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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-03-07 23:38:48 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-03-10 20:56:53 +0100 |
| commit | 2883edaecd442e3049ad3224989cb384096e637a (patch) | |
| tree | 4e33730d155caf01cdfb09a90afd8e4afe6e6a27 | |
| parent | 9a9ca184e80622f2e217b4397be78a74cb1dad7f (diff) | |
| download | px4-firmware-2883edaecd442e3049ad3224989cb384096e637a.tar.gz px4-firmware-2883edaecd442e3049ad3224989cb384096e637a.tar.bz2 px4-firmware-2883edaecd442e3049ad3224989cb384096e637a.zip | |
ros sitl: increase Z gains for ardrone and iris
| -rw-r--r-- | launch/ardrone.launch | 4 | ||||
| -rw-r--r-- | launch/iris.launch | 2 |
2 files changed, 5 insertions, 1 deletions
diff --git a/launch/ardrone.launch b/launch/ardrone.launch index 809eab292..56030dd1f 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 fb9c0e697..bf5b099b6 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> |