diff --git a/.env b/.env
index 695498e..5ba047f 100644
--- a/.env
+++ b/.env
@@ -1,15 +1,15 @@
 DRONE_SYS_ID=1
-TRACKER_INSTANCE=0
+INSTANCE=0
 SERIAL0_PORT=5760
 SITL_PORT=5501
 MAVROS2_PORT=14560
 MAVROS1_PORT=14561
 FDM_PORT_IN=9002
 GSTREAMER_UDP_PORT=5600
-ROS_MASTER_URI=http://0.0.0.0:11311
+ROS_MASTER_URI="http://0.0.0.0:11311"
 
 
-ARDUPILOT_VEHICLE="-v ArduCopter -f gazebo-iris --model=JSON"
+ARDUPILOT_VEHICLE="-v copter -f gazebo-mu --model=JSON -L CitadelHill"
 WORLD_FILE_NAME="citadel_hill_world.sdf"
 WORLD_NAME="citadel_hill"
 DRONE_MODEL="spiri_mu"