diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth b/ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth
index f3cce38f39..834c2d2ebc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth
@@ -5,50 +5,6 @@
 # @type Quadrotor
 #
 
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
 
-param set-default SIM_GZ_EN 1
-
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-param set-default CA_AIRFRAME 0
-param set-default CA_ROTOR_COUNT 4
-
-param set-default CA_ROTOR0_PX 0.13
-param set-default CA_ROTOR0_PY 0.22
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.13
-param set-default CA_ROTOR1_PY -0.20
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.13
-param set-default CA_ROTOR2_PY -0.22
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.13
-param set-default CA_ROTOR3_PY 0.20
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-
-param set-default SIM_GZ_EC_MIN1 150
-param set-default SIM_GZ_EC_MIN2 150
-param set-default SIM_GZ_EC_MIN3 150
-param set-default SIM_GZ_EC_MIN4 150
-
-param set-default SIM_GZ_EC_MAX1 1000
-param set-default SIM_GZ_EC_MAX2 1000
-param set-default SIM_GZ_EC_MAX3 1000
-param set-default SIM_GZ_EC_MAX4 1000
-
-param set-default MPC_THR_HOVER 0.60
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
index bac1f86032..ecba169017 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
@@ -10,6 +10,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
+param set-default SIM_GZ_EN 1
+
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
index 9061f39a5d..76b74e8972 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
+param set-default SIM_GZ_EN 1
+
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision
index bda4adf6a9..01257f9fc8 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision
@@ -5,8 +5,6 @@
 # @type Quadrotor
 #
 
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
diff --git a/Tools/simulation/gz/models/x500_depth/model.sdf b/Tools/simulation/gz/models/x500_depth/model.sdf
index 4833463549..47fa322f64 100644
--- a/Tools/simulation/gz/models/x500_depth/model.sdf
+++ b/Tools/simulation/gz/models/x500_depth/model.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.9'>
   <model name='x500-Depth'>
     <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+      <uri>x500</uri>
     </include>
     <include merge='true'>
       <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>