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: ros sitl: increase Z gains for ardrone and iris

---
 launch/ardrone.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'launch/ardrone.launch')

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>
 
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