Update controller gains to match better vehicle models

posix-configs/SITL/init/rcS_gazebo_iris

@@ -30,10 +30,10 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 5.0
 param set RTL_LAND_DELAY 5
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_HOLD_MAX_Z 2.0

posix-configs/SITL/init/rcS_gazebo_solo

@@ -27,10 +27,10 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
 param set MPC_HOLD_MAX_Z 2.0

posix-configs/SITL/init/rcS_gazebo_standard_vtol

@@ -18,8 +18,8 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
 param set MC_PITCH_P 5.5
 param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1

posix-configs/SITL/init/rcS_gazebo_tailsitter

@@ -18,8 +18,8 @@ param set CAL_ACC0_YSCALE 1.01
 param set CAL_ACC0_ZSCALE 1.01
 param set CAL_ACC1_XOFF 0.01
 param set CAL_MAG0_XOFF 0.01
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
 param set MC_PITCH_P 5.5
 param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1

posix-configs/SITL/init/rcS_gazebo_typhoon_h480

@@ -27,13 +27,12 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.3
-param set MC_PITCHRATE_P 0.3
-param set MC_PITCH_P 7
-param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5.5
+param set MC_ROLL_P 5.5
 param set MC_ROLLRATE_I 0.1
 param set MC_PITCHRATE_I 0.1
-param set MC_YAWRATE_P 0.08
 param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8