From 9fcfea5404be53fa78384c78298e770ec3d8b9a3 Mon Sep 17 00:00:00 2001
From: Valentin Brossard <valentin@sogilis.com>
Date: Thu, 29 May 2014 17:04:53 +0200
Subject: [PATCH] Copter: accept DO_CHANGE_SPEED outside of missions

https://github.com/diydrones/ardupilot/issues/1095
---
 ArduCopter/GCS_Mavlink.pde | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index ac2c53fb45..d1a4750a10 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1098,6 +1098,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             break;
 
+        case MAV_CMD_DO_CHANGE_SPEED:
+            // param1 : unused
+            // param2 : new speed in m/s
+            // param3 : unused
+            // param4 : unused
+            if (packet.param2 > 0.0f) {
+                wp_nav.set_speed_xy(packet.param2 * 100.0f);
+                result = MAV_RESULT_ACCEPTED;
+            } else {
+                result = MAV_RESULT_FAILED;
+            }
+            break;
+
         case MAV_CMD_MISSION_START:
             if (set_mode(AUTO)) {
                 result = MAV_RESULT_ACCEPTED;