A storm in a teacup ..? I see nothing wrong with Crown Prince Felipe's speech. Furthermore, Prince Charles' feelings are totally irrelevant. If Prince Charles took any offence at what was said, he could put it in his personal journal and allow his assistant to leak it to the public. It is the way things are done in the British royal family.
"To watch the sun sink behind a flower clad hill.
To wander on in a huge forest without thought of return. To stand upon the shore and gaze after a boat that disappears behind distant islands. To contemplate the flight of wild geese seen and lost among the clouds.
And, subtle shadows of bamboo on bamboo." Zeami Motokiyo