From 2883edaecd442e3049ad3224989cb384096e637a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 7 Mar 2015 23:38:48 +0100
Subject: [PATCH] ros sitl: increase Z gains for ardrone and iris

---
 launch/ardrone.launch | 4 +++-
 launch/iris.launch    | 2 ++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index 809eab2924..56030dd1f4 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -7,11 +7,13 @@
 
 <group ns="$(arg ns)">
 	<param name="MPC_XY_P" type="double" value="1.0" />
-	<param name="MPC_XY_FF" type="double" value="0.0" />
+	<param name="MPC_XY_FF" type="double" value="0.1" />
 	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="MPC_Z_VEL_P" type="double" value="0.3" />
+	<param name="MPC_Z_P" type="double" value="2" />
 	<param name="vehicle_model" type="string" value="ardrone" />
 </group>
 
diff --git a/launch/iris.launch b/launch/iris.launch
index fb9c0e6976..bf5b099b64 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -13,6 +13,8 @@
 	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="MPC_Z_VEL_P" type="double" value="0.3" />
+	<param name="MPC_Z_P" type="double" value="2" />
 	<param name="vehicle_model" type="string" value="iris" />
 </group>