diff --git a/airframes/4000_spiri b/airframes/4000_spiri
index 55e853b..f419a52 100644
--- a/airframes/4000_spiri
+++ b/airframes/4000_spiri
@@ -7,18 +7,46 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default MC_ROLLRATE_K 2.35
-param set-default MC_ROLLRATE_D 0.0032
-param set-default MC_ROLLRATE_I 0.15
+param set-default MC_ROLLRATE_K 1.00
+param set-default MC_ROLLRATE_D 0.0060
+param set-default MC_ROLLRATE_I 0.35
 
-param set-default MC_PITCHRATE_K 2.35
-param set-default MC_PITCHRATE_D 0.0032
-param set-default MC_PITCHRATE_I 0.15
+param set-default MC_PITCHRATE_K 1.00
+param set-default MC_PITCHRATE_D 0.0060
+param set-default MC_PITCHRATE_I 0.35
+
+param set-default MPC_Z_P 0.70
 
 #param load spiri_param/Vehicle_230_Parameters.params
 
-param set-default MPC_Z_VEL_MAX_UP 1.0
+#param set-default MC_PITCHRATE_P 0.0889
+#param set-default MC_ROLLRATE_P 0.0957
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.165037
+param set-default CA_ROTOR0_PY 0.165037
+param set-default CA_ROTOR0_KM 0.1
+param set-default CA_ROTOR1_PX -0.165037
+param set-default CA_ROTOR1_PY -0.165037
+param set-default CA_ROTOR1_KM 0.1
+param set-default CA_ROTOR2_PX 0.165037
+param set-default CA_ROTOR2_PY -0.165037
+param set-default CA_ROTOR2_KM -0.1
+param set-default CA_ROTOR3_PX -0.165037
+param set-default CA_ROTOR3_PY 0.165037
+param set-default CA_ROTOR3_KM -0.1
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
 param set-default COM_RCL_EXCEPT 4
 
+param set-default MPC_Z_VEL_MAX_UP 1.0
+
+param set-default COM_RCL_EXCEPT 4
+param set-default NAV_RCL_ACT 1
+
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/airframes/4001_spiri_with_tether b/airframes/4001_spiri_with_tether
index ee9687f..f419a52 100644
--- a/airframes/4001_spiri_with_tether
+++ b/airframes/4001_spiri_with_tether
@@ -7,18 +7,46 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default MC_ROLLRATE_K 2.35
-param set-default MC_ROLLRATE_D 0.0030
-param set-default MC_ROLLRATE_I 0.15
+param set-default MC_ROLLRATE_K 1.00
+param set-default MC_ROLLRATE_D 0.0060
+param set-default MC_ROLLRATE_I 0.35
 
-param set-default MC_PITCHRATE_K 2.35
-param set-default MC_PITCHRATE_D 0.0030
-param set-default MC_PITCHRATE_I 0.15
+param set-default MC_PITCHRATE_K 1.00
+param set-default MC_PITCHRATE_D 0.0060
+param set-default MC_PITCHRATE_I 0.35
 
-param set-default MPC_Z_VEL_MAX_UP 0.5
-param set-default MPC_TKO_SPEED 1.0
+param set-default MPC_Z_P 0.70
+
+#param load spiri_param/Vehicle_230_Parameters.params
+
+#param set-default MC_PITCHRATE_P 0.0889
+#param set-default MC_ROLLRATE_P 0.0957
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR0_PX 0.165037
+param set-default CA_ROTOR0_PY 0.165037
+param set-default CA_ROTOR0_KM 0.1
+param set-default CA_ROTOR1_PX -0.165037
+param set-default CA_ROTOR1_PY -0.165037
+param set-default CA_ROTOR1_KM 0.1
+param set-default CA_ROTOR2_PX 0.165037
+param set-default CA_ROTOR2_PY -0.165037
+param set-default CA_ROTOR2_KM -0.1
+param set-default CA_ROTOR3_PX -0.165037
+param set-default CA_ROTOR3_PY 0.165037
+param set-default CA_ROTOR3_KM -0.1
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default COM_RCL_EXCEPT 4
+
+param set-default MPC_Z_VEL_MAX_UP 1.0
 
 param set-default COM_RCL_EXCEPT 4
+param set-default NAV_RCL_ACT 1
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/models/spiri/spiri.sdf b/models/spiri/spiri.sdf
index c4e401b..bb4c4f4 100644
--- a/models/spiri/spiri.sdf
+++ b/models/spiri/spiri.sdf
@@ -5,7 +5,7 @@
 	      	<pose frame=''>0 0 0 0 -0 0</pose>
 		<gravity>1</gravity>
 	      	<inertial>
-		        <pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
+		        <pose>0 0 0 0 -0 0</pose>
 		        <mass>1.437</mass>
 			<!--mass>0.5841</mass-->
 		        <inertia>