From 21bcc0d2f40d307c3c88009ff5a7f13e8dbbe93e Mon Sep 17 00:00:00 2001
From: Jake Dahl <jacob.dahl@tealdrones.com>
Date: Fri, 7 Dec 2018 14:18:05 -0700
Subject: [PATCH] mav_cmd_do_reposition now obeys the ground speed argument
---
src/modules/navigator/navigator_main.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 7ec01e286a..70045453e2 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -328,7 +328,15 @@ Navigator::run()
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
- rep->current.cruising_speed = get_cruising_speed();
+
+ // If no argument for ground speed, use default value.
+ if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
+ rep->current.cruising_speed = get_cruising_speed();
+
+ } else {
+ rep->current.cruising_speed = cmd.param1;
+ }
+
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
--
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