Clarification on CRUISE_SPEED and WP_SPEED


I recently updated to Rover 4.0.0 after using 3.5.2 for some time. I’m a little confused about the change in handling the WP_SPEED parameter. In 3.5.2, if WP_SPEED was zero, AUTO mode would use CRUISE_SPEED as the target speed. In 4.0.0, AUTO mode will only look at WP_SPEED for setting the desired speed.

Using CRUISE_SPEED in AUTO missions in 3.5.2 was convenient, as it was easy to tune performance in ACRO mode, and one could also easily change the target speed in AUTO by using the aux function switch set to “learn cruise speed”.

Just wondering if I’m missing something as to why not using CRUISE_SPEED in AUTO missions is a good idea?

Also, it seems like much of the documentation and parameter descriptions need to be updated to reflect this. For example, the tuning throttle and speed page says that CRUISE_SPEED is used as the default speed in AUTO. I’d be happy to update this, but wanted to make sure I’m understanding this correctly.