diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index dc417f51c6..596e9482d7 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -1318,6 +1318,10 @@ public:
 
     bool use_pilot_yaw() const override;
 
+    bool set_speed_xy(float speed_xy_cms) override;
+    bool set_speed_up(float speed_up_cms) override;
+    bool set_speed_down(float speed_down_cms) override;
+
     // RTL states
     enum class SubMode : uint8_t {
         STARTING,
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index e6ae505e82..795e483e93 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -554,4 +554,22 @@ bool ModeRTL::use_pilot_yaw(void) const
     return allow_yaw_option || land_repositioning || final_landing;
 }
 
+bool ModeRTL::set_speed_xy(float speed_xy_cms)
+{
+    copter.wp_nav->set_speed_xy(speed_xy_cms);
+    return true;
+}
+
+bool ModeRTL::set_speed_up(float speed_up_cms)
+{
+    copter.wp_nav->set_speed_up(speed_up_cms);
+    return true;
+}
+
+bool ModeRTL::set_speed_down(float speed_down_cms)
+{
+    copter.wp_nav->set_speed_down(speed_down_cms);
+    return true;
+}
+
 #endif