From 678c7dfdf4cc07b93b9613dc4873de9cb72718a7 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 8 Apr 2016 22:15:06 -0700
Subject: [PATCH] IRIS / SITL: Disarm on land

---
 posix-configs/SITL/init/rcS_gazebo_iris          | 3 ++-
 posix-configs/SITL/init/rcS_gazebo_iris_opt_flow | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index b50fe0af35..088e2cf06b 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -22,7 +22,8 @@ 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 8.0
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 12.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set MC_ROLLRATE_P 0.25
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
index 17a8a6f52b..4c64f26017 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@@ -22,7 +22,8 @@ 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 8.0
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 12.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set MC_ROLLRATE_P 0.25
-- 
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