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The pink track below shows the HOME / RTL (Return to Land) track and 1-mile radius loiter circles above
the HOME location. There are 2 ½ circles here, with the autopilot maintaining very high precision orbits.
For a full description of all parameters please visit:
http://ardupilot.org/plane/docs/parameters.html
But please note this includes all the ArduPlane parameters, which are not all relevant.