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 The formula is an adaptation of the one in this paper: http://acl.mit.edu/papers/gnc_park_deyst_how.pdf Gautier Le 27/08/2014 07:10, wertrrte a écrit : ```Gautier,thanks for your concise and informative explanation. So,after the sentence: *radius_carrot += (abs_radius / cos(carrot_angle) - abs_radius);* the plane seems to be flying with a bigger radius.But actually it won't,because it is carrot_angle that counts(it provides us the desired direction),rather than the radius_carrot.Carrot_angle changes with time and the plane eventually flys with our desired radius,rather than the final radius_carrot.However,this asks for the accurate calculation of 'circle_bank'(needed by our desired radius).Am I right? Besides,if NAV_MODE_ROLL is active,in fly_to_xy(),'h_ctl_roll_setpoint' would be calculated by: *h_ctl_roll_setpoint = atan(2 * speed * speed * s * h_ctl_course_pgain / (CARROT * NOMINAL_AIRSPEED * 9.81) );* I am puzzled at this _expression_.Why '2' is multiflied here?And why CARROT is involved?Much gratitude if you can explain a bit more. wertrrte -- View this message in context: http://lists.paparazziuav.org/question-about-nav-circle-XY-tp16038p16040.html Sent from the paparazzi-devel mailing list archive at Nabble.com. _______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel ```