Adjust jMAVSim Iris gains

9 years ago · eef4ccea1a
1 changed files with 3 additions and 3 deletions
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@ -24,9 +24,9 @@ param set CAL_ACC0_YSCALE 1.01
				@@ -24,9 +24,9 @@ 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 MPC_XY_P 0.4
-param set MPC_XY_VEL_P 0.2
-param set MPC_XY_VEL_D 0.005
+param set MPC_XY_P 0.15
+param set MPC_XY_VEL_P 0.12
+param set MPC_XY_VEL_D 0.012
 param set SENS_BOARD_ROT 0
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0