SITL: Tune standard VTOL to have better position control performance & update gazebo

sitl_gazebo @ dd2dab49

-Subproject commit 99c3e8e8a47eaa3dde9ae2839dd0af066a564d8f
+Subproject commit dd2dab4972b737e2e3a64cd0bcac8c3335266634

posix-configs/SITL/init/ekf2/standard_vtol

@@ -19,12 +19,14 @@ 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 0.2
+param set MC_ROLLRATE_P 0.3
 param set MC_PITCHRATE_P 0.2
 param set MC_PITCH_P 6
 param set MC_ROLL_P 6
-param set MPC_XY_P 0.15
-param set MPC_XY_VEL_P 0.05
+param set MPC_XY_P 0.8
+param set MPC_ACC_HOR_MAX 2.0
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5

posix-configs/SITL/init/lpe/standard_vtol

@@ -19,12 +19,14 @@ 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 0.2
+param set MC_ROLLRATE_P 0.3
 param set MC_PITCHRATE_P 0.2
 param set MC_PITCH_P 6
 param set MC_ROLL_P 6
-param set MPC_XY_P 0.15
-param set MPC_XY_VEL_P 0.05
+param set MPC_XY_P 0.5
+param set MPC_ACC_HOR_MAX 1.0
+param set MPC_XY_VEL_P 0.1
+param set MPC_XY_VEL_I 0.1
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5