Update IRIS configs to match new simulator dynamics and fixes

posix-configs/SITL/init/rcS_gazebo_iris

@@ -22,9 +22,13 @@ param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set COM_DL_LOSS_EN 1
-param set NAV_ACC_RAD 2.0
+param set NAV_ACC_RAD 8.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5
+param set MC_ROLL_P 5
 rgbledsim start
 tone_alarm start
 gyrosim start

posix-configs/SITL/init/rcS_gazebo_iris_opt_flow

@@ -2,10 +2,6 @@ uorb start
 simulator start -s
 param load
 param set MAV_TYPE 2
-param set MC_PITCHRATE_P 0.3
-param set MC_ROLLRATE_P 0.3
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.35
 param set SYS_AUTOSTART 4010
 param set SYS_RESTART_TYPE 2
 dataman start
@@ -22,17 +18,17 @@ 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 0.15
-param set MPC_XY_VEL_P 0.05
-param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set COM_DL_LOSS_EN 1
-param set NAV_ACC_RAD 2.0
+param set NAV_ACC_RAD 8.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
+param set MC_ROLLRATE_P 0.25
+param set MC_PITCHRATE_P 0.25
+param set MC_PITCH_P 5
+param set MC_ROLL_P 5
 rgbledsim start
 tone_alarm start
 gyrosim start