Plane: integrate Mission cmd field changes

ArduPlane/commands_logic.pde

@@ -105,13 +105,13 @@ start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_DO_REPEAT_SERVO:
-        ServoRelayEvents.do_repeat_servo(cmd.content.servo.channel, cmd.content.servo.pwm,
-                                         cmd.content.servo.repeat_count, cmd.content.servo.time_ms);
+        ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
+                                         cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
         break;
 
     case MAV_CMD_DO_REPEAT_RELAY:
-        ServoRelayEvents.do_repeat_relay(cmd.content.relay.num, cmd.content.relay.repeat_count,
-                                         cmd.content.relay.time_ms);
+        ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
+                                         cmd.content.repeat_relay.cycle_time * 1000.0f);
         break;
 
 #if CAMERA == ENABLED
@@ -555,7 +555,7 @@ static void do_change_speed(const AP_Mission::Mission_Command& cmd)
         break;
     }
 
-    if (cmd.content.speed.throttle_pct > 0) {
+    if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
         gcs_send_text_fmt(PSTR("Set throttle %u"), (unsigned)cmd.content.speed.throttle_pct);
         aparm.throttle_cruise.set(cmd.content.speed.throttle_pct);
     }