;
 }
 
 // verify_spline_wp - check if we have reached the next way point using spline