bebop 2 improved gains, disable rangefinder

posix-configs/bebop/px4.config

@@ -11,33 +11,38 @@ then
 fi
 param set SYS_AUTOSTART 4013
 param set MAV_BROADCAST 1
-param set MAV_TYPE 3
+param set MAV_TYPE 2
 
 param set MPC_XY_VEL_P 0.12
 param set MPC_XY_P 1.3
 param set MPC_XY_VEL_D 0.006
 param set MPC_XY_VEL_I 0.05
+param set MPC_XY_VEL_MAX 8
+
+param set MPC_Z_VEL_P 0.3
 param set MPC_Z_VEL_I 0.1
-param set MPC_ACC_HOR_MAX 2
-param set MPC_XY_VEL_MAX 2
 
-param set MC_YAW_P 4.0
+param set MC_YAW_P 3.0
-param set MC_YAWRATE_P 0.08
+param set MC_YAWRATE_P 0.05
+param set MC_YAWRATE_I 3.0
 
-param set MC_ROLLRATE_P 0.08
+param set MC_ROLLRATE_P 0.07
-param set MC_ROLLRATE_D 0.001
+param set MC_ROLLRATE_I 0.5
-param set MC_ROLLRATE_I 0.1
+param set MC_ROLLRATE_D 0.0
+param set MC_RR_INT_LIM 0.5
 
-param set MC_PITCHRATE_P 0.08
+param set MC_PITCHRATE_P 0.1
-param set MC_PITCHRATE_D 0.001
+param set MC_PITCHRATE_I 0.8
-param set MC_PITCHRATE_I 0.1
+param set MC_PITCHRATE_D 0.0
+param set MC_PR_INT_LIM 0.5
 
 param set SYS_MC_EST_GROUP 2
 
 df_ms5607_wrapper start
 df_mpu6050_wrapper start -R 8
 df_ak8963_wrapper start -R 32
-df_bebop_rangefinder_wrapper start
+# Rangefinder disabled for now. It was found to cause delays of more than 10ms
+#df_bebop_rangefinder_wrapper start
 gps start -d /dev/ttyPA1
 bebop_flow start
 sensors start
@@ -49,7 +54,7 @@ land_detector start multicopter
 mc_pos_control start
 mc_att_control start
 sleep 1
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 20000
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50