From 96e21e958978215278c49919cf2fcf427d66f042 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 28 Jan 2026 09:11:29 +0900
Subject: [PATCH] Plane: integrate AC_Loiter param change to use meters

---
 ArduPlane/quadplane.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 3a96cb4b12..c05bd4df02 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -593,10 +593,10 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
     { "Q_A_RATE_Y_MAX",   75.0 },
     { "Q_M_SPOOL_TIME",   0.25 },
     { "Q_LOIT_ANG_MAX",   15.0 },
-    { "Q_LOIT_ACC_MAX",   250.0 },
-    { "Q_LOIT_BRK_ACCEL", 50.0 },
-    { "Q_LOIT_BRK_JERK",  250 },
-    { "Q_LOIT_SPEED",     500 },
+    { "Q_LOIT_ACC_MAX_M", 2.50 },
+    { "Q_LOIT_BRK_ACC_M", 0.5 },
+    { "Q_LOIT_BRK_JRK_M", 2.5 },
+    { "Q_LOIT_SPEED_MS",  5.0 },
     { "Q_WP_SPEED",       500 },
     { "Q_WP_ACCEL",       100 },
     { "Q_P_JERK_NE",      2   },
@@ -831,6 +831,9 @@ bool QuadPlane::setup(void)
     // upgrade position controller parameters added Dec 2025
     pos_control->convert_parameters();
 
+    // upgrade loiter navigation parameters
+    loiter_nav->convert_parameters();
+
     // Provisionally assign the SLT thrust type.
     // It will be overwritten by tailsitter or tiltorotor setups.
     thrust_type = ThrustType::SLT;