From e347618210bec5554c8e648a6a974c12ee6a6ba6 Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Tue, 6 Oct 2020 08:54:38 +0900
Subject: [PATCH] Rover: support speed control of DO_REPOSITION

---
 Rover/GCS_Mavlink.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index c1b8cb2c8d..30b1ea062f 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -718,6 +718,12 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_com
         }
     }
 
+    if (is_positive(packet.param1)) {
+        if (!rover.control_mode->set_desired_speed(packet.param1)) {
+            return MAV_RESULT_FAILED;
+        }
+    }
+
     // set the destination
     if (!rover.mode_guided.set_desired_location(request_location)) {
         return MAV_RESULT_FAILED;