diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index d0f2e4b4f2..8c7abccd3d 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -981,16 +981,16 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
         return MAV_RESULT_ACCEPTED;
 #endif
 
+    case MAV_CMD_DO_CHANGE_SPEED:
+        return handle_command_DO_CHANGE_SPEED(packet);
+
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet, msg);
     }
 }
 
-MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
+MAV_RESULT GCS_MAVLINK_Plane::handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet)
 {
-    switch(packet.command) {
-
-    case MAV_CMD_DO_CHANGE_SPEED: {
         // if we're in failsafe modes (e.g., RTL, LOITER) or in pilot
         // controlled modes (e.g., MANUAL, TRAINING)
         // this command should be ignored since it comes in from GCS
@@ -1001,15 +1001,15 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
             return MAV_RESULT_FAILED;
         }
 
-        AP_Mission::Mission_Command cmd;
-        if (AP_Mission::mavlink_cmd_long_to_mission_cmd(packet, cmd) != MAV_MISSION_ACCEPTED) {
-            return MAV_RESULT_DENIED;
-        }
-        if (plane.do_change_speed(cmd)) {
+        if (plane.do_change_speed(packet.param1, packet.param2, packet.param3)) {
             return MAV_RESULT_ACCEPTED;
         }
         return MAV_RESULT_FAILED;
-    }
+}
+
+MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_long_t &packet, const mavlink_message_t &msg)
+{
+    switch(packet.command) {
 
     case MAV_CMD_NAV_LOITER_UNLIM:
         plane.set_mode(plane.mode_loiter, ModeReason::GCS_COMMAND);
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 7d391fcc5a..b84324a079 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -54,7 +54,7 @@ private:
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
-
+    MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
 
     bool try_send_message(enum ap_message id) override;
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 5369536a43..ffc34f3a90 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -945,6 +945,7 @@ private:
 
     bool is_land_command(uint16_t cmd) const;
 
+    bool do_change_speed(uint8_t speedtype, float speed_target_ms, float rhtottle_pct);
     /*
       return true if in a specific AUTO mission command
     */
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 2edc79b158..e5ac80ae73 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -946,28 +946,36 @@ void Plane::do_loiter_at_location()
 
 bool Plane::do_change_speed(const AP_Mission::Mission_Command& cmd)
 {
-    switch (cmd.content.speed.speed_type)
-    {
+    return do_change_speed(
+        (uint8_t)cmd.content.speed.speed_type,
+        cmd.content.speed.target_ms,
+         cmd.content.speed.throttle_pct
+        );
+}
+
+bool Plane::do_change_speed(uint8_t speedtype, float speed_target_ms, float throttle_pct)
+{
+    switch (speedtype) {
     case 0:             // Airspeed
-        if (is_equal(cmd.content.speed.target_ms, -2.0f)) {
+        if (is_equal(speed_target_ms, -2.0f)) {
             new_airspeed_cm = -1; // return to default airspeed
             return true;
-        } else if ((cmd.content.speed.target_ms >= aparm.airspeed_min.get()) &&
-                   (cmd.content.speed.target_ms <= aparm.airspeed_max.get()))  {
-            new_airspeed_cm = cmd.content.speed.target_ms * 100; //new airspeed target for AUTO or GUIDED modes
-            gcs().send_text(MAV_SEVERITY_INFO, "Set airspeed %u m/s", (unsigned)cmd.content.speed.target_ms);
+        } else if ((speed_target_ms >= aparm.airspeed_min.get()) &&
+                   (speed_target_ms <= aparm.airspeed_max.get()))  {
+            new_airspeed_cm = speed_target_ms * 100; //new airspeed target for AUTO or GUIDED modes
+            gcs().send_text(MAV_SEVERITY_INFO, "Set airspeed %u m/s", (unsigned)speed_target_ms);
             return true;
         }
         break;
     case 1:             // Ground speed
-        gcs().send_text(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)cmd.content.speed.target_ms);
-        aparm.min_gndspeed_cm.set(cmd.content.speed.target_ms * 100);
+        gcs().send_text(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)speed_target_ms);
+        aparm.min_gndspeed_cm.set(speed_target_ms * 100);
         return true;
     }
 
-    if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Set throttle %u", (unsigned)cmd.content.speed.throttle_pct);
-        aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
+    if (throttle_pct > 0 && throttle_pct <= 100) {
+        gcs().send_text(MAV_SEVERITY_INFO, "Set throttle %u", (unsigned)throttle_pct);
+        aparm.throttle_cruise.set(throttle_pct);
         return true;
     }