I tested what happens if you specify a radius beyond what is achievable with the max bank angle and it basic starts to look like the previous behavior so this should be ok.  This is 5 m radius:

![Screen Shot 2013-03-11 at 10 31 33 AM](https://f.cloud.github.com/assets/618346/244218/c647152c-8a60-11e2-8363-2f0c5294c80d.png)

Then after relaxing to 50 m radius:

![Screen Shot 2013-03-11 at 10 35 00 AM](https://f.cloud.github.com/assets/618346/244235/4b6a9c74-8a61-11e2-80b5-7b54762e7f9c.png)

There is a max bank angle and that is respected first.  I agree there are a _ton_ of tuning parameters right now for FW and we need a better way of setting all of them.  I'd rather not pull a bunch of calculations about flight dynamics into manual control though so lets have people set those offline or write a FW nav settings widget.