From 72e46e7ed07f1ad5363ebebd07bd12ce545a2ed2 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 21 Oct 2016 17:23:02 +0200
Subject: [PATCH] mc_pos_control: jump quicker

In SITL, it still takes a while until a vehicle lifts off, so it seems
sensible to raise this jump gain a bit.
---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 6acffc0dfc..21913d03f4 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1567,7 +1567,7 @@ MulticopterPositionControl::task_main()
 					if (!_takeoff_jumped) {
 						// ramp thrust setpoint up
 						if (_vel(2) > -(_params.tko_speed / 2.0f)) {
-							_takeoff_thrust_sp += 0.5f * dt;
+							_takeoff_thrust_sp += 1.0f * dt;
 							_vel_sp.zero();
 							_vel_prev.zero();