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Rover: accept do-change-speed commands with high speeds

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This commit is contained in:
Randy Mackay 2018-06-09 10:23:46 +09:00
parent a08a955cbc
commit 631d8f5423
1 changed files with 1 additions and 2 deletions
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3
APMrover2/commands_logic.cpp
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@ -375,8 +375,7 @@ bool Rover::verify_within_distance()
void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd) void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{ {
// set speed for active mode // set speed for active mode
if ((cmd.content.speed.target_ms >= 0.0f) && (cmd.content.speed.target_ms <= rover.control_mode->get_speed_default())) { if (control_mode->set_desired_speed(cmd.content.speed.target_ms)) {
control_mode->set_desired_speed(cmd.content.speed.target_ms);
gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms)); gcs().send_text(MAV_SEVERITY_INFO, "speed: %.1f m/s", static_cast<double>(cmd.content.speed.target_ms));
} }
} }