From 6580d66d45cfb4b251e3b0f32b61161ee0d14ecb Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 10 Jan 2015 19:14:23 +0100
Subject: ros sim: use ardrone model

---
 launch/gazebo_multicopter.launch | 2 +-
 launch/multicopter.launch        | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

(limited to 'launch')

diff --git a/launch/gazebo_multicopter.launch b/launch/gazebo_multicopter.launch
index febf7bdc0..8091e3ff2 100644
--- a/launch/gazebo_multicopter.launch
+++ b/launch/gazebo_multicopter.launch
@@ -1,6 +1,6 @@
 <launch>
 
-<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" />
+<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
 <include file="$(find px4)/launch/multicopter.launch" />
 
 </launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 9956c871d..0a4b8c26d 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -14,9 +14,9 @@
 	<param name="MC_ROLLRATE_D" type="double" value="0.0" />
 	<param name="MC_PITCHRATE_P" type="double" value="0.05" />
 	<param name="MC_PITCHRATE_D" type="double" value="0.0" />
-	<param name="MC_YAW_FF" type="double" value="0.0" />
-	<param name="MC_YAW_P" type="double" value="1.0" />
-	<param name="MC_YAWRATE_P" type="double" value="0.2" />
+	<param name="MC_YAW_FF" type="double" value="0" />
+	<param name="MC_YAW_P" type="double" value="5.0" />
+	<param name="MC_YAWRATE_P" type="double" value="0.5" />
 	<param name="MC_MAN_R_MAX" type="double" value="10.0" />
 	<param name="MC_MAN_P_MAX" type="double" value="10.0" />
 </group>
-- 
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