Updates my copter from 3.5 to 4.0.3 and now I have some issues with Mission Speed.
WPNAV_SPEED is set to 1000, SPEED_DN and _UP is set to 150.
WPNAV_LOIT_SPEED is 1000, too and RTL_SPEED is set to 0 (will change this parm later this day but I don’t used RTL during my testflight).
If I set a mission, straight line 200m in one direction, the copter fly only with 2m/s exactly in AUTO. In LOITER it will fly with 10m/s as expected. I tried the DO_SET_SPEED with different parms, no change.
Setting WPNAV_SPEED to 500 = copter reached 5m/s.
Setting WPNAV_SPEED to 1010 = copter reached around 9m/s (maybe the mision was to short to get the full 10m/s)
Setting WPNAV_SPEED back to 1000 = copter reached 2m/s
My battery runned out so I had to stop testing this morning…
Maybe a full parameter reset is a good idea?