loiter unlimited and loiter time is not working

[ghost]

I am currently engaged in the development of MAVROS and SITL. While working on configuring a 'loiter unlimited' and 'loiter times', I have encountered difficulties with the associated command codes. Interestingly, the issue does not persist when implementing the "loiter turns" command, as the drone successfully executes the desired behavior.

Specifically, when attempting to employ the "loiter unlim" or "loiter turns" commands, the drone successfully takes off and proceeds towards the designated waypoint. However, it fails to initiate the expected circling behavior at the specified waypoint as intended in the mission plan.

I am actively seeking assistance or insights to address this anomaly, particularly within the context of ArduCopter. Your guidance on rectifying this issue would be highly valuable and appreciated