{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5291","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5291/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5291/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5291/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/5291","id":192034285,"number":5291,"title":"Guided Mode msg_set_position_target_global_int not using WPNAV_SPEED","user":{"login":"billbonney","id":959994,"avatar_url":"https://avatars.githubusercontent.com/u/959994?v=3","gravatar_id":"","url":"https://api.github.com/users/billbonney","html_url":"https://github.com/billbonney","followers_url":"https://api.github.com/users/billbonney/followers","following_url":"https://api.github.com/users/billbonney/following{/other_user}","gists_url":"https://api.github.com/users/billbonney/gists{/gist_id}","starred_url":"https://api.github.com/users/billbonney/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/billbonney/subscriptions","organizations_url":"https://api.github.com/users/billbonney/orgs","repos_url":"https://api.github.com/users/billbonney/repos","events_url":"https://api.github.com/users/billbonney/events{/privacy}","received_events_url":"https://api.github.com/users/billbonney/received_events","type":"User","site_admin":false},"labels":[{"id":24259148,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/BUG","name":"BUG","color":"fc2929","default":false},{"id":24269224,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/milestones/23","html_url":"https://github.com/ArduPilot/ardupilot/milestones/AC%203.5.0","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/milestones/23/labels","id":1968870,"number":23,"title":"AC 3.5.0","description":"Issue we hope to address in Copter-3.5","creator":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars.githubusercontent.com/u/1498098?v=3","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"open_issues":46,"closed_issues":9,"state":"open","created_at":"2016-08-29T06:03:00Z","updated_at":"2016-12-01T10:45:35Z","due_on":null,"closed_at":null},"comments":7,"created_at":"2016-11-28T15:26:09Z","updated_at":"2016-12-05T11:18:47Z","closed_at":null,"body":"#### Issue details\r\nGuided Mode using smsg_set_position_target_global_int with location only does not obey the WPNAV_SPEED setting, (or any speed setting). while maxes out at about 3.8m.s\r\n\r\nUsing msg_set_position_target_global_int with loc&velocity settings causes the vehicle to crash :(\r\n\r\n\r\n#### Version\r\nAC3.4.2\r\n\r\n#### Platform\r\n[  ] All\r\n[  ] AntennaTracker\r\n[ x ] Copter\r\n[  ] Plane\r\n[  ] Rover\r\n\r\n#### Airframe type\r\nSITL and Iris\r\n\r\n#### Hardware type\r\nAWS(SITL) and PIxhawk1\r\n\r\n#### Logs\r\nI post some logs later today, but it's easy to replicate, just seta Guided Point in Mission Planner, APM Planner 2.0 Tower, MAV Pilot etc..\r\n\r\nBTW: I have done some digging through the code to find a solution, so I'm happy to pair program and find a solution to this 👍 "},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/264828975","html_url":"https://github.com/ArduPilot/ardupilot/issues/5291#issuecomment-264828975","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5291","id":264828975,"user":{"login":"rmackay9","id":1498098,"avatar_url":"https://avatars.githubusercontent.com/u/1498098?v=3","gravatar_id":"","url":"https://api.github.com/users/rmackay9","html_url":"https://github.com/rmackay9","followers_url":"https://api.github.com/users/rmackay9/followers","following_url":"https://api.github.com/users/rmackay9/following{/other_user}","gists_url":"https://api.github.com/users/rmackay9/gists{/gist_id}","starred_url":"https://api.github.com/users/rmackay9/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rmackay9/subscriptions","organizations_url":"https://api.github.com/users/rmackay9/orgs","repos_url":"https://api.github.com/users/rmackay9/repos","events_url":"https://api.github.com/users/rmackay9/events{/privacy}","received_events_url":"https://api.github.com/users/rmackay9/received_events","type":"User","site_admin":false},"created_at":"2016-12-05T11:18:47Z","updated_at":"2016-12-05T11:18:47Z","body":"I've checked this with master, and although it can't quite reach it's max speed it does get close.  It gets up to 8.4m/s instead of the desired 10m/s.  WPNAV_SPEED was set to 1000. \r\n![speednear10ms](https://cloud.githubusercontent.com/assets/1498098/20883154/fa84bef6-bb27-11e6-82ba-fdeb74abff84.png)\r\n"}}
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