Gazebo IRIS: Fly with default gains

posix-configs/SITL/init/rcS_gazebo_iris

@@ -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
@@ -22,10 +18,6 @@ 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
@@ -50,14 +42,15 @@ ekf2 start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
-mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard -o 14540
-mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
-mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
-mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
-mavlink stream -r 80 -s ATTITUDE -u 14556
-mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
-mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink start -u 14556 -r 4000000
+mavlink start -u 14557 -r 4000000 -m onboard -o 14540
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 50 -s ATTITUDE -u 14556
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556