Change Speed questions

Is there an implemented way of changing speed during a mission ? I was looking at the auxiliary functions page, to see if there was a way to assign a change speed function, but couldn’t find.

Would I need to send a MAV_CMD_DO_CHANGE_SPEED with the value of speed I want midway mission?

Are you using ArduCopter 4.0 ?

sorry, I miss clicked, I am using the 4.1.0 version

Please update to ArduCopter 4.1.5

in the arducopter 4.1.5 there is a way to control the copter’s speed midflight?

There has been improvements in the MAV_CMD_DO_CHANGE_SPEED command support.

by that I assume, the way to do what I want, I have to send this command mid flight, there is no way already implemented, like giving a specific auxiliary function to a channel

WP Speed is a Chan 6 In-flight Tune option. Set it from the Full Parameter list. Tune= 10 and max/min in cm/sec