From 8e32c1645e9906ce6b0b54e2358b51e64b0c4d7f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 19 Apr 2023 21:28:51 +0900
Subject: [PATCH] Copter: RTL accepts do-change-speed commands

---
 ArduCopter/mode.h       |  4 ++++
 ArduCopter/mode_rtl.cpp | 18 ++++++++++++++++++
 2 files changed, 22 insertions(+)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 6a28a92195..cf446eae11 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -1319,6 +1319,10 @@ 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 fc08b39b19..baa806768b 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