Update attitude controller params for iris

[srmainwaring]

Feature request

Update the default attitude controller params for the Iris when running on Gazebo.

Is your feature request related to a problem? Please describe.

The current value of ATC_RAT_RLL_D causes roll oscillations, reducing it to 1E-5 eliminates the problem.

Describe the solution you'd like

Either provide parameters in this project or update the parameters in the upstream project (ArduPilot/ardupilot).

Describe alternatives you've considered

A full retune / autotune of the iris Gazebo model may be useful. The proposed change is the minimum needed to eliminate the oscillation.

Platform

• All
• AntennaTracker
• Copter
• Plane
• Rover
• Submarine

Additional context

This has not been a major problem to date, but became apparent while attempting to investigate possible issues with the motor velocity controllers while tuning the OmniCopter in SITL_Models/Gazebo.