From 631d8f542355a533a21136d915bae09651b30d73 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 9 Jun 2018 10:23:46 +0900
Subject: [PATCH] Rover: accept do-change-speed commands with high speeds

---
 APMrover2/commands_logic.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

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));
     }
 }