diff options
Diffstat (limited to 'launch')
| -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> |