Park your car in the car park next to "Ships and Castles Leisure Center"
(S/E) Go across the main field in front of the castle (built during the reign of King Henry VIII). Head slightly left next to Castle car park. Follow the asphalt footpath starting left along the ramparts.
(1) At the junction, bear right, go past the Half-Moon Battery on your left (with two camouflaged gun houses and 6-inch guns dating from the Second World War), continue along ramparts overlooking Fal estuary and St Anthony Head lighthouse.
(2) Then pass under the gatehouse (built in 1700) using the grassy path which finally joins an asphalt path. Go up slightly right and you are back to the large field leading to your car.(S/E)