Update Gazebo tuning gains

posix-configs/SITL/init/rcS_ekf2_gazebo_iris

+uorb start
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.15
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
+param set MC_ROLLRATE_P 0.15
+param set MC_YAW_P 2.8
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+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 0.4
+param set MPC_XY_VEL_P 0.2
+param set MPC_XY_VEL_D 0.005
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MIS_TAKEOFF_ALT 2.5
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_MAX 2.0
+param set MPC_Z_VEL_P 0.4
+simulator start -s
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+ekf2 start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mavlink start -u 14556 -r 2000000 -t 127.0.0.1
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540 -t 127.0.0.1
+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 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
+mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
+mavlink boot_complete
+sdlog2 start -r 100 -e -t -a

posix-configs/SITL/init/rcS_gazebo_iris

@@ -27,12 +27,18 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
+param set MC_ROLLRATE_P 0.5
+param set MC_PITCHRATE_P 0.5
 param set MC_PITCH_P 5
 param set MC_ROLL_P 5
+param set MC_ROLLRATE_I 0.1
+param set MC_PITCHRATE_I 0.1
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
 simulator start -s

posix-configs/SITL/init/rcS_gazebo_iris_opt_flow

@@ -27,12 +27,18 @@ param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set RTL_LAND_DELAY 0
 param set MIS_TAKEOFF_ALT 2.5
-param set MC_ROLLRATE_P 0.25
-param set MC_PITCHRATE_P 0.25
+param set MC_ROLLRATE_P 0.5
+param set MC_PITCHRATE_P 0.5
 param set MC_PITCH_P 5
 param set MC_ROLL_P 5
+param set MC_ROLLRATE_I 0.1
+param set MC_PITCHRATE_I 0.1
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
 simulator start -s
 rgbledsim start
 tone_alarm start