From 2a1b1fe11db3406ff9e6027f858c7a994adee15d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 3 Dec 2015 21:25:46 +0100 Subject: [PATCH] SITL: Better Navigation defaults for multicopters --- posix-configs/SITL/init/rcS_gazebo_iris | 3 +++ posix-configs/SITL/init/rcS_jmavsim_iris | 3 +++ 2 files changed, 6 insertions(+) diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris index 3d38f80da6..95be984fb4 100644 --- a/posix-configs/SITL/init/rcS_gazebo_iris +++ b/posix-configs/SITL/init/rcS_gazebo_iris @@ -28,6 +28,9 @@ param set MPC_XY_VEL_D 0.005 param set MPC_XY_FF 0.1 param set SENS_BOARD_ROT 8 param set COM_RC_IN_MODE 1 +param set NAV_ACC_RAD 2.0 +param set RTL_RETURN_ALT 30.0 +param set RTL_DESCEND_ALT 10.0 rgbledsim start tone_alarm start gyrosim start diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris index 7120d63ac6..88a3f3978e 100644 --- a/posix-configs/SITL/init/rcS_jmavsim_iris +++ b/posix-configs/SITL/init/rcS_jmavsim_iris @@ -29,6 +29,9 @@ param set MPC_XY_VEL_P 0.2 param set MPC_XY_VEL_D 0.005 param set SENS_BOARD_ROT 0 param set COM_RC_IN_MODE 1 +param set NAV_ACC_RAD 2.0 +param set RTL_RETURN_ALT 30.0 +param set RTL_DESCEND_ALT 10.0 rgbledsim start tone_alarm start gyrosim start