From 7ff23f7859758fabc22f0c5fac58e03efc1cea50 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 4 Jul 2018 17:54:38 +1000
Subject: [PATCH] posix-configs: Update optical flow SITL test parameter
 defaults

Use baro for height in EKF.
Use terrain hold mode in height controller.
---
 posix-configs/SITL/init/ekf2/iris_opt_flow | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow
index b3bcd2f42f..cce944e236 100644
--- a/posix-configs/SITL/init/ekf2/iris_opt_flow
+++ b/posix-configs/SITL/init/ekf2/iris_opt_flow
@@ -44,10 +44,11 @@ param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
 param set EKF2_MAG_TYPE 1
 param set EKF2_AID_MASK 2
-param set EKF2_HGT_MODE 2
+param set EKF2_HGT_MODE 0
 param set EKF2_EV_DELAY 5
 param set EKF2_EVP_NOISE 0.05
 param set EKF2_EVA_NOISE 0.05
+param set MPC_ALT_MODE 2
 replay tryapplyparams
 simulator start -s
 tone_alarm start