autotest: add test for rover MAV_CMD_DO_CHANGE_SPEED

Tools/autotest/rover.py

@@ -6363,6 +6363,35 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.wait_distance_to_home(0, 5, timeout=30)
         self.disarm_vehicle()
 
+    def MAV_CMD_DO_CHANGE_SPEED(self):
+        '''test MAV_CMD_NAV_RETURN_TO_LAUNCH mavlink command'''
+        self.change_mode('GUIDED')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        original_loc = self.mav.location()
+        here = original_loc
+        target_loc = self.offset_location_ne(here, 2000, 0)
+        self.send_guided_mission_item(target_loc)
+        self.wait_distance_to_home(20, 100)
+
+        speeds = 3, 7, 12, 4
+
+        for speed in speeds:
+            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed)
+            self.wait_groundspeed(speed-0.5, speed+0.5, minimum_duration=5)
+
+        self.send_guided_mission_item(original_loc)
+
+        for speed in speeds:
+            self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed)
+            self.wait_groundspeed(speed-0.5, speed+0.5, minimum_duration=5)
+
+        self.change_mode('RTL')
+
+        self.wait_distance_to_home(0, 5, timeout=30)
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6396,6 +6425,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.SET_ATTITUDE_TARGET,
             self.SET_POSITION_TARGET_LOCAL_NED,
             self.MAV_CMD_DO_SET_MISSION_CURRENT,
+            self.MAV_CMD_DO_CHANGE_SPEED,
             self.Button,
             self.Rally,
             self.Offboard,