diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index 7aee6bdd4d..f5ac3bada9 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -375,8 +375,7 @@ bool Rover::verify_within_distance()
 void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
 {
     // set speed for active mode
-    if ((cmd.content.speed.target_ms >= 0.0f) && (cmd.content.speed.target_ms <= rover.control_mode->get_speed_default())) {
-        control_mode->set_desired_speed(cmd.content.speed.target_ms);
+    if (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));
     }
 }