mav_cmd_do_reposition now obeys the ground speed argument

PX4 · Dec 8, 2018 · 21bcc0d · 21bcc0d
1 parent dc49e25
commit 21bcc0d
Showing 1 changed file with 9 additions and 1 deletion.
diff --git 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();