support speed changes from the flyview

- allow changing maximum horizontal cruise speed for multirotors
- allow changing equivalent airspeed setpoint for fixed wings

Signed-off-by: RomanBapst <bapstroman@gmail.com>

qgroundcontrol.qrc

@@ -220,7 +220,7 @@
         <file alias="QGroundControl/FlightDisplay/GuidedActionTakeoff.qml">src/FlightDisplay/GuidedActionTakeoff.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionPause.qml">src/FlightDisplay/GuidedActionPause.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedActionRTL.qml">src/FlightDisplay/GuidedActionRTL.qml</file>
-        <file alias="QGroundControl/FlightDisplay/GuidedAltitudeSlider.qml">src/FlightDisplay/GuidedAltitudeSlider.qml</file>
+        <file alias="QGroundControl/FlightDisplay/GuidedValueSlider.qml">src/FlightDisplay/GuidedValueSlider.qml</file>
         <file alias="QGroundControl/FlightDisplay/GuidedToolStripAction.qml">src/FlightDisplay/GuidedToolStripAction.qml</file>
         <file alias="QGroundControl/FlightDisplay/MultiVehicleList.qml">src/FlightDisplay/MultiVehicleList.qml</file>
         <file alias="QGroundControl/FlightDisplay/PreFlightBatteryCheck.qml">src/FlightDisplay/PreFlightBatteryCheck.qml</file>

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -275,6 +275,20 @@ void FirmwarePlugin::guidedModeChangeAltitude(Vehicle*, double, bool pauseVehicl
     qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
 }
 
+void
+FirmwarePlugin::guidedModeChangeGroundSpeed(Vehicle*, double)
+{
+    // Not supported by generic vehicle
+    qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
+}
+
+void
+FirmwarePlugin::guidedModeChangeEquivalentAirspeed(Vehicle*, double)
+{
+    // Not supported by generic vehicle
+    qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
+}
+
 void FirmwarePlugin::startMission(Vehicle*)
 {
     // Not supported by generic vehicle

src/FirmwarePlugin/FirmwarePlugin.h

@@ -150,6 +150,15 @@ public:
     /// @return The minimum takeoff altitude (relative) for guided takeoff.
     virtual double minimumTakeoffAltitude(Vehicle* /*vehicle*/) { return 10; }
 
+    /// @return The maximum horizontal groundspeed for a multirotor.
+    virtual double maximumHorizontalSpeedMultirotor(Vehicle* /*vehicle*/) { return 10; }
+
+    /// @return The maximum equivalent airspeed setpoint.
+    virtual double maximumEquivalentAirspeed(Vehicle* /*vehicle*/) { return 25; }
+
+    /// @return The minimum equivalent airspeed setpoint
+    virtual double minimumEquivalentAirspeed(Vehicle* /*vehicle*/) { return 12; }
+
     /// Command the vehicle to start the mission
     virtual void startMission(Vehicle* vehicle);
 
@@ -161,6 +170,14 @@ public:
     ///     @param pauseVehicle true: pause vehicle prior to altitude change
     virtual void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange, bool pauseVehicle);
 
+        /// Command vehicle to change groundspeed
+    ///     @param groundspeed Groundspeed in m/s
+    virtual void guidedModeChangeGroundSpeed(Vehicle* vehicle, double groundspeed);
+
+    /// Command vehicle to change equivalent airspeed
+    ///     @param airspeed_equiv Equivalent airspeed in m/s
+    virtual void guidedModeChangeEquivalentAirspeed(Vehicle* vehicle, double airspeed_equiv);
+
     /// Default tx mode to apply to joystick axes
     /// TX modes are as outlined here: http://www.rc-airplane-world.com/rc-transmitter-modes.html
     virtual int defaultJoystickTXMode(void);

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -409,6 +409,39 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel
         static_cast<float>(takeoffAltAMSL));    // AMSL altitude
 }
 
+double PX4FirmwarePlugin::maximumHorizontalSpeedMultirotor(Vehicle* vehicle)
+{
+    QString speedParam("MPC_XY_VEL_MAX");
+
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, speedParam)) {
+        return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, speedParam)->rawValue().toDouble();
+    } else {
+        return FirmwarePlugin::maximumHorizontalSpeedMultirotor(vehicle);
+    }
+}
+
+double PX4FirmwarePlugin::maximumEquivalentAirspeed(Vehicle* vehicle)
+{
+    QString airspeedMax("FW_AIRSPD_MAX");
+
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, airspeedMax)) {
+        return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, airspeedMax)->rawValue().toDouble();
+    } else {
+        return FirmwarePlugin::maximumEquivalentAirspeed(vehicle);
+    }
+}
+
+double PX4FirmwarePlugin::minimumEquivalentAirspeed(Vehicle* vehicle)
+{
+    QString airspeedMin("FW_AIRSPD_MIN");
+
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, airspeedMin)) {
+        return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, airspeedMin)->rawValue().toDouble();
+    } else {
+        return FirmwarePlugin::minimumEquivalentAirspeed(vehicle);
+    }
+}
+
 void PX4FirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
 {
     if (qIsNaN(vehicle->altitudeAMSL()->rawValue().toDouble())) {
@@ -525,6 +558,34 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
     }
 }
 
+void PX4FirmwarePlugin::guidedModeChangeGroundSpeed(Vehicle* vehicle, double groundspeed)
+{
+
+    vehicle->sendMavCommand(
+        vehicle->defaultComponentId(),
+        MAV_CMD_DO_CHANGE_SPEED,
+        true,                                   // show error is fails
+        1,                                     // 0: airspeed, 1: groundspeed
+        static_cast<float>(groundspeed),       // groundspeed setpoint
+        -1,                                   // throttle
+        0,                                    // 0: absolute speed, 1: relative to current
+        NAN, NAN,NAN);                        // param 5-7 unused
+}
+
+void PX4FirmwarePlugin::guidedModeChangeEquivalentAirspeed(Vehicle* vehicle, double airspeed_equiv)
+{
+
+    vehicle->sendMavCommand(
+        vehicle->defaultComponentId(),
+        MAV_CMD_DO_CHANGE_SPEED,
+        true,                                   // show error is fails
+        0,                                     // 0: airspeed, 1: groundspeed
+        static_cast<float>(airspeed_equiv),       // groundspeed setpoint
+        -1,                                   // throttle
+        0,                                    // 0: absolute speed, 1: relative to current
+        NAN, NAN,NAN);                        // param 5-7 unused
+}
+
 void PX4FirmwarePlugin::startMission(Vehicle* vehicle)
 {
     if (_setFlightModeAndValidate(vehicle, missionFlightMode())) {
@@ -633,7 +694,7 @@ bool PX4FirmwarePlugin::supportsNegativeThrust(Vehicle* vehicle)
     return ((vehicle->vehicleType() == MAV_TYPE_GROUND_ROVER) || (vehicle->vehicleType() == MAV_TYPE_SUBMARINE));
 }
 
-QString PX4FirmwarePlugin::getHobbsMeter(Vehicle* vehicle) 
+QString PX4FirmwarePlugin::getHobbsMeter(Vehicle* vehicle)
 {
     static const char* HOOBS_HI = "LND_FLIGHT_T_HI";
     static const char* HOOBS_LO = "LND_FLIGHT_T_LO";
@@ -645,7 +706,7 @@ QString PX4FirmwarePlugin::getHobbsMeter(Vehicle* vehicle)
         Fact* factLo = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, HOOBS_LO);
         hobbsTimeSeconds = ((uint64_t)factHi->rawValue().toUInt() << 32 | (uint64_t)factLo->rawValue().toUInt()) / 1000000;
         qCDebug(VehicleLog) << "Hobbs Meter raw PX4:" << "(" << factHi->rawValue().toUInt() << factLo->rawValue().toUInt() << ")";
-    } 
+    }
 
     int hours   = hobbsTimeSeconds / 3600;
     int minutes = (hobbsTimeSeconds % 3600) / 60;
@@ -653,4 +714,4 @@ QString PX4FirmwarePlugin::getHobbsMeter(Vehicle* vehicle)
     QString timeStr = QString::asprintf("%04d:%02d:%02d", hours, minutes, seconds);
     qCDebug(VehicleLog) << "Hobbs Meter string:" << timeStr;
     return timeStr;
-} 
+}

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -46,8 +46,13 @@ public:
     void                guidedModeRTL                   (Vehicle* vehicle, bool smartRTL) override;
     void                guidedModeLand                  (Vehicle* vehicle) override;
     void                guidedModeTakeoff               (Vehicle* vehicle, double takeoffAltRel) override;
+    double              maximumHorizontalSpeedMultirotor(Vehicle* vehicle) override;
+    double              maximumEquivalentAirspeed(Vehicle* vehicle) override;
+    double              minimumEquivalentAirspeed(Vehicle* vehicle) override;
     void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
     void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel, bool pauseVehicle) override;
+    void                guidedModeChangeGroundSpeed      (Vehicle* vehicle, double groundspeed) override;
+    void                guidedModeChangeEquivalentAirspeed(Vehicle* vehicle, double airspeed_equiv) override;
     void                startMission                    (Vehicle* vehicle) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
     void                initializeVehicle               (Vehicle* vehicle) override;

src/FlightDisplay/FlyView.qml

@@ -51,7 +51,7 @@ Item {
     property real   _margins:               ScreenTools.defaultFontPixelWidth / 2
     property var    _guidedController:      guidedActionsController
     property var    _guidedActionList:      guidedActionList
-    property var    _guidedAltSlider:       guidedAltSlider
+    property var    _guidedValueSlider:       guidedValueSlider
     property real   _toolsMargin:           ScreenTools.defaultFontPixelWidth * 0.75
     property rect   _centerViewport:        Qt.rect(0, 0, width, height)
     property real   _rightPanelWidth:       ScreenTools.defaultFontPixelWidth * 30
@@ -79,7 +79,7 @@ Item {
         anchors.top:            parent.top
         anchors.bottom:         parent.bottom
         anchors.left:           parent.left
-        anchors.right:          guidedAltSlider.visible ? guidedAltSlider.left : parent.right
+        anchors.right:          guidedValueSlider.visible ? guidedValueSlider.left : parent.right
         z:                      _fullItemZorder + 1
         parentToolInsets:       _toolInsets
         mapControl:             _mapControl
@@ -99,7 +99,7 @@ Item {
         id:                 guidedActionsController
         missionController:  _missionController
         actionList:         _guidedActionList
-        altitudeSlider:     _guidedAltSlider
+        guidedValueSlider:     _guidedValueSlider
     }
 
     /*GuidedActionConfirm {
@@ -109,7 +109,7 @@ Item {
         anchors.horizontalCenter:   parent.horizontalCenter
         z:                          QGroundControl.zOrderTopMost
         guidedController:           _guidedController
-        altitudeSlider:             _guidedAltSlider
+        guidedValueSlider:             _guidedValueSlider
     }*/
 
     GuidedActionList {
@@ -121,9 +121,9 @@ Item {
         guidedController:           _guidedController
     }
 
-    //-- Altitude slider
-    GuidedAltitudeSlider {
-        id:                 guidedAltSlider
+    //-- Guided value slider (e.g. altitude)
+    GuidedValueSlider {
+        id:                 guidedValueSlider
         anchors.margins:    _toolsMargin
         anchors.right:      parent.right
         anchors.top:        parent.top

src/FlightDisplay/GuidedActionConfirm.qml

@@ -25,7 +25,7 @@ Rectangle {
     visible:                false
 
     property var    guidedController
-    property var    altitudeSlider
+    property var    guidedValueSlider
     property string title                                       // Currently unused
     property alias  message:            messageText.text
     property int    action
@@ -57,7 +57,7 @@ Rectangle {
     }
 
     function confirmCancelled() {
-        altitudeSlider.visible = false
+        guidedValueSlider.visible = false
         visible = false
         hideTrigger = false
         visibleTimer.stop()
@@ -106,13 +106,13 @@ Rectangle {
 
                 onAccept: {
                     _root.visible = false
-                    var altitudeChange = 0
-                    if (altitudeSlider.visible) {
-                        altitudeChange = altitudeSlider.getAltitudeChangeValue()
-                        altitudeSlider.visible = false
+                    var sliderOutputValue = 0
+                    if (guidedValueSlider.visible) {
+                        sliderOutputValue = guidedValueSlider.getOutputValue()
+                        guidedValueSlider.visible = false
                     }
                     hideTrigger = false
-                    guidedController.executeAction(_root.action, _root.actionData, altitudeChange, _root.optionChecked)
+                    guidedController.executeAction(_root.action, _root.actionData, sliderOutputValue, _root.optionChecked)
                     if (mapIndicator) {
                         mapIndicator.actionConfirmed()
                         mapIndicator = undefined

src/FlightDisplay/GuidedActionList.qml

@@ -28,7 +28,7 @@ Rectangle {
     visible:    false
 
     property var    guidedController
-    property var    altitudeSlider
+    property var    guidedValueSlider
 
     function show() {
         visible = true
@@ -62,6 +62,12 @@ Rectangle {
             text:       guidedController.landAbortMessage,
             action:     guidedController.actionLandAbort,
             visible:    guidedController.showLandAbort
+        },
+        {
+            title:      guidedController.changeSpeedTitle,
+            text:       guidedController.changeSpeedMessage,
+            action:     guidedController.actionChangeSpeed,
+            visible:    guidedController.showChangeSpeed
         }
     ]
 
@@ -90,7 +96,7 @@ Rectangle {
             Layout.minimumWidth:    _width
             Layout.maximumWidth:    _width
 
-            property real _width: Math.min((_actionWidth * 2) + _actionHorizSpacing, actionRow.width)
+            property real _width: Math.min((_actionWidth * 3) + _actionHorizSpacing*2, actionRow.width)
 
             RowLayout {
                 id:         actionRow

src/FlightDisplay/GuidedActionsController.qml

@@ -30,7 +30,7 @@ Item {
     property var missionController
     property var confirmDialog
     property var actionList
-    property var altitudeSlider
+    property var guidedValueSlider
     property var orbitMapCircle
 
     readonly property string emergencyStopTitle:            qsTr("EMERGENCY STOP")
@@ -47,6 +47,8 @@ Item {
     readonly property string pauseTitle:                    qsTr("Pause")
     readonly property string mvPauseTitle:                  qsTr("Pause (MV)")
     readonly property string changeAltTitle:                qsTr("Change Altitude")
+    readonly property string changeCruiseSpeedTitle:        qsTr("Change Cruise Speed")
+    readonly property string changeAirspeedTitle:           qsTr("Change Airspeed")
     readonly property string orbitTitle:                    qsTr("Orbit")
     readonly property string landAbortTitle:                qsTr("Land Abort")
     readonly property string setWaypointTitle:              qsTr("Set Waypoint")
@@ -66,6 +68,8 @@ Item {
     readonly property string landMessage:                       qsTr("Land the vehicle at the current position.")
     readonly property string rtlMessage:                        qsTr("Return to the launch position of the vehicle.")
     readonly property string changeAltMessage:                  qsTr("Change the altitude of the vehicle up or down.")
+    readonly property string changeCruiseSpeedMessage:          qsTr("Change the maximum horizontal cruise speed.")
+    readonly property string changeAirspeedMessage:             qsTr("Change the equivalent airspeed setpoint")
     readonly property string gotoMessage:                       qsTr("Move the vehicle to the specified location.")
              property string setWaypointMessage:                qsTr("Adjust current waypoint to %1.").arg(_actionData)
     readonly property string orbitMessage:                      qsTr("Orbit the vehicle around the specified location.")
@@ -100,6 +104,7 @@ Item {
     readonly property int actionROI:                        22
     readonly property int actionActionList:                 23
     readonly property int actionForceArm:                   24
+    readonly property int actionChangeSpeed:                25
 
     property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
     property bool   _useChecklist:              QGroundControl.settingsManager.appSettings.useChecklist.rawValue && QGroundControl.corePlugin.options.preFlightChecklistUrl.toString().length
@@ -117,11 +122,14 @@ Item {
     property bool showContinueMission:  _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _missionItemCount - 1)
     property bool showPause:            _guidedActionsEnabled && _vehicleArmed && _activeVehicle.pauseVehicleSupported && _vehicleFlying && !_vehiclePaused && !_fixedWingOnApproach
     property bool showChangeAlt:        _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
+    property bool showChangeSpeed:      _guidedActionsEnabled && _vehicleFlying && _activeVehicle.guidedModeSupported && _vehicleArmed && !_missionActive
     property bool showOrbit:            _guidedActionsEnabled && _vehicleFlying && __orbitSupported && !_missionActive
     property bool showROI:              _guidedActionsEnabled && _vehicleFlying && __roiSupported && !_missionActive
     property bool showLandAbort:        _guidedActionsEnabled && _vehicleFlying && _fixedWingOnApproach
     property bool showGotoLocation:     _guidedActionsEnabled && _vehicleFlying
     property bool showActionList:       _guidedActionsEnabled && (showStartMission || showResumeMission || showChangeAlt || showLandAbort)
+    property string changeSpeedTitle:   _fixedWing ? changeAirspeedTitle : changeCruiseSpeedTitle
+    property string changeSpeedMessage: _fixedWing ? changeAirspeedMessage : changeCruiseSpeedMessage
 
     // Note: The '_missionItemCount - 2' is a hack to not trigger resume mission when a mission ends with an RTL item
     property bool showResumeMission:    _activeVehicle && !_vehicleArmed && _vehicleWasFlying && _missionAvailable && _resumeMissionIndex > 0 && (_resumeMissionIndex < _missionItemCount - 2)
@@ -150,6 +158,7 @@ Item {
     property bool   _vehicleWasFlying:      false
     property bool   _rcRSSIAvailable:       _activeVehicle ? _activeVehicle.rcRSSI > 0 && _activeVehicle.rcRSSI <= 100 : false
     property bool   _fixedWingOnApproach:   _activeVehicle ? _activeVehicle.fixedWing && _vehicleLanding : false
+    property bool   _fixedWing:             _activeVehicle ? _activeVehicle.fixedWing || _activeVehicle.vtolInFwdFlight : false
 
     // You can turn on log output for GuidedActionsController by turning on GuidedActionsControllerLog category
     property bool __guidedModeSupported:    _activeVehicle ? _activeVehicle.guidedModeSupported : false
@@ -164,6 +173,32 @@ Item {
         }
     }
 
+    function setupSlider(actionCode) {
+        // generic defaults
+        guidedValueSlider.configureAsLinearSlider()
+
+        if (actionCode === actionTakeoff) {
+                guidedValueSlider.setMinVal(_activeVehicle.minimumTakeoffAltitude())
+                guidedValueSlider.setValue(_activeVehicle ? _activeVehicle.minimumTakeoffAltitude() : 0)
+                guidedValueSlider.setDisplayText("Height")
+        } else if (actionCode === actionChangeSpeed) {
+            if (_activeVehicle.vtolInFwdFlight) {
+                guidedValueSlider.setDisplayText("Set Airspeed")
+                guidedValueSlider.setMinVal(_activeVehicle.minimumEquivalentAirspeed())
+                guidedValueSlider.setMaxVal(_activeVehicle.maximumEquivalentAirspeed())
+                guidedValueSlider.setValue(_activeVehicle.airSpeedSetpoint.rawValue)
+            } else {
+                guidedValueSlider.setDisplayText("Set Speed")
+                guidedValueSlider.setMinVal(0.1)
+                guidedValueSlider.setMaxVal(_activeVehicle.maximumHorizontalSpeedMultirotor())
+                guidedValueSlider.setValue(_activeVehicle.maximumHorizontalSpeedMultirotor()/2)
+            }
+        } else if (actionCode === actionChangeAlt || actionCode === actionOrbit || actionCode === actionGoto || actionCode === actionPause) {
+            guidedValueSlider.setDisplayText("New Alt(rel)")
+            guidedValueSlider.configureAsRelativeAltSliderExp()
+        }
+    }
+
     on_ActiveVehicleChanged: _outputState()
 
     Component.onCompleted:              _outputState()
@@ -308,7 +343,7 @@ Item {
     function closeAll() {
         confirmDialog.visible =     false
         actionList.visible =        false
-        altitudeSlider.visible =    false
+        guidedValueSlider.visible =    false
     }
 
     // Called when an action is about to be executed in order to confirm
@@ -321,6 +356,9 @@ Item {
         confirmDialog.mapIndicator = mapIndicator
         confirmDialog.optionText = ""
         _actionData = actionData
+
+        setupSlider(actionCode)
+
         switch (actionCode) {
         case actionArm:
             if (_vehicleFlying || !_guidedActionsEnabled) {
@@ -352,8 +390,7 @@ Item {
             confirmDialog.title = takeoffTitle
             confirmDialog.message = takeoffMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showTakeoff })
-            altitudeSlider.setToMinimumTakeoff()
-            altitudeSlider.visible = true
+            guidedValueSlider.visible = true
             break;
         case actionStartMission:
             showImmediate = false
@@ -398,8 +435,7 @@ Item {
             confirmDialog.title = changeAltTitle
             confirmDialog.message = changeAltMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showChangeAlt })
-            altitudeSlider.reset()
-            altitudeSlider.visible = true
+            guidedValueSlider.visible = true
             break;
         case actionGoto:
             confirmDialog.title = gotoTitle
@@ -414,8 +450,7 @@ Item {
             confirmDialog.title = orbitTitle
             confirmDialog.message = orbitMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showOrbit })
-            altitudeSlider.reset()
-            altitudeSlider.visible = true
+            guidedValueSlider.visible = true
             break;
         case actionLandAbort:
             confirmDialog.title = landAbortTitle
@@ -426,8 +461,7 @@ Item {
             confirmDialog.title = pauseTitle
             confirmDialog.message = pauseMessage
             confirmDialog.hideTrigger = Qt.binding(function() { return !showPause })
-            altitudeSlider.reset()
-            altitudeSlider.visible = true
+            guidedValueSlider.visible = true
             break;
         case actionMVPause:
             confirmDialog.title = mvPauseTitle
@@ -452,6 +486,13 @@ Item {
         case actionActionList:
             actionList.show()
             return
+        case actionChangeSpeed:
+            confirmDialog.title = "Change Speed"
+            confirmDialog.hideTrigger = true
+            confirmDialog.title = changeSpeedTitle
+            confirmDialog.message = changeSpeedMessage
+            guidedValueSlider.visible = true
+            break
         default:
             console.warn("Unknown actionCode", actionCode)
             return
@@ -460,7 +501,7 @@ Item {
     }
 
     // Executes the specified action
-    function executeAction(actionCode, actionData, actionAltitudeChange, optionChecked) {
+    function executeAction(actionCode, actionData, sliderOutputValue, optionChecked) {
         var i;
         var rgVehicle;
         switch (actionCode) {
@@ -471,7 +512,7 @@ Item {
             _activeVehicle.guidedModeLand()
             break
         case actionTakeoff:
-            _activeVehicle.guidedModeTakeoff(actionAltitudeChange)
+            _activeVehicle.guidedModeTakeoff(sliderOutputValue)
             break
         case actionResumeMission:
         case actionResumeMissionUploadFail:
@@ -500,7 +541,7 @@ Item {
             _activeVehicle.emergencyStop()
             break
         case actionChangeAlt:
-            _activeVehicle.guidedModeChangeAltitude(actionAltitudeChange, false /* pauseVehicle */)
+            _activeVehicle.guidedModeChangeAltitude(sliderOutputValue, false /* pauseVehicle */)
             break
         case actionGoto:
             _activeVehicle.guidedModeGotoLocation(actionData)
@@ -509,13 +550,13 @@ Item {
             _activeVehicle.setCurrentMissionSequence(actionData)
             break
         case actionOrbit:
-            _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + actionAltitudeChange)
+            _activeVehicle.guidedModeOrbit(orbitMapCircle.center, orbitMapCircle.radius() * (orbitMapCircle.clockwiseRotation ? 1 : -1), _activeVehicle.altitudeAMSL.rawValue + sliderOutputValue)
             break
         case actionLandAbort:
             _activeVehicle.abortLanding(50)     // hardcoded value for climbOutAltitude that is currently ignored
             break
         case actionPause:
-            _activeVehicle.guidedModeChangeAltitude(actionAltitudeChange, true /* pauseVehicle */)
+            _activeVehicle.guidedModeChangeAltitude(sliderOutputValue, true /* pauseVehicle */)
             break
         case actionMVPause:
             rgVehicle = QGroundControl.multiVehicleManager.vehicles
@@ -532,6 +573,15 @@ Item {
         case actionROI:
             _activeVehicle.guidedModeROI(actionData)
             break
+        case actionChangeSpeed:
+            if (_activeVehicle) {
+                if (_activeVehicle.vtolInFwdFlight || _activeVehicle.fixedWing) {
+                   _activeVehicle.guidedModeChangeEquivalentAirspeed(sliderOutputValue)
+                } else {
+                    _activeVehicle.guidedModeChangeGroundSpeed(sliderOutputValue)
+                }
+            }
+            break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
             break

src/FlightDisplay/GuidedValueSlider.qml

@@ -34,22 +34,12 @@ Rectangle {
     }
 
     on_SliderCenterValueChanged: {
-       valueField.updateFunction(sliderValue)
+        valueField.updateFunction(sliderValue)
     }
 
     function setValue(val) {
-        if (valueField.updateFunction == valueField.updateExpAroundCenterValue) {
-            if (val >= _sliderCenterValue) {
-                valueSlider.value = Math.pow(val / Math.max(_sliderMaxVal - _sliderCenterValue, 0), 1.0/3.0)
-            } else {
-                valueSlider.value = -Math.pow(val / Math.max(_sliderCenterValue - _sliderMinVal, 0), 1.0/3.0)
-            }
-
-        } else {
-            valueSlider.value = valueField.getSliderValueFromOutputLinear(val)
-        }
-
-        valueField.updateFunction(sliderValue)
+        valueSlider.value = valueField.getSliderValueFromOutput(val)
+        valueField.updateFunction(valueSlider.value)
     }
 
     function configureAsRelativeAltSliderExp() {
@@ -133,8 +123,24 @@ Rectangle {
                 newValueAppUnits = QGroundControl.unitsConversion.metersToAppSettingsHorizontalDistanceUnits(newValue).toFixed(1)
             }
 
-            function getSliderValueFromOutputLinear(value) {
-                return 2 * (value - _sliderMinVal) / (_sliderMaxVal - _sliderMinVal) - 1
+            function getSliderValueFromOutputLinear(val) {
+                return 2 * (val - _sliderMinVal) / (_sliderMaxVal - _sliderMinVal) - 1
+            }
+
+            function getSliderValueFromOutputExp(val) {
+                if (val >= _sliderCenterValue) {
+                    return Math.pow(val / Math.max(_sliderMaxVal - _sliderCenterValue, 0), 1.0/3.0)
+                } else {
+                    return -Math.pow(val / Math.max(_sliderCenterValue - _sliderMinVal, 0), 1.0/3.0)
+                }
+            }
+
+            function getSliderValueFromOutput(output) {
+                if (updateFunction == updateExpAroundCenterValue) {
+                    return getSliderValueFromOutputExp(output)
+                } else {
+                    return getSliderValueFromOutputLinear(output)
+                }
             }
         }
     }

src/FlightDisplay/TelemetryValuesBar.qml

@@ -105,7 +105,7 @@ Rectangle {
         GuidedActionConfirm {
             Layout.fillWidth:   true
             guidedController:   _guidedController
-            altitudeSlider:     _guidedAltSlider
+            guidedValueSlider:     _guidedValueSlider
         }
     }
 }

src/QmlControls/QGroundControl/FlightDisplay/qmldir

@@ -19,7 +19,7 @@ GuidedActionLand                1.0 GuidedActionLand.qml
 GuidedActionList                1.0 GuidedActionList.qml
 GuidedActionPause               1.0 GuidedActionPause.qml
 GuidedActionRTL                 1.0 GuidedActionRTL.qml
-GuidedAltitudeSlider            1.0 GuidedAltitudeSlider.qml
+GuidedValueSlider               1.0 GuidedValueSlider.qml
 GuidedActionTakeoff             1.0 GuidedActionTakeoff.qml
 GuidedToolStripAction           1.0 GuidedToolStripAction.qml
 MultiVehicleList                1.0 MultiVehicleList.qml

src/Vehicle/Vehicle.cc

@@ -2542,6 +2542,23 @@ double Vehicle::minimumTakeoffAltitude()
     return _firmwarePlugin->minimumTakeoffAltitude(this);
 }
 
+double Vehicle::maximumHorizontalSpeedMultirotor()
+{
+    return _firmwarePlugin->maximumHorizontalSpeedMultirotor(this);
+}
+
+
+double Vehicle::maximumEquivalentAirspeed()
+{
+    return _firmwarePlugin->maximumEquivalentAirspeed(this);
+}
+
+
+double Vehicle::minimumEquivalentAirspeed()
+{
+    return _firmwarePlugin->minimumEquivalentAirspeed(this);
+}
+
 void Vehicle::startMission()
 {
     _firmwarePlugin->startMission(this);
@@ -2573,6 +2590,26 @@ void Vehicle::guidedModeChangeAltitude(double altitudeChange, bool pauseVehicle)
     _firmwarePlugin->guidedModeChangeAltitude(this, altitudeChange, pauseVehicle);
 }
 
+void
+Vehicle::guidedModeChangeGroundSpeed(double groundspeed)
+{
+    if (!guidedModeSupported()) {
+        qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
+        return;
+    }
+    _firmwarePlugin->guidedModeChangeGroundSpeed(this, groundspeed);
+}
+
+void
+Vehicle::guidedModeChangeEquivalentAirspeed(double airspeed)
+{
+    if (!guidedModeSupported()) {
+        qgcApp()->showAppMessage(guided_mode_not_supported_by_vehicle);
+        return;
+    }
+    _firmwarePlugin->guidedModeChangeEquivalentAirspeed(this, airspeed);
+}
+
 void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude)
 {
     if (!orbitModeSupported()) {

src/Vehicle/Vehicle.h

@@ -352,6 +352,15 @@ public:
     /// @return The minimum takeoff altitude (relative) for guided takeoff.
     Q_INVOKABLE double minimumTakeoffAltitude();
 
+    /// @return Maximum horizontal speed multirotor.
+    Q_INVOKABLE double maximumHorizontalSpeedMultirotor();
+
+    /// @return Maximum equivalent airspeed.
+    Q_INVOKABLE double maximumEquivalentAirspeed();
+
+    /// @return Minumum equivalent airspeed.
+    Q_INVOKABLE double minimumEquivalentAirspeed();
+
     /// Command vehicle to move to specified location (altitude is included and relative)
     Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord);
 
@@ -360,6 +369,13 @@ public:
     ///     @param pauseVehicle true: pause vehicle prior to altitude change
     Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange, bool pauseVehicle);
 
+    /// Command vehicle to change groundspeed
+    ///     @param groundspeed Target horizontal groundspeed
+    Q_INVOKABLE void guidedModeChangeGroundSpeed   (double groundspeed);
+    /// Command vehicle to change equivalent airspeed
+    ///     @param airspeed Target equivalent airspeed
+    Q_INVOKABLE void guidedModeChangeEquivalentAirspeed   (double airspeed);
+
     /// Command vehicle to orbit given center point
     ///     @param centerCoord Orit around this point
     ///     @param radius Distance from vehicle to centerCoord