git pull'ed recently.
I've only found speed param in waypoint which can be set during creating route. I need to change speed during flight. Anyway it seems that vehicle ignores this value.
Also i've found type of waypoint with MAV_CMD_DO_CHANGE_SPEED command and tried to use it. But there is absolute unclear set of parameters.
Mission Param #1 Speed type (0=Airspeed, 1=Ground Speed)
Mission Param #2 Speed (m/s, -1 indicates no change)
Mission Param #3 Throttle ( Percent, -1 indicates no change)
Mission Param #4 absolute or relative [0,1]
The first parameter is clear. Second and third are depressing me. In school i was taught that speed and throttle are linked. So more throttle as a rule means faster speed and otherwise. But how to use 2nd and 3rd parameters i absolutely can't understand. I think that you implemented something like cruize-control in automobiles, i.e. driver can set desired speed and autopilot should controls the throttle to keep vehicle's speed equal to required. But description of MAV_CMD_DO_CHANGE_SPEED shows that seems you did something different.
Another mysterious parameter is parameter 4 - absolute or relative. What absolute or relative? Speed? I don't know what terms do you use but in physics all speeds are relative because speed describes how position of object changes. And since coordinate system is relative so position is relative too and, as a result, speed is always relative. What do you mean under "absolute" speed isn't clear for me. I suppose that airspeed is vehicle's speed relatively to air and groundspeed is vehicle's speed relatively to ground.
Can anybody explain me distinctly how one can control vehicle's speed in Mission mode?