Copter: integrate WPNAV::set_speed_z split to set_speed_up and set_speed_down

ArduCopter/GCS_Mavlink.cpp

@@ -729,9 +729,9 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         // param4 : unused
         if (packet.param2 > 0.0f) {
             if (packet.param1 > 2.9f) { // 3 = speed down
-                copter.wp_nav->set_speed_z(packet.param2 * 100.0f, copter.wp_nav->get_speed_up());
+                copter.wp_nav->set_speed_down(packet.param2 * 100.0f);
             } else if (packet.param1 > 1.9f) { // 2 = speed up
-                copter.wp_nav->set_speed_z(copter.wp_nav->get_speed_down(), packet.param2 * 100.0f);
+                copter.wp_nav->set_speed_up(packet.param2 * 100.0f);
             } else {
                 copter.wp_nav->set_speed_xy(packet.param2 * 100.0f);
             }

ArduCopter/mode_auto.cpp

@@ -1355,9 +1355,9 @@ void Copter::ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
 {
     if (cmd.content.speed.target_ms > 0) {
         if (cmd.content.speed.speed_type == 2)  {
-            copter.wp_nav->set_speed_z(copter.wp_nav->get_speed_down(), cmd.content.speed.target_ms * 100.0f);
+            copter.wp_nav->set_speed_up(cmd.content.speed.target_ms * 100.0f);
         } else if (cmd.content.speed.speed_type == 3)  {
-            copter.wp_nav->set_speed_z(cmd.content.speed.target_ms * 100.0f, copter.wp_nav->get_speed_up());
+            copter.wp_nav->set_speed_down(cmd.content.speed.target_ms * 100.0f);
         } else {
             copter.wp_nav->set_speed_xy(cmd.content.speed.target_ms * 100.0f);
         }