@rmackay9, I am very close to submitting a PR for a Lua binding that interacts with some of these methods (set_desired_speed for Rover and set_speed_xy for Copter) - effectively giving us DO_CHANGE_SPEED functionality in scripting, as we discussed earlier this year. It is implemented much like the guided mode bindings that already exist.
Is the bug fix impactful enough to warrant waiting for it before I submit the PR?