From a03178014cd37044264d64f9f67d9a387f846258 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 7 May 2024 13:20:50 +1000
Subject: [PATCH 1/2] autotest: add test for Rover RTL speed

---
 Tools/autotest/rover.py | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index b08e1ebed3003f..bab8ed9594d625 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -525,6 +525,27 @@ def DriveRTL(self, timeout=120):
         self.disarm_vehicle()
         self.progress("RTL Mission OK (%fm)" % home_distance)
 
+    def RTL_SPEED(self, timeout=120):
+        '''Test RTL_SPEED is honoured'''
+
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 300, 0, 0),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 0),
+        ])
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.change_mode('AUTO')
+        self.wait_current_waypoint(2, timeout=120)
+        for speed in 1, 5.5, 1.5, 7.5:
+            self.set_parameter("RTL_SPEED", speed)
+            self.change_mode('RTL')
+            self.wait_groundspeed(speed-0.1, speed+0.1, minimum_duration=10)
+            self.change_mode('HOLD')
+        self.do_RTL()
+        self.disarm_vehicle()
+
     def AC_Avoidance(self):
         '''Test AC Avoidance switch'''
         self.context_push()
@@ -6814,6 +6835,7 @@ def tests(self):
             self.MAV_CMD_BATTERY_RESET,
             self.NetworkingWebServer,
             self.NetworkingWebServerPPP,
+            self.RTL_SPEED,
         ])
         return ret
 

From 35449e7c338e3b81cbf8222e4c9c4bff0ff99d03 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 7 May 2024 13:21:16 +1000
Subject: [PATCH 2/2] Rover: correct clamping of RTL_SPEED parameter

MAX wasn't treating these things as floats
---
 Rover/mode_rtl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Rover/mode_rtl.cpp b/Rover/mode_rtl.cpp
index e896c5151fc878..8fe2ad75959d75 100644
--- a/Rover/mode_rtl.cpp
+++ b/Rover/mode_rtl.cpp
@@ -8,7 +8,7 @@ bool ModeRTL::_enter()
     }
 
     // initialise waypoint navigation library
-    g2.wp_nav.init(MAX(0, g2.rtl_speed));
+    g2.wp_nav.init(MAX(0.0f, g2.rtl_speed));
 
     // set target to the closest rally point or home
 #if HAL_RALLY_ENABLED