MAV_CMD_DO_CHANGE_SPEED- does it work with non-integer values?

Hi all,

I’m trying to control a ArduCopter from an external Python process, and I’m having pretty good luck using mavutil in pymavlink. Mostly things are working well, but I’m still struggling with controlling vehicle speed. I seem to be able to set speeds in integer m/s: 1, 2, 3, etc. But I’d like to be able to do speeds of 0.1, 0.5, etc. and that doesn’t seem to work. Should it?

I’m (currently) using SITL ArduCopter. Fresh clone of the ardupilot git repository. I’m running on Centos.

I (try) to update the speed like so:

vehicle.mav.command_long_send(vehicle.target_system,
                              #vehicle.target_component,
                              mavutil.mavlink.MAV_COMP_ID_SYSTEM_CONTROL,
                              mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
                              0,
                              0,speed,0,0,0,0,0)

I’d prefer to do our first flight testing in crawl mode…

Hi @leselkins,

I am also interested in this issue. Could you please share any progress on this issue?