# Circuit navigation

A navigation mode for closed loops, followed by percentage, with its own commands and notifications.

Circuit navigation is a specialized navigation mode designed for closed-loop routes (circuits).  
It allows drivers to follow a circuit with advanced features like:

- **Position tracking as percentage** (0-100%) along the circuit
- **Free drive mode** when leaving the circuit - no automatic rerouting, driver rejoins manually
- **Automatic reroute mode** - system automatically guides back to the circuit when driver leaves
- **Automatic detection** of rejoining the circuit
- **Tracking of missed sections** when driver leaves and rejoins the circuit
- **Support for multiple laps** - percentage can exceed 100%

## Its commands

- [startCircuitGuidance](https://docs.benomad.com/benav-rnc/commands/start-circuit-guidance.md)
- [joinCircuit](https://docs.benomad.com/benav-rnc/commands/join-circuit.md)

## Its notifications

- [onCircuitLeft](https://docs.benomad.com/benav-rnc/notifications/on-circuit-left.md)
- [onCircuitJoined](https://docs.benomad.com/benav-rnc/notifications/on-circuit-joined.md)
- [onCanJoinCircuit](https://docs.benomad.com/benav-rnc/notifications/on-can-join-circuit.md)