From 65299e7aaf16e7f24fa55ad9ee63c99989ef6337 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 24 Dec 2015 10:42:44 +0100 Subject: [PATCH] updated jmavsim iris config for takeoff and landing --- posix-configs/SITL/init/rcS_jmavsim_iris | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris index 88a3f3978e..f7c4982ed5 100644 --- a/posix-configs/SITL/init/rcS_jmavsim_iris +++ b/posix-configs/SITL/init/rcS_jmavsim_iris @@ -32,6 +32,12 @@ 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 +param set MIS_TAKEOFF_ALT 5.0 +param set MPC_HOLD_MAX_Z 2.0 +param set MPC_HOLD_XY_DZ 0.1 +param set MPC_HOLD_Z_DZ 0.1 +param set MPC_Z_VEL_MAX 2.0 +param set MPC_Z_VEL_P 0.4 rgbledsim start tone_alarm start gyrosim start @@ -59,5 +65,6 @@ 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