Gazebo SITL: Ensure a tightly closed altitude control loop

posix-configs/SITL/init/rcS_gazebo_iris

@@ -31,6 +31,8 @@ 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
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 simulator start -s
 rgbledsim start
 tone_alarm start

posix-configs/SITL/init/rcS_gazebo_iris_opt_flow

@@ -31,7 +31,8 @@ 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
-param set MPC_XY_VEL_P 0.05
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 simulator start -s
 rgbledsim start
 tone_alarm start

posix-configs/SITL/init/rcS_gazebo_standard_vtol

@@ -27,6 +27,8 @@ 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 MPC_Z_VEL_MAX 1.5
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001

posix-configs/SITL/init/rcS_gazebo_tailsitter

@@ -27,6 +27,8 @@ 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 MPC_Z_VEL_MAX 1.0
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
 param set SENS_BOARD_ROT 8
 param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001