diff --git a/airframes/4000_spiri b/airframes/4000_spiri
index 441cbbd..55e853b 100644
--- a/airframes/4000_spiri
+++ b/airframes/4000_spiri
@@ -18,6 +18,7 @@ param set-default MC_PITCHRATE_I 0.15
 #param load spiri_param/Vehicle_230_Parameters.params
 
 param set-default MPC_Z_VEL_MAX_UP 1.0
+param set-default COM_RCL_EXCEPT 4
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/airframes/4001_spiri_with_tether b/airframes/4001_spiri_with_tether
index 60c06e7..ee9687f 100644
--- a/airframes/4001_spiri_with_tether
+++ b/airframes/4001_spiri_with_tether
@@ -7,16 +7,18 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set MC_ROLLRATE_K 2.35
-param set MC_ROLLRATE_D 0.0030
-param set MC_ROLLRATE_I 0.15
+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 MC_PITCHRATE_K 2.35
-param set MC_PITCHRATE_D 0.0030
-param set MC_PITCHRATE_I 0.15
+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 MPC_Z_VEL_MAX_UP 0.5
-param set MPC_TKO_SPEED 1.0
+param set-default MPC_Z_VEL_MAX_UP 0.5
+param set-default MPC_TKO_SPEED 1.0
+
+param set-default COM_RCL_EXCEPT 4
 
 set MIXER quad_x
 set PWM_OUT 1234
diff --git a/launch/px4.launch b/launch/px4.launch
index c182acd..039f2f0 100644
--- a/launch/px4.launch
+++ b/launch/px4.launch
@@ -12,7 +12,6 @@
 	<arg name="pluginlists_yaml" default="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" />
 	<arg name="config_yaml" default="$(find oscillation_ctrl)/config/px4_config.yaml" />
 
-
 	<include file="$(find mavros)/launch/node.launch">
 		<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
 		<arg name="config_yaml" value="$(arg config_yaml)" />
diff --git a/models/spiri/spiri.sdf b/models/spiri/spiri.sdf
index 9dddf5e..c4e401b 100644
--- a/models/spiri/spiri.sdf
+++ b/models/spiri/spiri.sdf
@@ -7,6 +7,7 @@
 	      	<inertial>
 		        <pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
 		        <mass>1.437</mass>
+			<!--mass>0.5841</mass-->
 		        <inertia>
 					<ixx>0.1152</ixx>
 					<ixy>0</ixy>
@@ -473,7 +474,7 @@
     <child>sonar_link</child>
   </joint-->
    <!--px4flow camera-->
-    <include>
+    <!--include>
       <uri>model://px4flow</uri>
       <pose>0.05 0 -0.05 0 0 0</pose>
     </include>
@@ -488,9 +489,9 @@
           <lower>0</lower>
         </limit>
       </axis>
-    </joint>
+    </joint-->
 
-    <!--lidar-->
+    <!--lidar>
     <include>
       <uri>model://lidar</uri>
       <pose>0 0 -0.05 0 0 0</pose>
@@ -499,7 +500,7 @@
     <joint name="lidar_joint" type="fixed">
       <parent>spiri::base</parent>
       <child>lidar::link</child>
-    </joint>
+    </joint-->
 	    <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
 	      <robotNamespace/>
 	      <linkName>base</linkName>