Fix bug that can cause early exit from loiter #81
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…wp's The check for the aircraft being lined up for a tangent exit has an early breakout condition if the next waypoint is too close to the loiter circle which can prevent the required ground course to waypoint ever being achieved. This check was using the WP_LOITER_RAD parameter value, not the actual radius being used which can be set differently by the mission plan. If a large value for WP_LOITER_RAD was set and being over-written by the mission plan with a smaller value compatible with the distance to the next waypoint, the aircraft would still exit early. Cherry-picked from ArduPilot/ardupilot#23801
loki077
approved these changes
Nov 28, 2023
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https://carbonix.atlassian.net/browse/OV3-1021
Cherry-picked from ArduPilot/ardupilot#23801