From c61022f596e094b9558bb037c9e561cf70d106c8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 20 Sep 2023 10:09:44 +1000
Subject: [PATCH] Copter: handle DO_CHANGE_SPEED as both COMMAND_LONG and
 COMMAND_INT

---
 ArduCopter/GCS_Mavlink.cpp | 16 +++++++++++-----
 ArduCopter/GCS_Mavlink.h   |  1 +
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index d83d00560c..192b034e3b 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -739,6 +739,10 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_do_reposition(const mavlink_co
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     switch(packet.command) {
+
+    case MAV_CMD_DO_CHANGE_SPEED:
+        return handle_MAV_CMD_DO_CHANGE_SPEED(packet);
+
 #if MODE_FOLLOW_ENABLED == ENABLED
     case MAV_CMD_DO_FOLLOW:
         // param1: sysid of target to follow
@@ -873,7 +877,13 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         }
         return MAV_RESULT_FAILED;
 
-    case MAV_CMD_DO_CHANGE_SPEED:
+    default:
+        return GCS_MAVLINK::handle_command_long_packet(packet, msg);
+    }
+}
+
+MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet)
+{
         // param1 : Speed type (0 or 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)
         // param2 : new speed in m/s
         // param3 : unused
@@ -897,10 +907,6 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
             }
         }
         return MAV_RESULT_FAILED;
-
-    default:
-        return GCS_MAVLINK::handle_command_long_packet(packet, msg);
-    }
 }
 
 #if MODE_AUTO_ENABLED == ENABLED
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index bf6ca7e6cb..f721a0c204 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -98,6 +98,7 @@ private:
 #endif // HAL_HIGH_LATENCY2_ENABLED
 
 
+    MAV_RESULT handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
     MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
     MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);