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ros sitl: increase Z gains for ardrone and iris

sbg
Thomas Gubler 10 years ago
parent
9a9ca184e8
commit
2883edaecd
2 changed files with 5 additions and 1 deletions
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  1. 4
      launch/ardrone.launch
  2. 2
      launch/iris.launch

4
launch/ardrone.launch
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@ -7,11 +7,13 @@ @@ -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>

2
launch/iris.launch
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@ -13,6 +13,8 @@ @@ -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>

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