From a061203eaf377f7ff257d436b4f40282bff00714 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 May 2018 17:56:37 +0900
Subject: [PATCH] Rover: pass ground speed to motors lib for scaling of
 steering

---
 APMrover2/Steering.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/APMrover2/Steering.cpp b/APMrover2/Steering.cpp
index 1d071a9bf6..58af6cae27 100644
--- a/APMrover2/Steering.cpp
+++ b/APMrover2/Steering.cpp
@@ -39,6 +39,12 @@ void Rover::set_servos(void)
     if (motor_test) {
         motor_test_output();
     } else {
-        g2.motors.output(arming.is_armed() && hal.util->get_soft_armed(), G_Dt);
+        // get ground speed
+        float speed;
+        if (!g2.attitude_control.get_forward_speed(speed)) {
+            speed = 0.0f;
+        }
+
+        g2.motors.output(arming.is_armed(), speed, G_Dt);
     }
 }