diff --git a/Gazebo/config/omnicopter-k_tau=0.00000.param b/Gazebo/config/omnicopter-k_tau=0.00000.param
new file mode 100644
index 00000000..9d3ae9b1
--- /dev/null
+++ b/Gazebo/config/omnicopter-k_tau=0.00000.param
@@ -0,0 +1,1237 @@
+ACRO_BAL_PITCH   1.000000
+ACRO_BAL_ROLL    1.000000
+ACRO_OPTIONS     0
+ACRO_RP_EXPO     0.300000
+ACRO_RP_RATE     360.000000
+ACRO_THR_MID     0.000000
+ACRO_TRAINER     2
+ACRO_Y_EXPO      0.000000
+ACRO_Y_RATE      202.500000
+ADSB_TYPE        0
+AHRS_COMP_BETA   0.100000
+AHRS_CUSTOM_PIT  0.000000
+AHRS_CUSTOM_ROLL 0.000000
+AHRS_CUSTOM_YAW  0.000000
+AHRS_EKF_TYPE    2
+AHRS_GPS_GAIN    1.000000
+AHRS_GPS_MINSATS 6
+AHRS_GPS_USE     1
+AHRS_ORIENTATION 0
+AHRS_RP_P        0.200000
+AHRS_TRIM_X      0.000000
+AHRS_TRIM_Y      0.000000
+AHRS_TRIM_Z      0.000000
+AHRS_WIND_MAX    0
+AHRS_YAW_P       0.200000
+ANGLE_MAX        8000
+ARMING_ACCTHRESH 0.750000
+ARMING_CHECK     1
+ARMING_MIS_ITEMS 0
+ARMING_RUDDER    2
+ATC_ACCEL_P_MAX  110000.000000
+ATC_ACCEL_R_MAX  110000.000000
+ATC_ACCEL_Y_MAX  27000.000000
+ATC_ANGLE_BOOST  0
+ATC_ANG_LIM_TC   1.000000
+ATC_ANG_PIT_P    4.500000
+ATC_ANG_RLL_P    4.500000
+ATC_ANG_YAW_P    4.500000
+ATC_INPUT_TC     0.150000
+ATC_RATE_FF_ENAB 1
+ATC_RATE_P_MAX   0.000000
+ATC_RATE_R_MAX   0.000000
+ATC_RATE_Y_MAX   0.000000
+ATC_RAT_PIT_D    0.008000
+ATC_RAT_PIT_FF   0.000000
+ATC_RAT_PIT_FLTD 20.000000
+ATC_RAT_PIT_FLTE 0.000000
+ATC_RAT_PIT_FLTT 20.000000
+ATC_RAT_PIT_I    0.010000
+ATC_RAT_PIT_IMAX 0.500000
+ATC_RAT_PIT_P    0.020000
+ATC_RAT_PIT_SMAX 20.000000
+ATC_RAT_RLL_D    0.001000
+ATC_RAT_RLL_FF   0.000000
+ATC_RAT_RLL_FLTD 20.000000
+ATC_RAT_RLL_FLTE 0.000000
+ATC_RAT_RLL_FLTT 20.000000
+ATC_RAT_RLL_I    0.200000
+ATC_RAT_RLL_IMAX 0.500000
+ATC_RAT_RLL_P    0.200000
+ATC_RAT_RLL_SMAX 20.000000
+ATC_RAT_YAW_D    0.002000
+ATC_RAT_YAW_FF   0.000000
+ATC_RAT_YAW_FLTD 20.000000
+ATC_RAT_YAW_FLTE 2.500000
+ATC_RAT_YAW_FLTT 20.000000
+ATC_RAT_YAW_I    0.010000
+ATC_RAT_YAW_IMAX 0.500000
+ATC_RAT_YAW_P    0.100000
+ATC_RAT_YAW_SMAX 20.000000
+ATC_SLEW_YAW     6000.000000
+ATC_THR_MIX_MAN  0.100000
+ATC_THR_MIX_MAX  0.500000
+ATC_THR_MIX_MIN  0.100000
+AUTOTUNE_AGGR    0.100000
+AUTOTUNE_AXES    7
+AUTOTUNE_MIN_D   0.001000
+AUTO_OPTIONS     0
+AVD_ENABLE       0
+AVOID_ACCEL_MAX  3.000000
+AVOID_ALT_MIN    0.000000
+AVOID_ANGLE_MAX  1000
+AVOID_BACKUP_DZ  0.100000
+AVOID_BACKUP_SPD 0.750000
+AVOID_BEHAVE     0
+AVOID_DIST_MAX   5.000000
+AVOID_ENABLE     3
+AVOID_MARGIN     2.000000
+BARO1_DEVID      65540
+BARO1_GND_PRESS  94502.929688
+BARO1_WCF_ENABLE 0
+BARO2_DEVID      65796
+BARO2_GND_PRESS  94502.148438
+BARO2_WCF_ENABLE 0
+BARO3_DEVID      0
+BARO3_GND_PRESS  0.000000
+BARO3_WCF_ENABLE 0
+BARO_ALT_OFFSET  0.000000
+BARO_EXT_BUS     -1
+BARO_FLTR_RNG    0
+BARO_GND_TEMP    0.000000
+BARO_PRIMARY     0
+BARO_PROBE_EXT   0
+BATT2_MONITOR    0
+BATT3_MONITOR    0
+BATT4_MONITOR    0
+BATT5_MONITOR    0
+BATT6_MONITOR    0
+BATT7_MONITOR    0
+BATT8_MONITOR    0
+BATT9_MONITOR    0
+BATT_MONITOR     0
+BCN_TYPE         0
+BRD_BOOT_DELAY   0
+BRD_OPTIONS      0
+BRD_RTC_TYPES    1
+BRD_RTC_TZ_MIN   0
+BRD_SAFETYOPTION 3
+BRD_SERIAL_NUM   0
+BRD_VBUS_MIN     4.300000
+BRD_VSERVO_MIN   0.000000
+BTN_ENABLE       0
+CAM_AUTO_ONLY    0
+CAM_DURATION     10
+CAM_FEEDBACK_PIN -1
+CAM_FEEDBACK_POL 1
+CAM_MAX_ROLL     0
+CAM_MIN_INTERVAL 0
+CAM_RC_TYPE      0
+CAM_RELAY_ON     1
+CAM_SERVO_OFF    1100
+CAM_SERVO_ON     1300
+CAM_TRIGG_DIST   0.000000
+CAM_TRIGG_TYPE   0
+CAM_TYPE         0
+CHUTE_ENABLED    0
+CIRCLE_OPTIONS   1
+CIRCLE_RADIUS    1000.000000
+CIRCLE_RATE      20.000000
+COMPASS_AUTODEC  1
+COMPASS_AUTO_ROT 2
+COMPASS_CAL_FIT  16.000000
+COMPASS_CUS_PIT  0.000000
+COMPASS_CUS_ROLL 0.000000
+COMPASS_CUS_YAW  0.000000
+COMPASS_DEC      0.000000
+COMPASS_DEV_ID   97539
+COMPASS_DEV_ID2  131874
+COMPASS_DEV_ID3  263178
+COMPASS_DEV_ID4  97283
+COMPASS_DEV_ID5  97795
+COMPASS_DEV_ID6  98051
+COMPASS_DEV_ID7  0
+COMPASS_DEV_ID8  0
+COMPASS_DIA2_X   1.000000
+COMPASS_DIA2_Y   1.000000
+COMPASS_DIA2_Z   1.000000
+COMPASS_DIA3_X   1.000000
+COMPASS_DIA3_Y   1.000000
+COMPASS_DIA3_Z   1.000000
+COMPASS_DIA_X    1.000000
+COMPASS_DIA_Y    1.000000
+COMPASS_DIA_Z    1.000000
+COMPASS_ENABLE   1
+COMPASS_EXTERN2  0
+COMPASS_EXTERN3  0
+COMPASS_EXTERNAL 1
+COMPASS_FLTR_RNG 0
+COMPASS_LEARN    0
+COMPASS_MOT2_X   0.000000
+COMPASS_MOT2_Y   0.000000
+COMPASS_MOT2_Z   0.000000
+COMPASS_MOT3_X   0.000000
+COMPASS_MOT3_Y   0.000000
+COMPASS_MOT3_Z   0.000000
+COMPASS_MOTCT    0
+COMPASS_MOT_X    0.000000
+COMPASS_MOT_Y    0.000000
+COMPASS_MOT_Z    0.000000
+COMPASS_ODI2_X   0.000000
+COMPASS_ODI2_Y   0.000000
+COMPASS_ODI2_Z   0.000000
+COMPASS_ODI3_X   0.000000
+COMPASS_ODI3_Y   0.000000
+COMPASS_ODI3_Z   0.000000
+COMPASS_ODI_X    0.000000
+COMPASS_ODI_Y    0.000000
+COMPASS_ODI_Z    0.000000
+COMPASS_OFFS_MAX 1800
+COMPASS_OFS2_X   5.000000
+COMPASS_OFS2_Y   13.000000
+COMPASS_OFS2_Z   -18.000000
+COMPASS_OFS3_X   5.000000
+COMPASS_OFS3_Y   13.000000
+COMPASS_OFS3_Z   -18.000000
+COMPASS_OFS_X    5.000000
+COMPASS_OFS_Y    13.000000
+COMPASS_OFS_Z    -18.000000
+COMPASS_OPTIONS  0
+COMPASS_ORIENT   0
+COMPASS_ORIENT2  0
+COMPASS_ORIENT3  0
+COMPASS_PMOT_EN  0
+COMPASS_PRIO1_ID 97539
+COMPASS_PRIO2_ID 131874
+COMPASS_PRIO3_ID 263178
+COMPASS_SCALE    1.000000
+COMPASS_SCALE2   1.000000
+COMPASS_SCALE3   1.000000
+COMPASS_TYPEMASK 0
+COMPASS_USE      1
+COMPASS_USE2     1
+COMPASS_USE3     1
+DEV_OPTIONS      0
+DISARM_DELAY     10
+EAHRS_TYPE       0
+EFI_TYPE         0
+EK2_ABIAS_P_NSE  0.005000
+EK2_ACC_P_NSE    0.600000
+EK2_ALT_M_NSE    3.000000
+EK2_ALT_SOURCE   0
+EK2_BCN_DELAY    50
+EK2_BCN_I_GTE    500
+EK2_BCN_M_NSE    1.000000
+EK2_CHECK_SCALE  100
+EK2_EAS_I_GATE   400
+EK2_EAS_M_NSE    1.400000
+EK2_ENABLE       1
+EK2_FLOW_DELAY   10
+EK2_FLOW_I_GATE  300
+EK2_FLOW_M_NSE   0.250000
+EK2_FLOW_USE     1
+EK2_GBIAS_P_NSE  0.000100
+EK2_GLITCH_RAD   25
+EK2_GPS_CHECK    31
+EK2_GPS_TYPE     0
+EK2_GSCL_P_NSE   0.000500
+EK2_GSF_RST_MAX  2
+EK2_GSF_RUN_MASK 3
+EK2_GSF_USE_MASK 3
+EK2_GYRO_P_NSE   0.030000
+EK2_HGT_DELAY    60
+EK2_HGT_I_GATE   500
+EK2_HRT_FILT     2.000000
+EK2_IMU_MASK     3
+EK2_MAGB_P_NSE   0.000100
+EK2_MAGE_P_NSE   0.001000
+EK2_MAG_CAL      3
+EK2_MAG_EF_LIM   50
+EK2_MAG_I_GATE   300
+EK2_MAG_MASK     0
+EK2_MAG_M_NSE    0.050000
+EK2_MAX_FLOW     2.500000
+EK2_NOAID_M_NSE  10.000000
+EK2_OGN_HGT_MASK 0
+EK2_POSNE_M_NSE  1.000000
+EK2_POS_I_GATE   500
+EK2_RNG_I_GATE   500
+EK2_RNG_M_NSE    0.500000
+EK2_RNG_USE_HGT  -1
+EK2_RNG_USE_SPD  2.000000
+EK2_TAU_OUTPUT   25
+EK2_TERR_GRAD    0.100000
+EK2_VELD_M_NSE   0.500000
+EK2_VELNE_M_NSE  0.300000
+EK2_VEL_I_GATE   500
+EK2_WIND_PSCALE  0.500000
+EK2_WIND_P_NSE   0.100000
+EK2_YAW_I_GATE   300
+EK2_YAW_M_NSE    0.500000
+EK3_ENABLE       0
+ESC_CALIBRATION  0
+FENCE_ACTION     1
+FENCE_ALT_MAX    100.000000
+FENCE_ALT_MIN    -10.000000
+FENCE_ENABLE     0
+FENCE_MARGIN     2.000000
+FENCE_RADIUS     300.000000
+FENCE_TOTAL      0
+FENCE_TYPE       7
+FFT_ENABLE       0
+FHLD_BRAKE_RATE  8
+FHLD_FILT_HZ     5.000000
+FHLD_FLOW_MAX    0.600000
+FHLD_QUAL_MIN    10
+FHLD_XY_FILT_HZ  5.000000
+FHLD_XY_I        0.300000
+FHLD_XY_IMAX     3000.000000
+FHLD_XY_P        0.200000
+FLIGHT_OPTIONS   0
+FLOW_TYPE        0
+FLTMODE1         0
+FLTMODE2         2
+FLTMODE3         5
+FLTMODE4         0
+FLTMODE5         0
+FLTMODE6         5
+FLTMODE_CH       5
+FOLL_ENABLE      0
+FORMAT_VERSION   120
+FRAME_CLASS      16
+FRAME_TYPE       1
+FRSKY_DNLINK1_ID 20
+FRSKY_DNLINK2_ID 7
+FRSKY_DNLINK_ID  27
+FRSKY_OPTIONS    0
+FRSKY_UPLINK_ID  13
+FS_CRASH_CHECK   0
+FS_EKF_ACTION    1
+FS_EKF_THRESH    0.800000
+FS_GCS_ENABLE    0
+FS_GCS_TIMEOUT   5.000000
+FS_OPTIONS       16
+FS_THR_ENABLE    1
+FS_THR_VALUE     975
+FS_VIBE_ENABLE   1
+GCS_PID_MASK     2
+GEN_TYPE         0
+GND_EFFECT_COMP  1
+GPS_AUTO_CONFIG  1
+GPS_AUTO_SWITCH  1
+GPS_BLEND_MASK   5
+GPS_BLEND_TC     10.000000
+GPS_COM_PORT     1
+GPS_COM_PORT2    1
+GPS_DELAY_MS     0
+GPS_DELAY_MS2    0
+GPS_DRV_OPTIONS  0
+GPS_GNSS_MODE    0
+GPS_GNSS_MODE2   0
+GPS_HDOP_GOOD    140
+GPS_INJECT_TO    127
+GPS_MB1_TYPE     0
+GPS_MB2_TYPE     0
+GPS_MIN_DGPS     100
+GPS_MIN_ELEV     -100
+GPS_NAVFILTER    8
+GPS_POS1_X       0.000000
+GPS_POS1_Y       0.000000
+GPS_POS1_Z       0.000000
+GPS_POS2_X       0.000000
+GPS_POS2_Y       0.000000
+GPS_POS2_Z       0.000000
+GPS_PRIMARY      0
+GPS_RATE_MS      200
+GPS_RATE_MS2     200
+GPS_RAW_DATA     0
+GPS_SAVE_CFG     2
+GPS_SBAS_MODE    2
+GPS_SBP_LOGMASK  -256
+GPS_TYPE         1
+GPS_TYPE2        0
+GRIP_ENABLE      0
+GUID_OPTIONS     0
+GUID_TIMEOUT     3.000000
+INITIAL_MODE     0
+INS_ACC1_CALTEMP -300.000000
+INS_ACC2OFFS_X   0.001000
+INS_ACC2OFFS_Y   0.001000
+INS_ACC2OFFS_Z   0.001000
+INS_ACC2SCAL_X   1.001000
+INS_ACC2SCAL_Y   1.001000
+INS_ACC2SCAL_Z   1.001000
+INS_ACC2_CALTEMP -300.000000
+INS_ACC2_ID      2753036.000000
+INS_ACC3OFFS_X   0.000000
+INS_ACC3OFFS_Y   0.000000
+INS_ACC3OFFS_Z   0.000000
+INS_ACC3SCAL_X   0.000000
+INS_ACC3SCAL_Y   0.000000
+INS_ACC3SCAL_Z   0.000000
+INS_ACC3_CALTEMP -300.000000
+INS_ACC3_ID      0
+INS_ACCEL_FILTER 20
+INS_ACCOFFS_X    0.001000
+INS_ACCOFFS_Y    0.001000
+INS_ACCOFFS_Z    0.001000
+INS_ACCSCAL_X    1.001000
+INS_ACCSCAL_Y    1.001000
+INS_ACCSCAL_Z    1.001000
+INS_ACC_BODYFIX  2
+INS_ACC_ID       2753028.000000
+INS_ENABLE_MASK  127
+INS_FAST_SAMPLE  1
+INS_GYR1_CALTEMP -300.000000
+INS_GYR2OFFS_X   0.000000
+INS_GYR2OFFS_Y   0.000000
+INS_GYR2OFFS_Z   0.000000
+INS_GYR2_CALTEMP -300.000000
+INS_GYR2_ID      2752780
+INS_GYR3OFFS_X   0.000000
+INS_GYR3OFFS_Y   0.000000
+INS_GYR3OFFS_Z   0.000000
+INS_GYR3_CALTEMP -300.000000
+INS_GYR3_ID      0
+INS_GYROFFS_X    0.000000
+INS_GYROFFS_Y    0.000000
+INS_GYROFFS_Z    0.000000
+INS_GYRO_FILTER  20
+INS_GYRO_RATE    0
+INS_GYR_CAL      0
+INS_GYR_ID       2752772
+INS_HNTCH_ENABLE 0
+INS_LOG_BAT_CNT  1024
+INS_LOG_BAT_LGCT 32
+INS_LOG_BAT_LGIN 20
+INS_LOG_BAT_MASK 0
+INS_LOG_BAT_OPT  0
+INS_NOTCH_ENABLE 0
+INS_POS1_X       0.000000
+INS_POS1_Y       0.000000
+INS_POS1_Z       0.000000
+INS_POS2_X       0.000000
+INS_POS2_Y       0.000000
+INS_POS2_Z       0.000000
+INS_POS3_X       0.000000
+INS_POS3_Y       0.000000
+INS_POS3_Z       0.000000
+INS_STILL_THRESH 2.500000
+INS_TCAL1_ENABLE 0
+INS_TCAL2_ENABLE 0
+INS_TCAL3_ENABLE 0
+INS_TCAL_OPTIONS 0
+INS_TRIM_OPTION  1
+INS_USE          1
+INS_USE2         1
+INS_USE3         1
+LAND_ALT_LOW     1000
+LAND_REPOSITION  1
+LAND_SPEED       50
+LAND_SPEED_HIGH  0
+LGR_DEPLOY_ALT   0
+LGR_DEPLOY_PIN   -1
+LGR_DEPLOY_POL   0
+LGR_ENABLE       1
+LGR_OPTIONS      3
+LGR_RETRACT_ALT  0
+LGR_STARTUP      0
+LGR_WOW_PIN      8
+LGR_WOW_POL      1
+LOG_BACKEND_TYPE 1
+LOG_BITMASK      176126
+LOG_BLK_RATEMAX  0.000000
+LOG_DISARMED     0
+LOG_FILE_BUFSIZE 200
+LOG_FILE_DSRMROT 0
+LOG_FILE_MB_FREE 500
+LOG_FILE_RATEMAX 0.000000
+LOG_FILE_TIMEOUT 5
+LOG_MAV_BUFSIZE  8
+LOG_MAV_RATEMAX  0.000000
+LOG_REPLAY       0
+LOIT_ACC_MAX     500.000000
+LOIT_ANG_MAX     0.000000
+LOIT_BRK_ACCEL   250.000000
+LOIT_BRK_DELAY   1.000000
+LOIT_BRK_JERK    500.000000
+LOIT_SPEED       1250.000000
+MIS_OPTIONS      0
+MIS_RESTART      0
+MIS_TOTAL        6.000000
+MNT_TYPE         0
+MOT_BAT_CURR_MAX 0.000000
+MOT_BAT_CURR_TC  5.000000
+MOT_BAT_IDX      0
+MOT_BAT_VOLT_MAX 0.000000
+MOT_BAT_VOLT_MIN 0.000000
+MOT_BOOST_SCALE  0.000000
+MOT_HOVER_LEARN  2
+MOT_PWM_MAX      2000
+MOT_PWM_MIN      1000
+MOT_PWM_TYPE     0
+MOT_SAFE_DISARM  0
+MOT_SAFE_TIME    1.000000
+MOT_SLEW_DN_TIME 0.000000
+MOT_SLEW_UP_TIME 0.000000
+MOT_SPIN_ARM     0.100000
+MOT_SPIN_MAX     1.000000
+MOT_SPIN_MIN     -1.000000
+MOT_SPOOL_TIME   0.500000
+MOT_THST_EXPO    0.750000
+MOT_THST_HOVER   0.318280
+MOT_YAW_HEADROOM 50
+MSP_OPTIONS      0
+MSP_OSD_NCELLS   0
+NTF_BUZZ_ON_LVL  1
+NTF_BUZZ_PIN     -1
+NTF_BUZZ_TYPES   1
+NTF_BUZZ_VOLUME  100
+NTF_DISPLAY_TYPE 0
+NTF_LED_BRIGHT   3
+NTF_LED_LEN      1
+NTF_LED_OVERRIDE 0
+NTF_LED_TYPES    199
+OA_TYPE          0
+OSD_TYPE         0
+PHLD_BRAKE_ANGLE 3000
+PHLD_BRAKE_RATE  8
+PILOT_ACCEL_Z    250
+PILOT_SPEED_DN   0
+PILOT_SPEED_UP   250
+PILOT_THR_BHV    0
+PILOT_THR_FILT   0.000000
+PILOT_TKOFF_ALT  0.000000
+PILOT_Y_EXPO     0.000000
+PILOT_Y_RATE     202.500000
+PLND_ENABLED     0
+PRX_TYPE         0
+PSC_ACCZ_D       0.000000
+PSC_ACCZ_FF      0.000000
+PSC_ACCZ_FLTD    0.000000
+PSC_ACCZ_FLTE    20.000000
+PSC_ACCZ_FLTT    0.000000
+PSC_ACCZ_I       1.234634
+PSC_ACCZ_IMAX    800.000000
+PSC_ACCZ_P       0.617317
+PSC_ACCZ_SMAX    0.000000
+PSC_ANGLE_MAX    0.000000
+PSC_JERK_XY      5.000000
+PSC_JERK_Z       5.000000
+PSC_POSXY_P      1.000000
+PSC_POSZ_P       1.000000
+PSC_VELXY_D      0.500000
+PSC_VELXY_FF     0.000000
+PSC_VELXY_FLTD   5.000000
+PSC_VELXY_FLTE   5.000000
+PSC_VELXY_I      1.000000
+PSC_VELXY_IMAX   1000.000000
+PSC_VELXY_P      2.000000
+PSC_VELZ_D       0.000000
+PSC_VELZ_FF      0.000000
+PSC_VELZ_FLTD    5.000000
+PSC_VELZ_FLTE    5.000000
+PSC_VELZ_I       0.000000
+PSC_VELZ_IMAX    1000.000000
+PSC_VELZ_P       5.000000
+RALLY_INCL_HOME  1
+RALLY_LIMIT_KM   0.300000
+RALLY_TOTAL      0
+RC10_DZ          0
+RC10_MAX         1900
+RC10_MIN         1100
+RC10_OPTION      0
+RC10_REVERSED    0
+RC10_TRIM        1500
+RC11_DZ          0
+RC11_MAX         1900
+RC11_MIN         1100
+RC11_OPTION      0
+RC11_REVERSED    0
+RC11_TRIM        1500
+RC12_DZ          0
+RC12_MAX         1900
+RC12_MIN         1100
+RC12_OPTION      0
+RC12_REVERSED    0
+RC12_TRIM        1500
+RC13_DZ          0
+RC13_MAX         1900
+RC13_MIN         1100
+RC13_OPTION      0
+RC13_REVERSED    0
+RC13_TRIM        1500
+RC14_DZ          0
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+RC14_MIN         1100
+RC14_OPTION      0
+RC14_REVERSED    0
+RC14_TRIM        1500
+RC15_DZ          0
+RC15_MAX         1900
+RC15_MIN         1100
+RC15_OPTION      0
+RC15_REVERSED    0
+RC15_TRIM        1500
+RC16_DZ          0
+RC16_MAX         1900
+RC16_MIN         1100
+RC16_OPTION      0
+RC16_REVERSED    0
+RC16_TRIM        1500
+RC1_DZ           20
+RC1_MAX          2000
+RC1_MIN          1000
+RC1_OPTION       0
+RC1_REVERSED     0
+RC1_TRIM         1500
+RC2_DZ           20
+RC2_MAX          2000
+RC2_MIN          1000
+RC2_OPTION       0
+RC2_REVERSED     1
+RC2_TRIM         1500
+RC3_DZ           30
+RC3_MAX          2000
+RC3_MIN          1000
+RC3_OPTION       0
+RC3_REVERSED     0
+RC3_TRIM         1500
+RC4_DZ           20
+RC4_MAX          2000
+RC4_MIN          1000
+RC4_OPTION       0
+RC4_REVERSED     0
+RC4_TRIM         1500
+RC5_DZ           0
+RC5_MAX          1900
+RC5_MIN          1100
+RC5_OPTION       0
+RC5_REVERSED     0
+RC5_TRIM         1500
+RC6_DZ           0
+RC6_MAX          1900
+RC6_MIN          1100
+RC6_OPTION       0
+RC6_REVERSED     0
+RC6_TRIM         1500
+RC7_DZ           0
+RC7_MAX          1900
+RC7_MIN          1100
+RC7_OPTION       0
+RC7_REVERSED     0
+RC7_TRIM         1500
+RC8_DZ           0
+RC8_MAX          1900
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+RCMAP_PITCH      2
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+RCMAP_THROTTLE   3
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+RC_OPTIONS       32
+RC_OVERRIDE_TIME 3.000000
+RC_PROTOCOLS     1
+RC_SPEED         490
+RELAY_DEFAULT    0
+RELAY_PIN        13
+RELAY_PIN2       -1
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+RELAY_PIN4       -1
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+RNGFND1_TYPE     0
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+RNGFND5_TYPE     0
+RNGFND6_TYPE     0
+RNGFND7_TYPE     0
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+RNGFND9_TYPE     0
+RNGFNDA_TYPE     0
+RNGFND_FILT      0.500000
+RPM1_TYPE        0
+RPM2_TYPE        0
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+RTL_CONE_SLOPE   3.000000
+RTL_LOIT_TIME    5000
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+SCHED_DEBUG      0
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+SCR_USER6        0.000000
+SCR_VM_I_COUNT   10000
+SERIAL0_BAUD     115
+SERIAL0_PROTOCOL 2
+SERIAL1_BAUD     57
+SERIAL1_OPTIONS  0
+SERIAL1_PROTOCOL 2
+SERIAL2_BAUD     57
+SERIAL2_OPTIONS  0
+SERIAL2_PROTOCOL 2
+SERIAL3_BAUD     38
+SERIAL3_OPTIONS  0
+SERIAL3_PROTOCOL 5
+SERIAL4_BAUD     38
+SERIAL4_OPTIONS  0
+SERIAL4_PROTOCOL 5
+SERIAL5_BAUD     57
+SERIAL5_OPTIONS  0
+SERIAL5_PROTOCOL -1
+SERIAL6_BAUD     57
+SERIAL6_OPTIONS  0
+SERIAL6_PROTOCOL -1
+SERIAL7_BAUD     57
+SERIAL7_OPTIONS  0
+SERIAL7_PROTOCOL -1
+SERIAL_PASS1     0
+SERIAL_PASS2     -1
+SERIAL_PASSTIMO  15
+SERVO10_FUNCTION 0
+SERVO10_MAX      1900
+SERVO10_MIN      1100
+SERVO10_REVERSED 0
+SERVO10_TRIM     1500
+SERVO11_FUNCTION 0
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+SERVO11_REVERSED 0
+SERVO11_TRIM     1500
+SERVO12_FUNCTION 0
+SERVO12_MAX      1900
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+SERVO12_REVERSED 0
+SERVO12_TRIM     1500
+SERVO13_FUNCTION 0
+SERVO13_MAX      1900
+SERVO13_MIN      1100
+SERVO13_REVERSED 0
+SERVO13_TRIM     1500
+SERVO14_FUNCTION 0
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+SERVO14_TRIM     1500
+SERVO15_FUNCTION 0
+SERVO15_MAX      1900
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+SERVO16_FUNCTION 0
+SERVO16_MAX      1900
+SERVO16_MIN      1100
+SERVO16_REVERSED 0
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+SERVO1_FUNCTION  33
+SERVO1_MAX       2000
+SERVO1_MIN       1000
+SERVO1_REVERSED  0
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+SERVO2_FUNCTION  34
+SERVO2_MAX       2000
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+SERVO2_REVERSED  0
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+SERVO3_FUNCTION  35
+SERVO3_MAX       2000
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+SERVO3_REVERSED  0
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+SERVO4_FUNCTION  36
+SERVO4_MAX       2000
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+SERVO4_REVERSED  0
+SERVO4_TRIM      1500
+SERVO5_FUNCTION  37
+SERVO5_MAX       2000
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+SERVO5_REVERSED  0
+SERVO5_TRIM      1500
+SERVO6_FUNCTION  38
+SERVO6_MAX       2000
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+SERVO6_REVERSED  0
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+SERVO7_FUNCTION  0
+SERVO7_MAX       1900
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+SERVO8_FUNCTION  0
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+SERVO8_REVERSED  0
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+SERVO9_FUNCTION  0
+SERVO9_MAX       1900
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+SERVO9_REVERSED  0
+SERVO9_TRIM      1500
+SERVO_DSHOT_ESC  0
+SERVO_DSHOT_RATE 0
+SERVO_FTW_MASK   0
+SERVO_FTW_POLES  14
+SERVO_FTW_RVMASK 0
+SERVO_GPIO_MASK  0
+SERVO_RATE       50
+SERVO_ROB_POSMAX 4095
+SERVO_ROB_POSMIN 0
+SERVO_SBUS_RATE  50
+SERVO_VOLZ_MASK  0
+SID_AXIS         0
+SIMPLE           0
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+SIM_ACC1_BIAS_Y  0.000000
+SIM_ACC1_BIAS_Z  0.000000
+SIM_ACC1_RND     0.000000
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+SIM_ACC1_SCAL_Z  0.000000
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+SIM_ACC2_BIAS_Z  0.000000
+SIM_ACC2_RND     0.000000
+SIM_ACC2_SCAL_X  0.000000
+SIM_ACC2_SCAL_Y  0.000000
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+SIM_ACC3_BIAS_Y  0.000000
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+SIM_ACCEL1_FAIL  0.000000
+SIM_ACCEL2_FAIL  0.000000
+SIM_ACCEL3_FAIL  0.000000
+SIM_ACC_FAIL_MSK 0
+SIM_ACC_TRIM_X   0.000000
+SIM_ACC_TRIM_Y   0.000000
+SIM_ACC_TRIM_Z   0.000000
+SIM_ADSB_ALT     1000.000000
+SIM_ADSB_COUNT   -1
+SIM_ADSB_RADIUS  10000.000000
+SIM_ADSB_TX      0
+SIM_ARSPD2_FAIL  0.000000
+SIM_ARSPD2_FAILP 0.000000
+SIM_ARSPD2_OFS   2013.000000
+SIM_ARSPD2_PITOT 0.000000
+SIM_ARSPD2_RND   2.000000
+SIM_ARSPD_FAIL   0.000000
+SIM_ARSPD_FAILP  0.000000
+SIM_ARSPD_OFS    2013.000000
+SIM_ARSPD_PITOT  0.000000
+SIM_ARSPD_RND    2.000000
+SIM_ARSPD_SIGN   0
+SIM_BAR2_DELAY   0
+SIM_BAR2_DISABLE 0
+SIM_BAR2_DRIFT   0.000000
+SIM_BAR2_FREEZE  0
+SIM_BAR2_GLITCH  0.000000
+SIM_BAR2_RND     0.200000
+SIM_BAR2_WCF_BAK 0.000000
+SIM_BAR2_WCF_FWD 0.000000
+SIM_BAR2_WCF_LFT 0.000000
+SIM_BAR2_WCF_RGT 0.000000
+SIM_BAR3_DELAY   0
+SIM_BAR3_DISABLE 0
+SIM_BAR3_DRIFT   0.000000
+SIM_BAR3_FREEZE  0
+SIM_BAR3_GLITCH  0.000000
+SIM_BAR3_RND     0.200000
+SIM_BAR3_WCF_BAK 0.000000
+SIM_BAR3_WCF_FWD 0.000000
+SIM_BAR3_WCF_LFT 0.000000
+SIM_BAR3_WCF_RGT 0.000000
+SIM_BARO_COUNT   2
+SIM_BARO_DELAY   0
+SIM_BARO_DISABLE 0
+SIM_BARO_DRIFT   0.000000
+SIM_BARO_FREEZE  0
+SIM_BARO_GLITCH  0.000000
+SIM_BARO_RND     0.200000
+SIM_BARO_WCF_BAK 0.000000
+SIM_BARO_WCF_FWD 0.000000
+SIM_BARO_WCF_LFT 0.000000
+SIM_BARO_WCF_RGT 0.000000
+SIM_BATT_CAP_AH  0.000000
+SIM_BATT_VOLTAGE 12.600000
+SIM_BAUDLIMIT_EN 0
+SIM_BZ_ENABLE    0
+SIM_BZ_PIN       0
+SIM_DRIFT_SPEED  0.050000
+SIM_DRIFT_TIME   5.000000
+SIM_EFI_TYPE     0
+SIM_ENGINE_FAIL  0
+SIM_ENGINE_MUL   1.000000
+SIM_ESC_TELEM    1
+SIM_FLOAT_EXCEPT 1
+SIM_FLOW_DELAY   0
+SIM_FLOW_ENABLE  0
+SIM_FLOW_POS_X   0.000000
+SIM_FLOW_POS_Y   0.000000
+SIM_FLOW_POS_Z   0.000000
+SIM_FLOW_RATE    10
+SIM_FLOW_RND     0.050000
+SIM_FTOWESC_ENA  0
+SIM_FTOWESC_POW  4095
+SIM_GND_BEHAV    -1
+SIM_GPS2_ACC     0.300000
+SIM_GPS2_ALT_OFS 0
+SIM_GPS2_BYTELOS 0.000000
+SIM_GPS2_DELAY   1
+SIM_GPS2_DISABLE 1
+SIM_GPS2_DRFTALT 0.000000
+SIM_GPS2_GLTCH_X 0.000000
+SIM_GPS2_GLTCH_Y 0.000000
+SIM_GPS2_GLTCH_Z 0.000000
+SIM_GPS2_HDG     0
+SIM_GPS2_HZ      5
+SIM_GPS2_LCKTIME 0
+SIM_GPS2_NOISE   0.000000
+SIM_GPS2_NUMSATS 10
+SIM_GPS2_POS_X   0.000000
+SIM_GPS2_POS_Y   0.000000
+SIM_GPS2_POS_Z   0.000000
+SIM_GPS2_TYPE    1
+SIM_GPS2_VERR_X  0.000000
+SIM_GPS2_VERR_Y  0.000000
+SIM_GPS2_VERR_Z  0.000000
+SIM_GPS_ACC      0.300000
+SIM_GPS_ALT_OFS  0
+SIM_GPS_BYTELOSS 0.000000
+SIM_GPS_DELAY    1
+SIM_GPS_DISABLE  0
+SIM_GPS_DRIFTALT 0.000000
+SIM_GPS_GLITCH_X 0.000000
+SIM_GPS_GLITCH_Y 0.000000
+SIM_GPS_GLITCH_Z 0.000000
+SIM_GPS_HDG      0
+SIM_GPS_HZ       5
+SIM_GPS_LOCKTIME 0
+SIM_GPS_NOISE    0.000000
+SIM_GPS_NUMSATS  10
+SIM_GPS_POS_X    0.000000
+SIM_GPS_POS_Y    0.000000
+SIM_GPS_POS_Z    0.000000
+SIM_GPS_TYPE     1
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+SIM_GPS_VERR_Y   0.000000
+SIM_GPS_VERR_Z   0.000000
+SIM_GRPE_ENABLE  0
+SIM_GRPE_PIN     -1
+SIM_GRPS_ENABLE  0
+SIM_GRPS_GRAB    2000
+SIM_GRPS_PIN     -1
+SIM_GRPS_RELEASE 1000
+SIM_GRPS_REVERSE 0
+SIM_GYR1_RND     0.000000
+SIM_GYR1_SCALE_X 0.000000
+SIM_GYR1_SCALE_Y 0.000000
+SIM_GYR1_SCALE_Z 0.000000
+SIM_GYR2_RND     0.000000
+SIM_GYR2_SCALE_X 0.000000
+SIM_GYR2_SCALE_Y 0.000000
+SIM_GYR2_SCALE_Z 0.000000
+SIM_GYR3_RND     0.000000
+SIM_GYR3_SCALE_X 0.000000
+SIM_GYR3_SCALE_Y 0.000000
+SIM_GYR3_SCALE_Z 0.000000
+SIM_GYR_FAIL_MSK 0
+SIM_IE24_ENABLE  0
+SIM_IE24_ERROR   0
+SIM_IE24_STATE   -1
+SIM_IMUT1_ENABLE 0
+SIM_IMUT2_ENABLE 0
+SIM_IMUT3_ENABLE 0
+SIM_IMUT_END     45.000000
+SIM_IMUT_FIXED   0.000000
+SIM_IMUT_START   25.000000
+SIM_IMUT_TCONST  300.000000
+SIM_IMU_COUNT    2
+SIM_IMU_POS_X    0.000000
+SIM_IMU_POS_Y    0.000000
+SIM_IMU_POS_Z    0.000000
+SIM_INIT_ALT_OFS 0.000000
+SIM_INIT_LAT_OFS 0.000000
+SIM_INIT_LON_OFS 0.000000
+SIM_INS_THR_MIN  0.100000
+SIM_JSON_MASTER  0
+SIM_LED_LAYOUT   0
+SIM_LOOP_DELAY   0
+SIM_MAG1_DEVID   97539
+SIM_MAG1_FAIL    0
+SIM_MAG1_SCALING 1.000000
+SIM_MAG2_DEVID   131874
+SIM_MAG2_DIA_X   0.000000
+SIM_MAG2_DIA_Y   0.000000
+SIM_MAG2_DIA_Z   0.000000
+SIM_MAG2_FAIL    0
+SIM_MAG2_ODI_X   0.000000
+SIM_MAG2_ODI_Y   0.000000
+SIM_MAG2_ODI_Z   0.000000
+SIM_MAG2_OFS_X   5.000000
+SIM_MAG2_OFS_Y   13.000000
+SIM_MAG2_OFS_Z   -18.000000
+SIM_MAG2_ORIENT  0
+SIM_MAG2_SCALING 1.000000
+SIM_MAG3_DEVID   263178
+SIM_MAG3_DIA_X   0.000000
+SIM_MAG3_DIA_Y   0.000000
+SIM_MAG3_DIA_Z   0.000000
+SIM_MAG3_FAIL    0
+SIM_MAG3_ODI_X   0.000000
+SIM_MAG3_ODI_Y   0.000000
+SIM_MAG3_ODI_Z   0.000000
+SIM_MAG3_OFS_X   5.000000
+SIM_MAG3_OFS_Y   13.000000
+SIM_MAG3_OFS_Z   -18.000000
+SIM_MAG3_ORIENT  0
+SIM_MAG3_SCALING 1.000000
+SIM_MAG4_DEVID   97283
+SIM_MAG5_DEVID   97795
+SIM_MAG6_DEVID   98051
+SIM_MAG7_DEVID   0
+SIM_MAG8_DEVID   0
+SIM_MAG_ALY_HGT  1.000000
+SIM_MAG_ALY_X    0.000000
+SIM_MAG_ALY_Y    0.000000
+SIM_MAG_ALY_Z    0.000000
+SIM_MAG_DELAY    0
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+SIM_MAG_DIA_Z    0.000000
+SIM_MAG_MOT_X    0.000000
+SIM_MAG_MOT_Y    0.000000
+SIM_MAG_MOT_Z    0.000000
+SIM_MAG_ODI_X    0.000000
+SIM_MAG_ODI_Y    0.000000
+SIM_MAG_ODI_Z    0.000000
+SIM_MAG_OFS_X    5.000000
+SIM_MAG_OFS_Y    13.000000
+SIM_MAG_OFS_Z    -18.000000
+SIM_MAG_ORIENT   0
+SIM_MAG_RND      0.000000
+SIM_ODOM_ENABLE  0
+SIM_OPOS_ALT     584.000000
+SIM_OPOS_HDG     353.000000
+SIM_OPOS_LAT     -35.363262
+SIM_OPOS_LNG     149.165237
+SIM_PARA_ENABLE  0
+SIM_PARA_PIN     -1
+SIM_PIN_MASK     0
+SIM_PLD_ALT_LMT  15.000000
+SIM_PLD_DIST_LMT 10.000000
+SIM_PLD_ENABLE   0
+SIM_PLD_HEIGHT   0.000000
+SIM_PLD_LAT      0.000000
+SIM_PLD_LON      0.000000
+SIM_PLD_RATE     100
+SIM_PLD_TYPE     0
+SIM_PLD_YAW      0
+SIM_RATE_HZ      1200
+SIM_RC_CHANCOUNT 16
+SIM_RC_FAIL      0
+SIM_RICH_CTRL    -1
+SIM_RICH_ENABLE  0
+SIM_SAFETY_STATE 0
+SIM_SAIL_TYPE    0
+SIM_SERVO_SPEED  0.140000
+SIM_SHIP_DSIZE   10.000000
+SIM_SHIP_ENABLE  0
+SIM_SHIP_PSIZE   1000.000000
+SIM_SHIP_SPEED   3.000000
+SIM_SHIP_SYSID   17
+SIM_SHOVE_TIME   0
+SIM_SHOVE_X      0.000000
+SIM_SHOVE_Y      0.000000
+SIM_SHOVE_Z      0.000000
+SIM_SONAR_GLITCH 0.000000
+SIM_SONAR_POS_X  0.000000
+SIM_SONAR_POS_Y  0.000000
+SIM_SONAR_POS_Z  0.000000
+SIM_SONAR_RND    0.000000
+SIM_SONAR_SCALE  12.121200
+SIM_SPEEDUP      1.000000
+SIM_SPR_ENABLE   0
+SIM_SPR_PUMP     -1
+SIM_SPR_SPIN     -1
+SIM_TA_ENABLE    1
+SIM_TEMP_BFACTOR 0.000000
+SIM_TEMP_BRD_OFF 20.000000
+SIM_TEMP_START   25.000000
+SIM_TEMP_TCONST  30.000000
+SIM_TERRAIN      1
+SIM_THML_SCENARI 0
+SIM_TIDE_DIR     0.000000
+SIM_TIDE_SPEED   0.000000
+SIM_TWIST_TIME   0
+SIM_TWIST_X      0.000000
+SIM_TWIST_Y      0.000000
+SIM_TWIST_Z      0.000000
+SIM_VIB_FREQ_X   0.000000
+SIM_VIB_FREQ_Y   0.000000
+SIM_VIB_FREQ_Z   0.000000
+SIM_VIB_MOT_MAX  0.000000
+SIM_VIB_MOT_MULT 1.000000
+SIM_VICON_FAIL   0
+SIM_VICON_GLIT_X 0.000000
+SIM_VICON_GLIT_Y 0.000000
+SIM_VICON_GLIT_Z 0.000000
+SIM_VICON_POS_X  0.000000
+SIM_VICON_POS_Y  0.000000
+SIM_VICON_POS_Z  0.000000
+SIM_VICON_TMASK  3
+SIM_VICON_VGLI_X 0.000000
+SIM_VICON_VGLI_Y 0.000000
+SIM_VICON_VGLI_Z 0.000000
+SIM_VICON_YAW    0
+SIM_VICON_YAWERR 0
+SIM_WAVE_AMP     0.500000
+SIM_WAVE_DIR     0.000000
+SIM_WAVE_ENABLE  0
+SIM_WAVE_LENGTH  10.000000
+SIM_WAVE_SPEED   0.500000
+SIM_WIND_DELAY   0
+SIM_WIND_DIR     180.000000
+SIM_WIND_DIR_Z   0.000000
+SIM_WIND_SPD     0.000000
+SIM_WIND_T       0
+SIM_WIND_TURB    0.000000
+SIM_WIND_T_ALT   60.000000
+SIM_WIND_T_COEF  0.010000
+SIM_WOW_PIN      -1
+SPRAY_ENABLE     0
+SR0_ADSB         4
+SR0_EXTRA1       4
+SR0_EXTRA2       4
+SR0_EXTRA3       4
+SR0_EXT_STAT     4
+SR0_PARAMS       0
+SR0_POSITION     4
+SR0_RAW_CTRL     4
+SR0_RAW_SENS     4
+SR0_RC_CHAN      4
+SR1_ADSB         0
+SR1_EXTRA1       0
+SR1_EXTRA2       0
+SR1_EXTRA3       0
+SR1_EXT_STAT     0
+SR1_PARAMS       0
+SR1_POSITION     0
+SR1_RAW_CTRL     0
+SR1_RAW_SENS     0
+SR1_RC_CHAN      0
+SR2_ADSB         0
+SR2_EXTRA1       0
+SR2_EXTRA2       0
+SR2_EXTRA3       0
+SR2_EXT_STAT     0
+SR2_PARAMS       0
+SR2_POSITION     0
+SR2_RAW_CTRL     0
+SR2_RAW_SENS     0
+SR2_RC_CHAN      0
+SR3_ADSB         0
+SR3_EXTRA1       0
+SR3_EXTRA2       0
+SR3_EXTRA3       0
+SR3_EXT_STAT     0
+SR3_PARAMS       0
+SR3_POSITION     0
+SR3_RAW_CTRL     0
+SR3_RAW_SENS     0
+SR3_RC_CHAN      0
+SR4_ADSB         0
+SR4_EXTRA1       0
+SR4_EXTRA2       0
+SR4_EXTRA3       0
+SR4_EXT_STAT     0
+SR4_PARAMS       0
+SR4_POSITION     0
+SR4_RAW_CTRL     0
+SR4_RAW_SENS     0
+SR4_RC_CHAN      0
+SR5_ADSB         0
+SR5_EXTRA1       0
+SR5_EXTRA2       0
+SR5_EXTRA3       0
+SR5_EXT_STAT     0
+SR5_PARAMS       0
+SR5_POSITION     0
+SR5_RAW_CTRL     0
+SR5_RAW_SENS     0
+SR5_RC_CHAN      0
+SR6_ADSB         0
+SR6_EXTRA1       0
+SR6_EXTRA2       0
+SR6_EXTRA3       0
+SR6_EXT_STAT     0
+SR6_PARAMS       0
+SR6_POSITION     0
+SR6_RAW_CTRL     0
+SR6_RAW_SENS     0
+SR6_RC_CHAN      0
+SRTL_ACCURACY    2.000000
+SRTL_OPTIONS     0
+SRTL_POINTS      300
+STAT_BOOTCNT     59
+STAT_FLTTIME     20179.000000
+STAT_RESET       187974747
+STAT_RUNTIME     224797.000000
+SUPER_SIMPLE     0
+SURFTRAK_MODE    1
+SYSID_ENFORCE    0
+SYSID_MYGCS      255
+SYSID_THISMAV    1
+TCAL_ENABLED     0
+TELEM_DELAY      0
+TERRAIN_ENABLE   1
+TERRAIN_MARGIN   0.050000
+TERRAIN_OPTIONS  0
+TERRAIN_SPACING  100
+THROW_MOT_START  0
+THROW_NEXTMODE   18
+THROW_TYPE       0
+THR_DZ           100
+TUNE             0
+TUNE_MAX         0.000000
+TUNE_MIN         0.000000
+VISO_TYPE        0
+VTX_ENABLE       0
+WINCH_TYPE       0
+WPNAV_ACCEL      250.000000
+WPNAV_ACCEL_Z    100.000000
+WPNAV_JERK       1.000000
+WPNAV_RADIUS     200.000000
+WPNAV_RFND_USE   1
+WPNAV_SPEED      1000.000000
+WPNAV_SPEED_DN   150.000000
+WPNAV_SPEED_UP   250.000000
+WPNAV_TER_MARGIN 10.000000
+WP_NAVALT_MIN    0.000000
+WP_YAW_BEHAVIOR  2
+ZIGZ_AUTO_ENABLE 0
diff --git a/Gazebo/config/omnicopter-k_tau=0.01085.param b/Gazebo/config/omnicopter-k_tau=0.01085.param
new file mode 100644
index 00000000..9b1ccb68
--- /dev/null
+++ b/Gazebo/config/omnicopter-k_tau=0.01085.param
@@ -0,0 +1,1237 @@
+ACRO_BAL_PITCH   1.000000
+ACRO_BAL_ROLL    1.000000
+ACRO_OPTIONS     0
+ACRO_RP_EXPO     0.300000
+ACRO_RP_RATE     360.000000
+ACRO_THR_MID     0.000000
+ACRO_TRAINER     2
+ACRO_Y_EXPO      0.000000
+ACRO_Y_RATE      202.500000
+ADSB_TYPE        0
+AHRS_COMP_BETA   0.100000
+AHRS_CUSTOM_PIT  0.000000
+AHRS_CUSTOM_ROLL 0.000000
+AHRS_CUSTOM_YAW  0.000000
+AHRS_EKF_TYPE    2
+AHRS_GPS_GAIN    1.000000
+AHRS_GPS_MINSATS 6
+AHRS_GPS_USE     1
+AHRS_ORIENTATION 0
+AHRS_RP_P        0.200000
+AHRS_TRIM_X      0.000000
+AHRS_TRIM_Y      0.000000
+AHRS_TRIM_Z      0.000000
+AHRS_WIND_MAX    0
+AHRS_YAW_P       0.200000
+ANGLE_MAX        8000
+ARMING_ACCTHRESH 0.750000
+ARMING_CHECK     1
+ARMING_MIS_ITEMS 0
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+BARO1_DEVID      65540
+BARO1_GND_PRESS  94502.703125
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+BARO2_DEVID      65796
+BARO2_GND_PRESS  94502.445312
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+BARO3_GND_PRESS  0.000000
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+BRD_VSERVO_MIN   0.000000
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+COMPASS_OFFS_MAX 1800
+COMPASS_OFS2_X   5.000000
+COMPASS_OFS2_Y   13.000000
+COMPASS_OFS2_Z   -18.000000
+COMPASS_OFS3_X   5.000000
+COMPASS_OFS3_Y   13.000000
+COMPASS_OFS3_Z   -18.000000
+COMPASS_OFS_X    5.000000
+COMPASS_OFS_Y    13.000000
+COMPASS_OFS_Z    -18.000000
+COMPASS_OPTIONS  0
+COMPASS_ORIENT   0
+COMPASS_ORIENT2  0
+COMPASS_ORIENT3  0
+COMPASS_PMOT_EN  0
+COMPASS_PRIO1_ID 97539
+COMPASS_PRIO2_ID 131874
+COMPASS_PRIO3_ID 263178
+COMPASS_SCALE    1.000000
+COMPASS_SCALE2   1.000000
+COMPASS_SCALE3   1.000000
+COMPASS_TYPEMASK 0
+COMPASS_USE      1
+COMPASS_USE2     1
+COMPASS_USE3     1
+DEV_OPTIONS      0
+DISARM_DELAY     10
+EAHRS_TYPE       0
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+EK2_ABIAS_P_NSE  0.005000
+EK2_ACC_P_NSE    0.600000
+EK2_ALT_M_NSE    3.000000
+EK2_ALT_SOURCE   0
+EK2_BCN_DELAY    50
+EK2_BCN_I_GTE    500
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+EK2_FLOW_I_GATE  300
+EK2_FLOW_M_NSE   0.250000
+EK2_FLOW_USE     1
+EK2_GBIAS_P_NSE  0.000100
+EK2_GLITCH_RAD   25
+EK2_GPS_CHECK    31
+EK2_GPS_TYPE     0
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+EK2_GSF_RST_MAX  2
+EK2_GSF_RUN_MASK 3
+EK2_GSF_USE_MASK 3
+EK2_GYRO_P_NSE   0.030000
+EK2_HGT_DELAY    60
+EK2_HGT_I_GATE   500
+EK2_HRT_FILT     2.000000
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+EK2_MAGB_P_NSE   0.000100
+EK2_MAGE_P_NSE   0.001000
+EK2_MAG_CAL      3
+EK2_MAG_EF_LIM   50
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+EK2_MAX_FLOW     2.500000
+EK2_NOAID_M_NSE  10.000000
+EK2_OGN_HGT_MASK 0
+EK2_POSNE_M_NSE  1.000000
+EK2_POS_I_GATE   500
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+EK2_TAU_OUTPUT   25
+EK2_TERR_GRAD    0.100000
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+EK2_VEL_I_GATE   500
+EK2_WIND_PSCALE  0.500000
+EK2_WIND_P_NSE   0.100000
+EK2_YAW_I_GATE   300
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+FRSKY_DNLINK1_ID 20
+FRSKY_DNLINK2_ID 7
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+GPS_COM_PORT     1
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+INS_ACC2OFFS_Y   0.001000
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+INS_ACC2_CALTEMP -300.000000
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+INS_ACC_BODYFIX  2
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+INS_LOG_BAT_LGCT 32
+INS_LOG_BAT_LGIN 20
+INS_LOG_BAT_MASK 0
+INS_LOG_BAT_OPT  0
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+INS_STILL_THRESH 2.500000
+INS_TCAL1_ENABLE 0
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+INS_TCAL_OPTIONS 0
+INS_TRIM_OPTION  1
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+LAND_ALT_LOW     1000
+LAND_REPOSITION  1
+LAND_SPEED       50
+LAND_SPEED_HIGH  0
+LGR_DEPLOY_ALT   0
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+LGR_RETRACT_ALT  0
+LGR_STARTUP      0
+LGR_WOW_PIN      8
+LGR_WOW_POL      1
+LOG_BACKEND_TYPE 1
+LOG_BITMASK      176126
+LOG_BLK_RATEMAX  0.000000
+LOG_DISARMED     0
+LOG_FILE_BUFSIZE 200
+LOG_FILE_DSRMROT 0
+LOG_FILE_MB_FREE 500
+LOG_FILE_RATEMAX 0.000000
+LOG_FILE_TIMEOUT 5
+LOG_MAV_BUFSIZE  8
+LOG_MAV_RATEMAX  0.000000
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+LOIT_ACC_MAX     500.000000
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+MOT_SPIN_MAX     1.000000
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+MOT_SPOOL_TIME   0.500000
+MOT_THST_EXPO    0.750000
+MOT_THST_HOVER   0.323380
+MOT_YAW_HEADROOM 50
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+MSP_OSD_NCELLS   0
+NTF_BUZZ_ON_LVL  1
+NTF_BUZZ_PIN     -1
+NTF_BUZZ_TYPES   1
+NTF_BUZZ_VOLUME  100
+NTF_DISPLAY_TYPE 0
+NTF_LED_BRIGHT   3
+NTF_LED_LEN      1
+NTF_LED_OVERRIDE 0
+NTF_LED_TYPES    199
+OA_TYPE          0
+OSD_TYPE         0
+PHLD_BRAKE_ANGLE 3000
+PHLD_BRAKE_RATE  8
+PILOT_ACCEL_Z    250
+PILOT_SPEED_DN   0
+PILOT_SPEED_UP   250
+PILOT_THR_BHV    0
+PILOT_THR_FILT   0.000000
+PILOT_TKOFF_ALT  0.000000
+PILOT_Y_EXPO     0.000000
+PILOT_Y_RATE     202.500000
+PLND_ENABLED     0
+PRX_TYPE         0
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+PSC_ACCZ_FF      0.000000
+PSC_ACCZ_FLTD    0.000000
+PSC_ACCZ_FLTE    20.000000
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+PSC_ACCZ_I       1.234634
+PSC_ACCZ_IMAX    800.000000
+PSC_ACCZ_P       0.617317
+PSC_ACCZ_SMAX    0.000000
+PSC_ANGLE_MAX    0.000000
+PSC_JERK_XY      5.000000
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+PSC_POSZ_P       1.000000
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+PSC_VELZ_I       0.000000
+PSC_VELZ_IMAX    1000.000000
+PSC_VELZ_P       5.000000
+RALLY_INCL_HOME  1
+RALLY_LIMIT_KM   0.300000
+RALLY_TOTAL      0
+RC10_DZ          0
+RC10_MAX         1900
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+RC1_DZ           20
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+RC1_REVERSED     0
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+RC2_DZ           20
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+RC2_OPTION       0
+RC2_REVERSED     1
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+RC3_DZ           30
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+RC3_OPTION       0
+RC3_REVERSED     0
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+RC4_DZ           20
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+RC4_OPTION       0
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+RC5_DZ           0
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+RC5_MIN          1100
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+RC6_DZ           0
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+RC6_OPTION       0
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+RC7_TRIM         1500
+RC8_DZ           0
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+RC8_OPTION       17
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+RC9_DZ           0
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+RC9_OPTION       0
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+RC9_TRIM         1500
+RCMAP_PITCH      2
+RCMAP_ROLL       1
+RCMAP_THROTTLE   3
+RCMAP_YAW        4
+RC_OPTIONS       32
+RC_OVERRIDE_TIME 3.000000
+RC_PROTOCOLS     1
+RC_SPEED         490
+RELAY_DEFAULT    0
+RELAY_PIN        13
+RELAY_PIN2       -1
+RELAY_PIN3       -1
+RELAY_PIN4       -1
+RELAY_PIN5       -1
+RELAY_PIN6       -1
+RNGFND1_TYPE     0
+RNGFND2_TYPE     0
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+RNGFND6_TYPE     0
+RNGFND7_TYPE     0
+RNGFND8_TYPE     0
+RNGFND9_TYPE     0
+RNGFNDA_TYPE     0
+RNGFND_FILT      0.500000
+RPM1_TYPE        0
+RPM2_TYPE        0
+RSSI_TYPE        0
+RTL_ALT          1500
+RTL_ALT_FINAL    0
+RTL_ALT_TYPE     0
+RTL_CLIMB_MIN    0
+RTL_CONE_SLOPE   3.000000
+RTL_LOIT_TIME    5000
+RTL_OPTIONS      0
+RTL_SPEED        0
+SCHED_DEBUG      0
+SCHED_LOOP_RATE  400
+SCHED_OPTIONS    0
+SCR_DEBUG_OPTS   0
+SCR_DIR_DISABLE  0
+SCR_ENABLE       1
+SCR_HEAP_SIZE    65536
+SCR_USER1        0.000000
+SCR_USER2        0.000000
+SCR_USER3        0.000000
+SCR_USER4        0.000000
+SCR_USER5        0.000000
+SCR_USER6        0.000000
+SCR_VM_I_COUNT   10000
+SERIAL0_BAUD     115
+SERIAL0_PROTOCOL 2
+SERIAL1_BAUD     57
+SERIAL1_OPTIONS  0
+SERIAL1_PROTOCOL 2
+SERIAL2_BAUD     57
+SERIAL2_OPTIONS  0
+SERIAL2_PROTOCOL 2
+SERIAL3_BAUD     38
+SERIAL3_OPTIONS  0
+SERIAL3_PROTOCOL 5
+SERIAL4_BAUD     38
+SERIAL4_OPTIONS  0
+SERIAL4_PROTOCOL 5
+SERIAL5_BAUD     57
+SERIAL5_OPTIONS  0
+SERIAL5_PROTOCOL -1
+SERIAL6_BAUD     57
+SERIAL6_OPTIONS  0
+SERIAL6_PROTOCOL -1
+SERIAL7_BAUD     57
+SERIAL7_OPTIONS  0
+SERIAL7_PROTOCOL -1
+SERIAL_PASS1     0
+SERIAL_PASS2     -1
+SERIAL_PASSTIMO  15
+SERVO10_FUNCTION 0
+SERVO10_MAX      1900
+SERVO10_MIN      1100
+SERVO10_REVERSED 0
+SERVO10_TRIM     1500
+SERVO11_FUNCTION 0
+SERVO11_MAX      1900
+SERVO11_MIN      1100
+SERVO11_REVERSED 0
+SERVO11_TRIM     1500
+SERVO12_FUNCTION 0
+SERVO12_MAX      1900
+SERVO12_MIN      1100
+SERVO12_REVERSED 0
+SERVO12_TRIM     1500
+SERVO13_FUNCTION 0
+SERVO13_MAX      1900
+SERVO13_MIN      1100
+SERVO13_REVERSED 0
+SERVO13_TRIM     1500
+SERVO14_FUNCTION 0
+SERVO14_MAX      1900
+SERVO14_MIN      1100
+SERVO14_REVERSED 0
+SERVO14_TRIM     1500
+SERVO15_FUNCTION 0
+SERVO15_MAX      1900
+SERVO15_MIN      1100
+SERVO15_REVERSED 0
+SERVO15_TRIM     1500
+SERVO16_FUNCTION 0
+SERVO16_MAX      1900
+SERVO16_MIN      1100
+SERVO16_REVERSED 0
+SERVO16_TRIM     1500
+SERVO1_FUNCTION  33
+SERVO1_MAX       2000
+SERVO1_MIN       1000
+SERVO1_REVERSED  0
+SERVO1_TRIM      1500
+SERVO2_FUNCTION  34
+SERVO2_MAX       2000
+SERVO2_MIN       1000
+SERVO2_REVERSED  0
+SERVO2_TRIM      1500
+SERVO3_FUNCTION  35
+SERVO3_MAX       2000
+SERVO3_MIN       1000
+SERVO3_REVERSED  0
+SERVO3_TRIM      1500
+SERVO4_FUNCTION  36
+SERVO4_MAX       2000
+SERVO4_MIN       1000
+SERVO4_REVERSED  0
+SERVO4_TRIM      1500
+SERVO5_FUNCTION  37
+SERVO5_MAX       2000
+SERVO5_MIN       1000
+SERVO5_REVERSED  0
+SERVO5_TRIM      1500
+SERVO6_FUNCTION  38
+SERVO6_MAX       2000
+SERVO6_MIN       1000
+SERVO6_REVERSED  0
+SERVO6_TRIM      1500
+SERVO7_FUNCTION  0
+SERVO7_MAX       1900
+SERVO7_MIN       1100
+SERVO7_REVERSED  0
+SERVO7_TRIM      1500
+SERVO8_FUNCTION  0
+SERVO8_MAX       1900
+SERVO8_MIN       1100
+SERVO8_REVERSED  0
+SERVO8_TRIM      1500
+SERVO9_FUNCTION  0
+SERVO9_MAX       1900
+SERVO9_MIN       1100
+SERVO9_REVERSED  0
+SERVO9_TRIM      1500
+SERVO_DSHOT_ESC  0
+SERVO_DSHOT_RATE 0
+SERVO_FTW_MASK   0
+SERVO_FTW_POLES  14
+SERVO_FTW_RVMASK 0
+SERVO_GPIO_MASK  0
+SERVO_RATE       50
+SERVO_ROB_POSMAX 4095
+SERVO_ROB_POSMIN 0
+SERVO_SBUS_RATE  50
+SERVO_VOLZ_MASK  0
+SID_AXIS         0
+SIMPLE           0
+SIM_ACC1_BIAS_X  0.000000
+SIM_ACC1_BIAS_Y  0.000000
+SIM_ACC1_BIAS_Z  0.000000
+SIM_ACC1_RND     0.000000
+SIM_ACC1_SCAL_X  0.000000
+SIM_ACC1_SCAL_Y  0.000000
+SIM_ACC1_SCAL_Z  0.000000
+SIM_ACC2_BIAS_X  0.000000
+SIM_ACC2_BIAS_Y  0.000000
+SIM_ACC2_BIAS_Z  0.000000
+SIM_ACC2_RND     0.000000
+SIM_ACC2_SCAL_X  0.000000
+SIM_ACC2_SCAL_Y  0.000000
+SIM_ACC2_SCAL_Z  0.000000
+SIM_ACC3_BIAS_X  0.000000
+SIM_ACC3_BIAS_Y  0.000000
+SIM_ACC3_BIAS_Z  0.000000
+SIM_ACC3_RND     0.000000
+SIM_ACC3_SCAL_X  0.000000
+SIM_ACC3_SCAL_Y  0.000000
+SIM_ACC3_SCAL_Z  0.000000
+SIM_ACCEL1_FAIL  0.000000
+SIM_ACCEL2_FAIL  0.000000
+SIM_ACCEL3_FAIL  0.000000
+SIM_ACC_FAIL_MSK 0
+SIM_ACC_TRIM_X   0.000000
+SIM_ACC_TRIM_Y   0.000000
+SIM_ACC_TRIM_Z   0.000000
+SIM_ADSB_ALT     1000.000000
+SIM_ADSB_COUNT   -1
+SIM_ADSB_RADIUS  10000.000000
+SIM_ADSB_TX      0
+SIM_ARSPD2_FAIL  0.000000
+SIM_ARSPD2_FAILP 0.000000
+SIM_ARSPD2_OFS   2013.000000
+SIM_ARSPD2_PITOT 0.000000
+SIM_ARSPD2_RND   2.000000
+SIM_ARSPD_FAIL   0.000000
+SIM_ARSPD_FAILP  0.000000
+SIM_ARSPD_OFS    2013.000000
+SIM_ARSPD_PITOT  0.000000
+SIM_ARSPD_RND    2.000000
+SIM_ARSPD_SIGN   0
+SIM_BAR2_DELAY   0
+SIM_BAR2_DISABLE 0
+SIM_BAR2_DRIFT   0.000000
+SIM_BAR2_FREEZE  0
+SIM_BAR2_GLITCH  0.000000
+SIM_BAR2_RND     0.200000
+SIM_BAR2_WCF_BAK 0.000000
+SIM_BAR2_WCF_FWD 0.000000
+SIM_BAR2_WCF_LFT 0.000000
+SIM_BAR2_WCF_RGT 0.000000
+SIM_BAR3_DELAY   0
+SIM_BAR3_DISABLE 0
+SIM_BAR3_DRIFT   0.000000
+SIM_BAR3_FREEZE  0
+SIM_BAR3_GLITCH  0.000000
+SIM_BAR3_RND     0.200000
+SIM_BAR3_WCF_BAK 0.000000
+SIM_BAR3_WCF_FWD 0.000000
+SIM_BAR3_WCF_LFT 0.000000
+SIM_BAR3_WCF_RGT 0.000000
+SIM_BARO_COUNT   2
+SIM_BARO_DELAY   0
+SIM_BARO_DISABLE 0
+SIM_BARO_DRIFT   0.000000
+SIM_BARO_FREEZE  0
+SIM_BARO_GLITCH  0.000000
+SIM_BARO_RND     0.200000
+SIM_BARO_WCF_BAK 0.000000
+SIM_BARO_WCF_FWD 0.000000
+SIM_BARO_WCF_LFT 0.000000
+SIM_BARO_WCF_RGT 0.000000
+SIM_BATT_CAP_AH  0.000000
+SIM_BATT_VOLTAGE 12.600000
+SIM_BAUDLIMIT_EN 0
+SIM_BZ_ENABLE    0
+SIM_BZ_PIN       0
+SIM_DRIFT_SPEED  0.050000
+SIM_DRIFT_TIME   5.000000
+SIM_EFI_TYPE     0
+SIM_ENGINE_FAIL  0
+SIM_ENGINE_MUL   1.000000
+SIM_ESC_TELEM    1
+SIM_FLOAT_EXCEPT 1
+SIM_FLOW_DELAY   0
+SIM_FLOW_ENABLE  0
+SIM_FLOW_POS_X   0.000000
+SIM_FLOW_POS_Y   0.000000
+SIM_FLOW_POS_Z   0.000000
+SIM_FLOW_RATE    10
+SIM_FLOW_RND     0.050000
+SIM_FTOWESC_ENA  0
+SIM_FTOWESC_POW  4095
+SIM_GND_BEHAV    -1
+SIM_GPS2_ACC     0.300000
+SIM_GPS2_ALT_OFS 0
+SIM_GPS2_BYTELOS 0.000000
+SIM_GPS2_DELAY   1
+SIM_GPS2_DISABLE 1
+SIM_GPS2_DRFTALT 0.000000
+SIM_GPS2_GLTCH_X 0.000000
+SIM_GPS2_GLTCH_Y 0.000000
+SIM_GPS2_GLTCH_Z 0.000000
+SIM_GPS2_HDG     0
+SIM_GPS2_HZ      5
+SIM_GPS2_LCKTIME 0
+SIM_GPS2_NOISE   0.000000
+SIM_GPS2_NUMSATS 10
+SIM_GPS2_POS_X   0.000000
+SIM_GPS2_POS_Y   0.000000
+SIM_GPS2_POS_Z   0.000000
+SIM_GPS2_TYPE    1
+SIM_GPS2_VERR_X  0.000000
+SIM_GPS2_VERR_Y  0.000000
+SIM_GPS2_VERR_Z  0.000000
+SIM_GPS_ACC      0.300000
+SIM_GPS_ALT_OFS  0
+SIM_GPS_BYTELOSS 0.000000
+SIM_GPS_DELAY    1
+SIM_GPS_DISABLE  0
+SIM_GPS_DRIFTALT 0.000000
+SIM_GPS_GLITCH_X 0.000000
+SIM_GPS_GLITCH_Y 0.000000
+SIM_GPS_GLITCH_Z 0.000000
+SIM_GPS_HDG      0
+SIM_GPS_HZ       5
+SIM_GPS_LOCKTIME 0
+SIM_GPS_NOISE    0.000000
+SIM_GPS_NUMSATS  10
+SIM_GPS_POS_X    0.000000
+SIM_GPS_POS_Y    0.000000
+SIM_GPS_POS_Z    0.000000
+SIM_GPS_TYPE     1
+SIM_GPS_VERR_X   0.000000
+SIM_GPS_VERR_Y   0.000000
+SIM_GPS_VERR_Z   0.000000
+SIM_GRPE_ENABLE  0
+SIM_GRPE_PIN     -1
+SIM_GRPS_ENABLE  0
+SIM_GRPS_GRAB    2000
+SIM_GRPS_PIN     -1
+SIM_GRPS_RELEASE 1000
+SIM_GRPS_REVERSE 0
+SIM_GYR1_RND     0.000000
+SIM_GYR1_SCALE_X 0.000000
+SIM_GYR1_SCALE_Y 0.000000
+SIM_GYR1_SCALE_Z 0.000000
+SIM_GYR2_RND     0.000000
+SIM_GYR2_SCALE_X 0.000000
+SIM_GYR2_SCALE_Y 0.000000
+SIM_GYR2_SCALE_Z 0.000000
+SIM_GYR3_RND     0.000000
+SIM_GYR3_SCALE_X 0.000000
+SIM_GYR3_SCALE_Y 0.000000
+SIM_GYR3_SCALE_Z 0.000000
+SIM_GYR_FAIL_MSK 0
+SIM_IE24_ENABLE  0
+SIM_IE24_ERROR   0
+SIM_IE24_STATE   -1
+SIM_IMUT1_ENABLE 0
+SIM_IMUT2_ENABLE 0
+SIM_IMUT3_ENABLE 0
+SIM_IMUT_END     45.000000
+SIM_IMUT_FIXED   0.000000
+SIM_IMUT_START   25.000000
+SIM_IMUT_TCONST  300.000000
+SIM_IMU_COUNT    2
+SIM_IMU_POS_X    0.000000
+SIM_IMU_POS_Y    0.000000
+SIM_IMU_POS_Z    0.000000
+SIM_INIT_ALT_OFS 0.000000
+SIM_INIT_LAT_OFS 0.000000
+SIM_INIT_LON_OFS 0.000000
+SIM_INS_THR_MIN  0.100000
+SIM_JSON_MASTER  0
+SIM_LED_LAYOUT   0
+SIM_LOOP_DELAY   0
+SIM_MAG1_DEVID   97539
+SIM_MAG1_FAIL    0
+SIM_MAG1_SCALING 1.000000
+SIM_MAG2_DEVID   131874
+SIM_MAG2_DIA_X   0.000000
+SIM_MAG2_DIA_Y   0.000000
+SIM_MAG2_DIA_Z   0.000000
+SIM_MAG2_FAIL    0
+SIM_MAG2_ODI_X   0.000000
+SIM_MAG2_ODI_Y   0.000000
+SIM_MAG2_ODI_Z   0.000000
+SIM_MAG2_OFS_X   5.000000
+SIM_MAG2_OFS_Y   13.000000
+SIM_MAG2_OFS_Z   -18.000000
+SIM_MAG2_ORIENT  0
+SIM_MAG2_SCALING 1.000000
+SIM_MAG3_DEVID   263178
+SIM_MAG3_DIA_X   0.000000
+SIM_MAG3_DIA_Y   0.000000
+SIM_MAG3_DIA_Z   0.000000
+SIM_MAG3_FAIL    0
+SIM_MAG3_ODI_X   0.000000
+SIM_MAG3_ODI_Y   0.000000
+SIM_MAG3_ODI_Z   0.000000
+SIM_MAG3_OFS_X   5.000000
+SIM_MAG3_OFS_Y   13.000000
+SIM_MAG3_OFS_Z   -18.000000
+SIM_MAG3_ORIENT  0
+SIM_MAG3_SCALING 1.000000
+SIM_MAG4_DEVID   97283
+SIM_MAG5_DEVID   97795
+SIM_MAG6_DEVID   98051
+SIM_MAG7_DEVID   0
+SIM_MAG8_DEVID   0
+SIM_MAG_ALY_HGT  1.000000
+SIM_MAG_ALY_X    0.000000
+SIM_MAG_ALY_Y    0.000000
+SIM_MAG_ALY_Z    0.000000
+SIM_MAG_DELAY    0
+SIM_MAG_DIA_X    0.000000
+SIM_MAG_DIA_Y    0.000000
+SIM_MAG_DIA_Z    0.000000
+SIM_MAG_MOT_X    0.000000
+SIM_MAG_MOT_Y    0.000000
+SIM_MAG_MOT_Z    0.000000
+SIM_MAG_ODI_X    0.000000
+SIM_MAG_ODI_Y    0.000000
+SIM_MAG_ODI_Z    0.000000
+SIM_MAG_OFS_X    5.000000
+SIM_MAG_OFS_Y    13.000000
+SIM_MAG_OFS_Z    -18.000000
+SIM_MAG_ORIENT   0
+SIM_MAG_RND      0.000000
+SIM_ODOM_ENABLE  0
+SIM_OPOS_ALT     584.000000
+SIM_OPOS_HDG     353.000000
+SIM_OPOS_LAT     -35.363262
+SIM_OPOS_LNG     149.165237
+SIM_PARA_ENABLE  0
+SIM_PARA_PIN     -1
+SIM_PIN_MASK     0
+SIM_PLD_ALT_LMT  15.000000
+SIM_PLD_DIST_LMT 10.000000
+SIM_PLD_ENABLE   0
+SIM_PLD_HEIGHT   0.000000
+SIM_PLD_LAT      0.000000
+SIM_PLD_LON      0.000000
+SIM_PLD_RATE     100
+SIM_PLD_TYPE     0
+SIM_PLD_YAW      0
+SIM_RATE_HZ      1200
+SIM_RC_CHANCOUNT 16
+SIM_RC_FAIL      0
+SIM_RICH_CTRL    -1
+SIM_RICH_ENABLE  0
+SIM_SAFETY_STATE 0
+SIM_SAIL_TYPE    0
+SIM_SERVO_SPEED  0.140000
+SIM_SHIP_DSIZE   10.000000
+SIM_SHIP_ENABLE  0
+SIM_SHIP_PSIZE   1000.000000
+SIM_SHIP_SPEED   3.000000
+SIM_SHIP_SYSID   17
+SIM_SHOVE_TIME   0
+SIM_SHOVE_X      0.000000
+SIM_SHOVE_Y      0.000000
+SIM_SHOVE_Z      0.000000
+SIM_SONAR_GLITCH 0.000000
+SIM_SONAR_POS_X  0.000000
+SIM_SONAR_POS_Y  0.000000
+SIM_SONAR_POS_Z  0.000000
+SIM_SONAR_RND    0.000000
+SIM_SONAR_SCALE  12.121200
+SIM_SPEEDUP      1.000000
+SIM_SPR_ENABLE   0
+SIM_SPR_PUMP     -1
+SIM_SPR_SPIN     -1
+SIM_TA_ENABLE    1
+SIM_TEMP_BFACTOR 0.000000
+SIM_TEMP_BRD_OFF 20.000000
+SIM_TEMP_START   25.000000
+SIM_TEMP_TCONST  30.000000
+SIM_TERRAIN      1
+SIM_THML_SCENARI 0
+SIM_TIDE_DIR     0.000000
+SIM_TIDE_SPEED   0.000000
+SIM_TWIST_TIME   0
+SIM_TWIST_X      0.000000
+SIM_TWIST_Y      0.000000
+SIM_TWIST_Z      0.000000
+SIM_VIB_FREQ_X   0.000000
+SIM_VIB_FREQ_Y   0.000000
+SIM_VIB_FREQ_Z   0.000000
+SIM_VIB_MOT_MAX  0.000000
+SIM_VIB_MOT_MULT 1.000000
+SIM_VICON_FAIL   0
+SIM_VICON_GLIT_X 0.000000
+SIM_VICON_GLIT_Y 0.000000
+SIM_VICON_GLIT_Z 0.000000
+SIM_VICON_POS_X  0.000000
+SIM_VICON_POS_Y  0.000000
+SIM_VICON_POS_Z  0.000000
+SIM_VICON_TMASK  3
+SIM_VICON_VGLI_X 0.000000
+SIM_VICON_VGLI_Y 0.000000
+SIM_VICON_VGLI_Z 0.000000
+SIM_VICON_YAW    0
+SIM_VICON_YAWERR 0
+SIM_WAVE_AMP     0.500000
+SIM_WAVE_DIR     0.000000
+SIM_WAVE_ENABLE  0
+SIM_WAVE_LENGTH  10.000000
+SIM_WAVE_SPEED   0.500000
+SIM_WIND_DELAY   0
+SIM_WIND_DIR     180.000000
+SIM_WIND_DIR_Z   0.000000
+SIM_WIND_SPD     0.000000
+SIM_WIND_T       0
+SIM_WIND_TURB    0.000000
+SIM_WIND_T_ALT   60.000000
+SIM_WIND_T_COEF  0.010000
+SIM_WOW_PIN      -1
+SPRAY_ENABLE     0
+SR0_ADSB         4
+SR0_EXTRA1       4
+SR0_EXTRA2       4
+SR0_EXTRA3       4
+SR0_EXT_STAT     4
+SR0_PARAMS       0
+SR0_POSITION     4
+SR0_RAW_CTRL     4
+SR0_RAW_SENS     4
+SR0_RC_CHAN      4
+SR1_ADSB         0
+SR1_EXTRA1       0
+SR1_EXTRA2       0
+SR1_EXTRA3       0
+SR1_EXT_STAT     0
+SR1_PARAMS       0
+SR1_POSITION     0
+SR1_RAW_CTRL     0
+SR1_RAW_SENS     0
+SR1_RC_CHAN      0
+SR2_ADSB         0
+SR2_EXTRA1       0
+SR2_EXTRA2       0
+SR2_EXTRA3       0
+SR2_EXT_STAT     0
+SR2_PARAMS       0
+SR2_POSITION     0
+SR2_RAW_CTRL     0
+SR2_RAW_SENS     0
+SR2_RC_CHAN      0
+SR3_ADSB         0
+SR3_EXTRA1       0
+SR3_EXTRA2       0
+SR3_EXTRA3       0
+SR3_EXT_STAT     0
+SR3_PARAMS       0
+SR3_POSITION     0
+SR3_RAW_CTRL     0
+SR3_RAW_SENS     0
+SR3_RC_CHAN      0
+SR4_ADSB         0
+SR4_EXTRA1       0
+SR4_EXTRA2       0
+SR4_EXTRA3       0
+SR4_EXT_STAT     0
+SR4_PARAMS       0
+SR4_POSITION     0
+SR4_RAW_CTRL     0
+SR4_RAW_SENS     0
+SR4_RC_CHAN      0
+SR5_ADSB         0
+SR5_EXTRA1       0
+SR5_EXTRA2       0
+SR5_EXTRA3       0
+SR5_EXT_STAT     0
+SR5_PARAMS       0
+SR5_POSITION     0
+SR5_RAW_CTRL     0
+SR5_RAW_SENS     0
+SR5_RC_CHAN      0
+SR6_ADSB         0
+SR6_EXTRA1       0
+SR6_EXTRA2       0
+SR6_EXTRA3       0
+SR6_EXT_STAT     0
+SR6_PARAMS       0
+SR6_POSITION     0
+SR6_RAW_CTRL     0
+SR6_RAW_SENS     0
+SR6_RC_CHAN      0
+SRTL_ACCURACY    2.000000
+SRTL_OPTIONS     0
+SRTL_POINTS      300
+STAT_BOOTCNT     69
+STAT_FLTTIME     25934.000000
+STAT_RESET       187974747
+STAT_RUNTIME     264293.000000
+SUPER_SIMPLE     0
+SURFTRAK_MODE    1
+SYSID_ENFORCE    0
+SYSID_MYGCS      255
+SYSID_THISMAV    1
+TCAL_ENABLED     0
+TELEM_DELAY      0
+TERRAIN_ENABLE   1
+TERRAIN_MARGIN   0.050000
+TERRAIN_OPTIONS  0
+TERRAIN_SPACING  100
+THROW_MOT_START  0
+THROW_NEXTMODE   18
+THROW_TYPE       0
+THR_DZ           100
+TUNE             0
+TUNE_MAX         0.000000
+TUNE_MIN         0.000000
+VISO_TYPE        0
+VTX_ENABLE       0
+WINCH_TYPE       0
+WPNAV_ACCEL      250.000000
+WPNAV_ACCEL_Z    100.000000
+WPNAV_JERK       1.000000
+WPNAV_RADIUS     200.000000
+WPNAV_RFND_USE   1
+WPNAV_SPEED      1000.000000
+WPNAV_SPEED_DN   150.000000
+WPNAV_SPEED_UP   250.000000
+WPNAV_TER_MARGIN 10.000000
+WP_NAVALT_MIN    0.000000
+WP_YAW_BEHAVIOR  2
+ZIGZ_AUTO_ENABLE 0
diff --git a/Gazebo/config/omnicopter-rf.param b/Gazebo/config/omnicopter-rf.param
new file mode 100644
index 00000000..e3d93dfa
--- /dev/null
+++ b/Gazebo/config/omnicopter-rf.param
@@ -0,0 +1,1233 @@
+ACRO_BAL_PITCH,1
+ACRO_BAL_ROLL,1
+ACRO_OPTIONS,0
+ACRO_RP_EXPO,0.3
+ACRO_RP_P,4.5
+ACRO_THR_MID,0
+ACRO_TRAINER,2
+ACRO_Y_EXPO,0
+ACRO_YAW_P,4.5
+ADSB_TYPE,0
+AHRS_COMP_BETA,0.1
+AHRS_CUSTOM_PIT,0
+AHRS_CUSTOM_ROLL,0
+AHRS_CUSTOM_YAW,0
+AHRS_EKF_TYPE,10
+AHRS_GPS_GAIN,1
+AHRS_GPS_MINSATS,6
+AHRS_GPS_USE,1
+AHRS_ORIENTATION,0
+AHRS_RP_P,0.2
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+AHRS_TRIM_Z,0
+AHRS_WIND_MAX,0
+AHRS_YAW_P,0.2
+ANGLE_MAX,8000
+ARMING_ACCTHRESH,0.75
+ARMING_CHECK,1
+ARMING_MIS_ITEMS,0
+ARMING_RUDDER,2
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_Y_MAX,27000
+ATC_ANG_LIM_TC,1
+ATC_ANG_PIT_P,4.5
+ATC_ANG_RLL_P,4.5
+ATC_ANG_YAW_P,4.5
+ATC_ANGLE_BOOST,0
+ATC_INPUT_TC,0.15
+ATC_RAT_PIT_D,0.01
+ATC_RAT_PIT_FF,0
+ATC_RAT_PIT_FLTD,20
+ATC_RAT_PIT_FLTE,0
+ATC_RAT_PIT_FLTT,20
+ATC_RAT_PIT_I,0.5
+ATC_RAT_PIT_IMAX,0.5
+ATC_RAT_PIT_P,0.5
+ATC_RAT_PIT_SMAX,0
+ATC_RAT_RLL_D,0.01
+ATC_RAT_RLL_FF,0
+ATC_RAT_RLL_FLTD,20
+ATC_RAT_RLL_FLTE,0
+ATC_RAT_RLL_FLTT,20
+ATC_RAT_RLL_I,0.5
+ATC_RAT_RLL_IMAX,0.5
+ATC_RAT_RLL_P,0.5
+ATC_RAT_RLL_SMAX,0
+ATC_RAT_YAW_D,0.01
+ATC_RAT_YAW_FF,0
+ATC_RAT_YAW_FLTD,20
+ATC_RAT_YAW_FLTE,0
+ATC_RAT_YAW_FLTT,20
+ATC_RAT_YAW_I,0.5
+ATC_RAT_YAW_IMAX,0.5
+ATC_RAT_YAW_P,0.5
+ATC_RAT_YAW_SMAX,0
+ATC_RATE_FF_ENAB,1
+ATC_RATE_P_MAX,0
+ATC_RATE_R_MAX,0
+ATC_RATE_Y_MAX,0
+ATC_SLEW_YAW,6000
+ATC_THR_MIX_MAN,0.1
+ATC_THR_MIX_MAX,0.5
+ATC_THR_MIX_MIN,0.1
+AUTO_OPTIONS,0
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,7
+AUTOTUNE_MIN_D,0.001
+AVD_ENABLE,0
+AVOID_ANGLE_MAX,1000
+AVOID_BACKUP_SPD,0.5
+AVOID_BEHAVE,0
+AVOID_DIST_MAX,5
+AVOID_ENABLE,3
+AVOID_MARGIN,2
+BARO_ALT_OFFSET,0
+BARO_EXT_BUS,-1
+BARO_FLTR_RNG,0
+BARO_GND_TEMP,0
+BARO_PRIMARY,0
+BARO_PROBE_EXT,0
+BARO1_DEVID,65540
+BARO1_GND_PRESS,94504.09
+BARO1_WCF_ENABLE,0
+BARO2_DEVID,65796
+BARO2_GND_PRESS,94504.38
+BARO2_WCF_ENABLE,0
+BARO3_DEVID,0
+BARO3_GND_PRESS,0
+BARO3_WCF_ENABLE,0
+BATT_AMP_OFFSET,0
+BATT_AMP_PERVLT,17
+BATT_ARM_MAH,0
+BATT_ARM_VOLT,0
+BATT_BUS,0
+BATT_CAPACITY,3300
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,0
+BATT_CURR_PIN,12
+BATT_FS_CRT_ACT,0
+BATT_FS_LOW_ACT,0
+BATT_FS_VOLTSRC,0
+BATT_LOW_MAH,0
+BATT_LOW_TIMER,10
+BATT_LOW_VOLT,10.5
+BATT_MONITOR,4
+BATT_SERIAL_NUM,-1
+BATT_VOLT_MULT,10.1
+BATT_VOLT_PIN,13
+BATT2_MONITOR,0
+BATT3_MONITOR,0
+BATT4_MONITOR,0
+BATT5_MONITOR,0
+BATT6_MONITOR,0
+BATT7_MONITOR,0
+BATT8_MONITOR,0
+BATT9_MONITOR,0
+BCN_ALT,0
+BCN_LATITUDE,0
+BCN_LONGITUDE,0
+BCN_ORIENT_YAW,0
+BCN_TYPE,0
+BRD_ALT_CONFIG,0
+BRD_BOOT_DELAY,0
+BRD_OPTIONS,0
+BRD_PWM_COUNT,8
+BRD_RTC_TYPES,1
+BRD_RTC_TZ_MIN,0
+BRD_SAFETYOPTION,3
+BRD_SERIAL_NUM,0
+BRD_VBUS_MIN,4.3
+BRD_VSERVO_MIN,0
+BTN_ENABLE,0
+CAM_AUTO_ONLY,0
+CAM_DURATION,10
+CAM_FEEDBACK_PIN,-1
+CAM_FEEDBACK_POL,1
+CAM_MAX_ROLL,0
+CAM_MIN_INTERVAL,0
+CAM_RC_TYPE,0
+CAM_RELAY_ON,1
+CAM_SERVO_OFF,1100
+CAM_SERVO_ON,1300
+CAM_TRIGG_DIST,0
+CAM_TRIGG_TYPE,0
+CAM_TYPE,0
+CAN_D1_PROTOCOL,1
+CAN_D2_PROTOCOL,1
+CAN_LOGLEVEL,0
+CAN_P1_DRIVER,0
+CAN_P2_DRIVER,0
+CAN_SLCAN_CPORT,0
+CAN_SLCAN_SDELAY,1
+CAN_SLCAN_SERNUM,-1
+CAN_SLCAN_TIMOUT,0
+CHUTE_ENABLED,0
+CIRCLE_OPTIONS,0
+CIRCLE_RADIUS,500
+CIRCLE_RATE,90
+COMPASS_AUTO_ROT,2
+COMPASS_AUTODEC,1
+COMPASS_CAL_FIT,16
+COMPASS_CUS_PIT,0
+COMPASS_CUS_ROLL,0
+COMPASS_CUS_YAW,0
+COMPASS_DEC,0
+COMPASS_DEV_ID,97539
+COMPASS_DEV_ID2,131874
+COMPASS_DEV_ID3,263178
+COMPASS_DEV_ID4,97283
+COMPASS_DEV_ID5,97795
+COMPASS_DEV_ID6,98051
+COMPASS_DEV_ID7,983044
+COMPASS_DEV_ID8,0
+COMPASS_DIA_X,1
+COMPASS_DIA_Y,1
+COMPASS_DIA_Z,1
+COMPASS_DIA2_X,1
+COMPASS_DIA2_Y,1
+COMPASS_DIA2_Z,1
+COMPASS_DIA3_X,1
+COMPASS_DIA3_Y,1
+COMPASS_DIA3_Z,1
+COMPASS_ENABLE,1
+COMPASS_EXTERN2,0
+COMPASS_EXTERN3,0
+COMPASS_EXTERNAL,1
+COMPASS_FLTR_RNG,0
+COMPASS_LEARN,0
+COMPASS_MOT_X,0
+COMPASS_MOT_Y,0
+COMPASS_MOT_Z,0
+COMPASS_MOT2_X,0
+COMPASS_MOT2_Y,0
+COMPASS_MOT2_Z,0
+COMPASS_MOT3_X,0
+COMPASS_MOT3_Y,0
+COMPASS_MOT3_Z,0
+COMPASS_MOTCT,0
+COMPASS_ODI_X,0
+COMPASS_ODI_Y,0
+COMPASS_ODI_Z,0
+COMPASS_ODI2_X,0
+COMPASS_ODI2_Y,0
+COMPASS_ODI2_Z,0
+COMPASS_ODI3_X,0
+COMPASS_ODI3_Y,0
+COMPASS_ODI3_Z,0
+COMPASS_OFFS_MAX,1800
+COMPASS_OFS_X,5
+COMPASS_OFS_Y,13
+COMPASS_OFS_Z,-18
+COMPASS_OFS2_X,5
+COMPASS_OFS2_Y,13
+COMPASS_OFS2_Z,-18
+COMPASS_OFS3_X,5
+COMPASS_OFS3_Y,13
+COMPASS_OFS3_Z,-18
+COMPASS_OPTIONS,0
+COMPASS_ORIENT,0
+COMPASS_ORIENT2,0
+COMPASS_ORIENT3,0
+COMPASS_PMOT_EN,0
+COMPASS_PRIO1_ID,97539
+COMPASS_PRIO2_ID,131874
+COMPASS_PRIO3_ID,263178
+COMPASS_SCALE,1
+COMPASS_SCALE2,1
+COMPASS_SCALE3,1
+COMPASS_TYPEMASK,0
+COMPASS_USE,1
+COMPASS_USE2,1
+COMPASS_USE3,1
+DEV_OPTIONS,0
+DISARM_DELAY,10
+EAHRS_TYPE,0
+EK2_ABIAS_P_NSE,0.005
+EK2_ACC_P_NSE,0.6
+EK2_ALT_M_NSE,3
+EK2_ALT_SOURCE,0
+EK2_BCN_DELAY,50
+EK2_BCN_I_GTE,500
+EK2_BCN_M_NSE,1
+EK2_CHECK_SCALE,100
+EK2_EAS_I_GATE,400
+EK2_EAS_M_NSE,1.4
+EK2_ENABLE,1
+EK2_FLOW_DELAY,10
+EK2_FLOW_I_GATE,300
+EK2_FLOW_M_NSE,0.25
+EK2_FLOW_USE,1
+EK2_GBIAS_P_NSE,0.0001
+EK2_GLITCH_RAD,25
+EK2_GPS_CHECK,31
+EK2_GPS_TYPE,0
+EK2_GSCL_P_NSE,0.0005
+EK2_GSF_DELAY,1000
+EK2_GSF_RST_MAX,2
+EK2_GSF_RUN_MASK,3
+EK2_GSF_USE_MASK,3
+EK2_GYRO_P_NSE,0.03
+EK2_HGT_DELAY,60
+EK2_HGT_I_GATE,500
+EK2_HRT_FILT,2
+EK2_IMU_MASK,3
+EK2_MAG_CAL,3
+EK2_MAG_EF_LIM,50
+EK2_MAG_I_GATE,300
+EK2_MAG_M_NSE,0.05
+EK2_MAG_MASK,0
+EK2_MAGB_P_NSE,0.0001
+EK2_MAGE_P_NSE,0.001
+EK2_MAX_FLOW,2.5
+EK2_NOAID_M_NSE,10
+EK2_OGN_HGT_MASK,0
+EK2_POS_I_GATE,500
+EK2_POSNE_M_NSE,1
+EK2_RNG_I_GATE,500
+EK2_RNG_M_NSE,0.5
+EK2_RNG_USE_HGT,-1
+EK2_RNG_USE_SPD,2
+EK2_TAU_OUTPUT,25
+EK2_TERR_GRAD,0.1
+EK2_VEL_I_GATE,500
+EK2_VELD_M_NSE,0.5
+EK2_VELNE_M_NSE,0.3
+EK2_WIND_P_NSE,0.1
+EK2_WIND_PSCALE,0.5
+EK2_YAW_I_GATE,300
+EK2_YAW_M_NSE,0.5
+EK3_ENABLE,0
+ESC_CALIBRATION,0
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_MARGIN,2
+FENCE_RADIUS,300
+FENCE_TOTAL,0
+FENCE_TYPE,7
+FFT_ENABLE,0
+FHLD_BRAKE_RATE,8
+FHLD_FILT_HZ,5
+FHLD_FLOW_MAX,0.6
+FHLD_QUAL_MIN,10
+FHLD_XY_FILT_HZ,5
+FHLD_XY_I,0.3
+FHLD_XY_IMAX,3000
+FHLD_XY_P,0.2
+FLOW_ADDR,0
+FLOW_FXSCALER,0
+FLOW_FYSCALER,0
+FLOW_ORIENT_YAW,0
+FLOW_POS_X,0
+FLOW_POS_Y,0
+FLOW_POS_Z,0
+FLOW_TYPE,0
+FLTMODE_CH,5
+FLTMODE1,0
+FLTMODE2,2
+FLTMODE3,5
+FLTMODE4,0
+FLTMODE5,0
+FLTMODE6,5
+FOLL_ENABLE,0
+FORMAT_VERSION,120
+FRAME_CLASS,16
+FRAME_TYPE,1
+FRSKY_DNLINK1_ID,20
+FRSKY_DNLINK2_ID,7
+FRSKY_UPLINK_ID,13
+FS_CRASH_CHECK,0
+FS_EKF_ACTION,1
+FS_EKF_THRESH,0.8
+FS_GCS_ENABLE,0
+FS_GCS_TIMEOUT,5
+FS_OPTIONS,16
+FS_THR_ENABLE,1
+FS_THR_VALUE,975
+FS_VIBE_ENABLE,1
+GCS_PID_MASK,0
+GEN_TYPE,0
+GND_EFFECT_COMP,1
+GPS_AUTO_CONFIG,1
+GPS_AUTO_SWITCH,1
+GPS_BLEND_MASK,5
+GPS_BLEND_TC,10
+GPS_COM_PORT,1
+GPS_COM_PORT2,1
+GPS_DELAY_MS,0
+GPS_DELAY_MS2,0
+GPS_DRV_OPTIONS,0
+GPS_GNSS_MODE,0
+GPS_GNSS_MODE2,0
+GPS_HDOP_GOOD,140
+GPS_INJECT_TO,127
+GPS_MB1_TYPE,0
+GPS_MB2_TYPE,0
+GPS_MIN_DGPS,100
+GPS_MIN_ELEV,-100
+GPS_NAVFILTER,8
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
+GPS_POS2_X,0
+GPS_POS2_Y,0
+GPS_POS2_Z,0
+GPS_PRIMARY,0
+GPS_RATE_MS,200
+GPS_RATE_MS2,200
+GPS_RAW_DATA,0
+GPS_SAVE_CFG,2
+GPS_SBAS_MODE,2
+GPS_SBP_LOGMASK,-256
+GPS_TYPE,1
+GPS_TYPE2,0
+GRIP_ENABLE,0
+GUID_OPTIONS,0
+INITIAL_MODE,0
+INS_ACC_BODYFIX,2
+INS_ACC_ID,2753028
+INS_ACC2_ID,2753036
+INS_ACC2OFFS_X,0.001
+INS_ACC2OFFS_Y,0.001
+INS_ACC2OFFS_Z,0.001
+INS_ACC2SCAL_X,1.001
+INS_ACC2SCAL_Y,1.001
+INS_ACC2SCAL_Z,1.001
+INS_ACC3_ID,0
+INS_ACC3OFFS_X,0
+INS_ACC3OFFS_Y,0
+INS_ACC3OFFS_Z,0
+INS_ACC3SCAL_X,0
+INS_ACC3SCAL_Y,0
+INS_ACC3SCAL_Z,0
+INS_ACCEL_FILTER,20
+INS_ACCOFFS_X,0.001
+INS_ACCOFFS_Y,0.001
+INS_ACCOFFS_Z,0.001
+INS_ACCSCAL_X,1.001
+INS_ACCSCAL_Y,1.001
+INS_ACCSCAL_Z,1.001
+INS_ENABLE_MASK,127
+INS_FAST_SAMPLE,1
+INS_GYR_CAL,0
+INS_GYR_ID,2752772
+INS_GYR2_ID,2752780
+INS_GYR2OFFS_X,5.609456E-05
+INS_GYR2OFFS_Y,1.06282E-05
+INS_GYR2OFFS_Z,5.450824E-05
+INS_GYR3_ID,0
+INS_GYR3OFFS_X,0
+INS_GYR3OFFS_Y,0
+INS_GYR3OFFS_Z,0
+INS_GYRO_FILTER,20
+INS_GYRO_RATE,0
+INS_GYROFFS_X,3.903687E-05
+INS_GYROFFS_Y,3.485638E-05
+INS_GYROFFS_Z,3.935821E-05
+INS_HNTCH_ENABLE,0
+INS_LOG_BAT_CNT,1024
+INS_LOG_BAT_LGCT,32
+INS_LOG_BAT_LGIN,20
+INS_LOG_BAT_MASK,0
+INS_LOG_BAT_OPT,0
+INS_NOTCH_ENABLE,0
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS1_Z,0
+INS_POS2_X,0
+INS_POS2_Y,0
+INS_POS2_Z,0
+INS_POS3_X,0
+INS_POS3_Y,0
+INS_POS3_Z,0
+INS_STILL_THRESH,2.5
+INS_TRIM_OPTION,1
+INS_USE,1
+INS_USE2,1
+INS_USE3,1
+LAND_ALT_LOW,1000
+LAND_REPOSITION,1
+LAND_SPEED,50
+LAND_SPEED_HIGH,0
+LGR_DEPLOY_ALT,0
+LGR_DEPLOY_PIN,-1
+LGR_DEPLOY_POL,0
+LGR_OPTIONS,3
+LGR_RETRACT_ALT,0
+LGR_STARTUP,0
+LGR_WOW_PIN,8
+LGR_WOW_POL,1
+LOG_BACKEND_TYPE,1
+LOG_BITMASK,176126
+LOG_DISARMED,0
+LOG_FILE_BUFSIZE,200
+LOG_FILE_DSRMROT,0
+LOG_FILE_MB_FREE,500
+LOG_FILE_TIMEOUT,5
+LOG_MAV_BUFSIZE,8
+LOG_REPLAY,0
+LOIT_ACC_MAX,500
+LOIT_ANG_MAX,0
+LOIT_BRK_ACCEL,250
+LOIT_BRK_DELAY,0
+LOIT_BRK_JERK,500
+LOIT_SPEED,1250
+MIS_OPTIONS,0
+MIS_RESTART,0
+MIS_TOTAL,0
+MNT_ANGMAX_PAN,4500
+MNT_ANGMAX_ROL,4500
+MNT_ANGMAX_TIL,4500
+MNT_ANGMIN_PAN,-4500
+MNT_ANGMIN_ROL,-4500
+MNT_ANGMIN_TIL,-4500
+MNT_DEFLT_MODE,3
+MNT_JSTICK_SPD,0
+MNT_LEAD_PTCH,0
+MNT_LEAD_RLL,0
+MNT_NEUTRAL_X,0
+MNT_NEUTRAL_Y,0
+MNT_NEUTRAL_Z,0
+MNT_RC_IN_PAN,0
+MNT_RC_IN_ROLL,0
+MNT_RC_IN_TILT,0
+MNT_RETRACT_X,0
+MNT_RETRACT_Y,0
+MNT_RETRACT_Z,0
+MNT_STAB_PAN,0
+MNT_STAB_ROLL,0
+MNT_STAB_TILT,0
+MNT_TYPE,0
+MOT_BAT_CURR_MAX,0
+MOT_BAT_CURR_TC,5
+MOT_BAT_IDX,0
+MOT_BAT_VOLT_MAX,0
+MOT_BAT_VOLT_MIN,0
+MOT_BOOST_SCALE,0
+MOT_HOVER_LEARN,2
+MOT_PWM_MAX,0
+MOT_PWM_MIN,0
+MOT_PWM_TYPE,0
+MOT_SAFE_DISARM,0
+MOT_SAFE_TIME,1
+MOT_SLEW_DN_TIME,0
+MOT_SLEW_UP_TIME,0
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,1
+MOT_SPIN_MIN,-1
+MOT_SPOOL_TIME,0.5
+MOT_THST_EXPO,0.65
+MOT_THST_HOVER,0.4033413
+MOT_YAW_HEADROOM,50
+MSP_OPTIONS,0
+MSP_OSD_NCELLS,0
+NTF_BUZZ_ENABLE,1
+NTF_BUZZ_ON_LVL,1
+NTF_BUZZ_PIN,0
+NTF_BUZZ_VOLUME,100
+NTF_DISPLAY_TYPE,0
+NTF_LED_BRIGHT,3
+NTF_LED_LEN,1
+NTF_LED_OVERRIDE,0
+NTF_LED_TYPES,199
+NTF_OREO_THEME,0
+OA_TYPE,0
+OSD_TYPE,0
+PHLD_BRAKE_ANGLE,3000
+PHLD_BRAKE_RATE,8
+PILOT_ACCEL_Z,250
+PILOT_SPEED_DN,0
+PILOT_SPEED_UP,250
+PILOT_THR_BHV,0
+PILOT_THR_FILT,0
+PILOT_TKOFF_ALT,0
+PLND_ENABLED,0
+PRX_IGN_ANG1,0
+PRX_IGN_ANG2,0
+PRX_IGN_ANG3,0
+PRX_IGN_ANG4,0
+PRX_IGN_ANG5,0
+PRX_IGN_ANG6,0
+PRX_IGN_WID1,0
+PRX_IGN_WID2,0
+PRX_IGN_WID3,0
+PRX_IGN_WID4,0
+PRX_IGN_WID5,0
+PRX_IGN_WID6,0
+PRX_ORIENT,0
+PRX_TYPE,0
+PRX_YAW_CORR,0
+PSC_ACC_XY_FILT,5
+PSC_ACCZ_D,0
+PSC_ACCZ_FF,0
+PSC_ACCZ_FLTD,0
+PSC_ACCZ_FLTE,20
+PSC_ACCZ_FLTT,0
+PSC_ACCZ_I,1
+PSC_ACCZ_IMAX,800
+PSC_ACCZ_P,0.5
+PSC_ACCZ_SMAX,0
+PSC_ANGLE_MAX,0
+PSC_POSXY_P,1
+PSC_POSZ_P,1
+PSC_VELXY_D,1
+PSC_VELXY_D_FILT,5
+PSC_VELXY_FILT,5
+PSC_VELXY_I,3
+PSC_VELXY_IMAX,1000
+PSC_VELXY_P,6
+PSC_VELZ_P,5
+RALLY_INCL_HOME,1
+RALLY_LIMIT_KM,0.3
+RALLY_TOTAL,0
+RC_OPTIONS,32
+RC_OVERRIDE_TIME,3
+RC_PROTOCOLS,1
+RC_SPEED,490
+RC1_DZ,20
+RC1_MAX,2000
+RC1_MIN,1000
+RC1_OPTION,0
+RC1_REVERSED,0
+RC1_TRIM,1500
+RC10_DZ,0
+RC10_MAX,1900
+RC10_MIN,1100
+RC10_OPTION,0
+RC10_REVERSED,0
+RC10_TRIM,1500
+RC11_DZ,0
+RC11_MAX,1900
+RC11_MIN,1100
+RC11_OPTION,0
+RC11_REVERSED,0
+RC11_TRIM,1500
+RC12_DZ,0
+RC12_MAX,1900
+RC12_MIN,1100
+RC12_OPTION,0
+RC12_REVERSED,0
+RC12_TRIM,1500
+RC13_DZ,0
+RC13_MAX,1900
+RC13_MIN,1100
+RC13_OPTION,0
+RC13_REVERSED,0
+RC13_TRIM,1500
+RC14_DZ,0
+RC14_MAX,1900
+RC14_MIN,1100
+RC14_OPTION,0
+RC14_REVERSED,0
+RC14_TRIM,1500
+RC15_DZ,0
+RC15_MAX,1900
+RC15_MIN,1100
+RC15_OPTION,0
+RC15_REVERSED,0
+RC15_TRIM,1500
+RC16_DZ,0
+RC16_MAX,1900
+RC16_MIN,1100
+RC16_OPTION,0
+RC16_REVERSED,0
+RC16_TRIM,1500
+RC2_DZ,20
+RC2_MAX,2000
+RC2_MIN,1000
+RC2_OPTION,0
+RC2_REVERSED,1
+RC2_TRIM,1500
+RC3_DZ,30
+RC3_MAX,2000
+RC3_MIN,1000
+RC3_OPTION,0
+RC3_REVERSED,0
+RC3_TRIM,1500
+RC4_DZ,20
+RC4_MAX,2000
+RC4_MIN,1000
+RC4_OPTION,0
+RC4_REVERSED,0
+RC4_TRIM,1500
+RC5_DZ,0
+RC5_MAX,1900
+RC5_MIN,1100
+RC5_OPTION,0
+RC5_REVERSED,0
+RC5_TRIM,1500
+RC6_DZ,0
+RC6_MAX,1900
+RC6_MIN,1100
+RC6_OPTION,31
+RC6_REVERSED,0
+RC6_TRIM,1500
+RC7_DZ,0
+RC7_MAX,1900
+RC7_MIN,1100
+RC7_OPTION,302
+RC7_REVERSED,0
+RC7_TRIM,1500
+RC8_DZ,0
+RC8_MAX,1900
+RC8_MIN,1100
+RC8_OPTION,301
+RC8_REVERSED,0
+RC8_TRIM,1500
+RC9_DZ,0
+RC9_MAX,1900
+RC9_MIN,1100
+RC9_OPTION,300
+RC9_REVERSED,0
+RC9_TRIM,1500
+RCMAP_PITCH,2
+RCMAP_ROLL,1
+RCMAP_THROTTLE,3
+RCMAP_YAW,4
+RELAY_DEFAULT,0
+RELAY_PIN,13
+RELAY_PIN2,-1
+RELAY_PIN3,-1
+RELAY_PIN4,-1
+RELAY_PIN5,-1
+RELAY_PIN6,-1
+RNGFND_GAIN,0.8
+RNGFND1_TYPE,0
+RNGFND2_TYPE,0
+RNGFND3_TYPE,0
+RNGFND4_TYPE,0
+RNGFND5_TYPE,0
+RNGFND6_TYPE,0
+RNGFND7_TYPE,0
+RNGFND8_TYPE,0
+RNGFND9_TYPE,0
+RNGFNDA_TYPE,0
+RPM_MAX,100000
+RPM_MIN,10
+RPM_MIN_QUAL,0.5
+RPM_PIN,54
+RPM_SCALING,1
+RPM_TYPE,0
+RPM2_PIN,-1
+RPM2_SCALING,1
+RPM2_TYPE,0
+RSSI_TYPE,0
+RTL_ALT,1500
+RTL_ALT_FINAL,0
+RTL_ALT_TYPE,0
+RTL_CLIMB_MIN,0
+RTL_CONE_SLOPE,3
+RTL_LOIT_TIME,5000
+RTL_OPTIONS,0
+RTL_SPEED,0
+SCHED_DEBUG,0
+SCHED_LOOP_RATE,400
+SCHED_OPTIONS,0
+SCR_DEBUG_LVL,0
+SCR_DIR_DISABLE,0
+SCR_ENABLE,1
+SCR_HEAP_SIZE,65536
+SCR_USER1,0
+SCR_USER2,0
+SCR_USER3,0
+SCR_USER4,0
+SCR_VM_I_COUNT,10000
+SERIAL_PASS1,0
+SERIAL_PASS2,-1
+SERIAL_PASSTIMO,15
+SERIAL0_BAUD,115
+SERIAL0_PROTOCOL,2
+SERIAL1_BAUD,57
+SERIAL1_OPTIONS,0
+SERIAL1_PROTOCOL,2
+SERIAL2_BAUD,57
+SERIAL2_OPTIONS,0
+SERIAL2_PROTOCOL,2
+SERIAL3_BAUD,38
+SERIAL3_OPTIONS,0
+SERIAL3_PROTOCOL,5
+SERIAL4_BAUD,38
+SERIAL4_OPTIONS,0
+SERIAL4_PROTOCOL,5
+SERIAL5_BAUD,57
+SERIAL5_OPTIONS,0
+SERIAL5_PROTOCOL,-1
+SERIAL6_BAUD,57
+SERIAL6_OPTIONS,0
+SERIAL6_PROTOCOL,-1
+SERIAL7_BAUD,57
+SERIAL7_OPTIONS,0
+SERIAL7_PROTOCOL,-1
+SERVO_RATE,50
+SERVO_ROB_POSMAX,4095
+SERVO_ROB_POSMIN,0
+SERVO_SBUS_RATE,50
+SERVO_VOLZ_MASK,0
+SERVO1_FUNCTION,33
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO1_REVERSED,0
+SERVO1_TRIM,1500
+SERVO10_FUNCTION,0
+SERVO10_MAX,1900
+SERVO10_MIN,1100
+SERVO10_REVERSED,0
+SERVO10_TRIM,1500
+SERVO11_FUNCTION,0
+SERVO11_MAX,1900
+SERVO11_MIN,1100
+SERVO11_REVERSED,0
+SERVO11_TRIM,1500
+SERVO12_FUNCTION,0
+SERVO12_MAX,1900
+SERVO12_MIN,1100
+SERVO12_REVERSED,0
+SERVO12_TRIM,1500
+SERVO13_FUNCTION,0
+SERVO13_MAX,1900
+SERVO13_MIN,1100
+SERVO13_REVERSED,0
+SERVO13_TRIM,1500
+SERVO14_FUNCTION,0
+SERVO14_MAX,1900
+SERVO14_MIN,1100
+SERVO14_REVERSED,0
+SERVO14_TRIM,1500
+SERVO15_FUNCTION,0
+SERVO15_MAX,1900
+SERVO15_MIN,1100
+SERVO15_REVERSED,0
+SERVO15_TRIM,1500
+SERVO16_FUNCTION,0
+SERVO16_MAX,1900
+SERVO16_MIN,1100
+SERVO16_REVERSED,0
+SERVO16_TRIM,1500
+SERVO2_FUNCTION,34
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO2_REVERSED,0
+SERVO2_TRIM,1500
+SERVO3_FUNCTION,35
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_REVERSED,0
+SERVO3_TRIM,1500
+SERVO4_FUNCTION,36
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO4_REVERSED,0
+SERVO4_TRIM,1500
+SERVO5_FUNCTION,37
+SERVO5_MAX,2000
+SERVO5_MIN,1000
+SERVO5_REVERSED,0
+SERVO5_TRIM,1500
+SERVO6_FUNCTION,38
+SERVO6_MAX,2000
+SERVO6_MIN,1000
+SERVO6_REVERSED,0
+SERVO6_TRIM,1500
+SERVO7_FUNCTION,0
+SERVO7_MAX,1900
+SERVO7_MIN,1100
+SERVO7_REVERSED,0
+SERVO7_TRIM,1500
+SERVO8_FUNCTION,0
+SERVO8_MAX,1900
+SERVO8_MIN,1100
+SERVO8_REVERSED,0
+SERVO8_TRIM,1500
+SERVO9_FUNCTION,0
+SERVO9_MAX,1900
+SERVO9_MIN,1100
+SERVO9_REVERSED,0
+SERVO9_TRIM,1500
+SID_AXIS,0
+SIM_ACC_BIAS_X,0
+SIM_ACC_BIAS_Y,0
+SIM_ACC_BIAS_Z,0
+SIM_ACC_FAIL_MSK,0
+SIM_ACC_RND,0
+SIM_ACC2_BIAS_X,0
+SIM_ACC2_BIAS_Y,0
+SIM_ACC2_BIAS_Z,0
+SIM_ACC2_RND,0
+SIM_ACCEL_FAIL,0
+SIM_ADSB_ALT,1000
+SIM_ADSB_COUNT,-1
+SIM_ADSB_RADIUS,10000
+SIM_ADSB_TX,0
+SIM_ARSPD_FAIL,0
+SIM_ARSPD_FAILP,0
+SIM_ARSPD_OFS,2013
+SIM_ARSPD_PITOT,0
+SIM_ARSPD_RND,2
+SIM_ARSPD_SIGN,0
+SIM_ARSPD2_FAIL,0
+SIM_ARSPD2_FAILP,0
+SIM_ARSPD2_OFS,2013
+SIM_ARSPD2_PITOT,0
+SIM_ARSPD2_RND,2
+SIM_BAR2_DELAY,0
+SIM_BAR2_DISABLE,0
+SIM_BAR2_DRIFT,0
+SIM_BAR2_FREEZE,0
+SIM_BAR2_GLITCH,0
+SIM_BAR2_RND,0.2
+SIM_BAR2_WCF_BAK,0
+SIM_BAR2_WCF_FWD,0
+SIM_BAR2_WCF_LFT,0
+SIM_BAR2_WCF_RGT,0
+SIM_BAR3_DELAY,0
+SIM_BAR3_DISABLE,0
+SIM_BAR3_DRIFT,0
+SIM_BAR3_FREEZE,0
+SIM_BAR3_GLITCH,0
+SIM_BAR3_RND,0.2
+SIM_BAR3_WCF_BAK,0
+SIM_BAR3_WCF_FWD,0
+SIM_BAR3_WCF_LFT,0
+SIM_BAR3_WCF_RGT,0
+SIM_BARO_COUNT,2
+SIM_BARO_DELAY,0
+SIM_BARO_DISABLE,0
+SIM_BARO_DRIFT,0
+SIM_BARO_FREEZE,0
+SIM_BARO_GLITCH,0
+SIM_BARO_RND,0.2
+SIM_BARO_WCF_BAK,0
+SIM_BARO_WCF_FWD,0
+SIM_BARO_WCF_LFT,0
+SIM_BARO_WCF_RGT,0
+SIM_BATT_CAP_AH,0
+SIM_BATT_VOLTAGE,12.6
+SIM_BAUDLIMIT_EN,0
+SIM_BZ_ENABLE,0
+SIM_BZ_PIN,0
+SIM_DRIFT_SPEED,0.05
+SIM_DRIFT_TIME,5
+SIM_EFI_TYPE,0
+SIM_ENGINE_FAIL,0
+SIM_ENGINE_MUL,1
+SIM_FLOAT_EXCEPT,1
+SIM_FLOW_DELAY,0
+SIM_FLOW_ENABLE,0
+SIM_FLOW_POS_X,0
+SIM_FLOW_POS_Y,0
+SIM_FLOW_POS_Z,0
+SIM_FLOW_RATE,10
+SIM_FLOW_RND,0.05
+SIM_GND_BEHAV,-1
+SIM_GPS_ACC,0.3
+SIM_GPS_ALT_OFS,0
+SIM_GPS_BYTELOSS,0
+SIM_GPS_DELAY,1
+SIM_GPS_DISABLE,0
+SIM_GPS_DRIFTALT,0
+SIM_GPS_GLITCH_X,0
+SIM_GPS_GLITCH_Y,0
+SIM_GPS_GLITCH_Z,0
+SIM_GPS_HDG,0
+SIM_GPS_HZ,5
+SIM_GPS_LOCKTIME,0
+SIM_GPS_NOISE,0
+SIM_GPS_NUMSATS,10
+SIM_GPS_POS_X,0
+SIM_GPS_POS_Y,0
+SIM_GPS_POS_Z,0
+SIM_GPS_TYPE,1
+SIM_GPS_VERR_X,0
+SIM_GPS_VERR_Y,0
+SIM_GPS_VERR_Z,0
+SIM_GPS2_ACC,0.3
+SIM_GPS2_ALT_OFS,0
+SIM_GPS2_BYTELOS,0
+SIM_GPS2_DELAY,1
+SIM_GPS2_DISABLE,1
+SIM_GPS2_DRFTALT,0
+SIM_GPS2_GLTCH_X,0
+SIM_GPS2_GLTCH_Y,0
+SIM_GPS2_GLTCH_Z,0
+SIM_GPS2_HDG,0
+SIM_GPS2_HZ,5
+SIM_GPS2_LCKTIME,0
+SIM_GPS2_NOISE,0
+SIM_GPS2_NUMSATS,10
+SIM_GPS2_POS_X,0
+SIM_GPS2_POS_Y,0
+SIM_GPS2_POS_Z,0
+SIM_GPS2_TYPE,1
+SIM_GPS2_VERR_X,0
+SIM_GPS2_VERR_Y,0
+SIM_GPS2_VERR_Z,0
+SIM_GRPE_ENABLE,0
+SIM_GRPE_PIN,-1
+SIM_GRPS_ENABLE,0
+SIM_GRPS_GRAB,2000
+SIM_GRPS_PIN,-1
+SIM_GRPS_RELEASE,1000
+SIM_GRPS_REVERSE,0
+SIM_GYR_FAIL_MSK,0
+SIM_GYR_RND,0
+SIM_GYR_SCALE_X,0
+SIM_GYR_SCALE_Y,0
+SIM_GYR_SCALE_Z,0
+SIM_IE24_ENABLE,0
+SIM_IE24_ERROR,0
+SIM_IE24_STATE,-1
+SIM_IMU_COUNT,2
+SIM_IMU_POS_X,0
+SIM_IMU_POS_Y,0
+SIM_IMU_POS_Z,0
+SIM_INS_THR_MIN,0.1
+SIM_LED_LAYOUT,0
+SIM_LOOP_DELAY,0
+SIM_MAG_ALY_HGT,1
+SIM_MAG_ALY_X,0
+SIM_MAG_ALY_Y,0
+SIM_MAG_ALY_Z,0
+SIM_MAG_DELAY,0
+SIM_MAG_DIA_X,0
+SIM_MAG_DIA_Y,0
+SIM_MAG_DIA_Z,0
+SIM_MAG_MOT_X,0
+SIM_MAG_MOT_Y,0
+SIM_MAG_MOT_Z,0
+SIM_MAG_ODI_X,0
+SIM_MAG_ODI_Y,0
+SIM_MAG_ODI_Z,0
+SIM_MAG_OFS_X,5
+SIM_MAG_OFS_Y,13
+SIM_MAG_OFS_Z,-18
+SIM_MAG_ORIENT,0
+SIM_MAG_RND,0
+SIM_MAG1_DEVID,97539
+SIM_MAG1_FAIL,0
+SIM_MAG1_SCALING,1
+SIM_MAG2_DEVID,131874
+SIM_MAG2_DIA_X,0
+SIM_MAG2_DIA_Y,0
+SIM_MAG2_DIA_Z,0
+SIM_MAG2_FAIL,0
+SIM_MAG2_ODI_X,0
+SIM_MAG2_ODI_Y,0
+SIM_MAG2_ODI_Z,0
+SIM_MAG2_OFS_X,5
+SIM_MAG2_OFS_Y,13
+SIM_MAG2_OFS_Z,-18
+SIM_MAG2_ORIENT,0
+SIM_MAG2_SCALING,1
+SIM_MAG3_DEVID,263178
+SIM_MAG3_DIA_X,0
+SIM_MAG3_DIA_Y,0
+SIM_MAG3_DIA_Z,0
+SIM_MAG3_FAIL,0
+SIM_MAG3_ODI_X,0
+SIM_MAG3_ODI_Y,0
+SIM_MAG3_ODI_Z,0
+SIM_MAG3_OFS_X,5
+SIM_MAG3_OFS_Y,13
+SIM_MAG3_OFS_Z,-18
+SIM_MAG3_ORIENT,0
+SIM_MAG3_SCALING,1
+SIM_MAG4_DEVID,97283
+SIM_MAG5_DEVID,97795
+SIM_MAG6_DEVID,98051
+SIM_MAG7_DEVID,0
+SIM_MAG8_DEVID,0
+SIM_ODOM_ENABLE,0
+SIM_OPOS_ALT,584
+SIM_OPOS_HDG,353
+SIM_OPOS_LAT,-35.36326
+SIM_OPOS_LNG,149.1652
+SIM_PARA_ENABLE,0
+SIM_PARA_PIN,-1
+SIM_PIN_MASK,0
+SIM_PLD_ALT_LMT,15
+SIM_PLD_DIST_LMT,10
+SIM_PLD_ENABLE,0
+SIM_PLD_HEIGHT,0
+SIM_PLD_LAT,0
+SIM_PLD_LON,0
+SIM_PLD_RATE,100
+SIM_PLD_TYPE,0
+SIM_PLD_YAW,0
+SIM_RATE_HZ,1200
+SIM_RC_CHANCOUNT,16
+SIM_RC_FAIL,0
+SIM_RICH_CTRL,-1
+SIM_RICH_ENABLE,0
+SIM_SAFETY_STATE,0
+SIM_SERVO_SPEED,0.14
+SIM_SHIP_DSIZE,10
+SIM_SHIP_ENABLE,0
+SIM_SHIP_PSIZE,1000
+SIM_SHIP_SPEED,3
+SIM_SHIP_SYSID,17
+SIM_SHOVE_TIME,0
+SIM_SHOVE_X,0
+SIM_SHOVE_Y,0
+SIM_SHOVE_Z,0
+SIM_SONAR_GLITCH,0
+SIM_SONAR_POS_X,0
+SIM_SONAR_POS_Y,0
+SIM_SONAR_POS_Z,0
+SIM_SONAR_RND,0
+SIM_SONAR_SCALE,12.1212
+SIM_SPEEDUP,1
+SIM_SPR_ENABLE,0
+SIM_SPR_PUMP,-1
+SIM_SPR_SPIN,-1
+SIM_TA_ENABLE,1
+SIM_TEMP_BFACTOR,0
+SIM_TEMP_FLIGHT,35
+SIM_TEMP_START,25
+SIM_TEMP_TCONST,30
+SIM_TERRAIN,1
+SIM_THML_SCENARI,0
+SIM_TIDE_DIR,0
+SIM_TIDE_SPEED,0
+SIM_TWIST_TIME,0
+SIM_TWIST_X,0
+SIM_TWIST_Y,0
+SIM_TWIST_Z,0
+SIM_VIB_FREQ_X,0
+SIM_VIB_FREQ_Y,0
+SIM_VIB_FREQ_Z,0
+SIM_VIB_MOT_MAX,0
+SIM_VIB_MOT_MULT,1
+SIM_VICON_FAIL,0
+SIM_VICON_GLIT_X,0
+SIM_VICON_GLIT_Y,0
+SIM_VICON_GLIT_Z,0
+SIM_VICON_POS_X,0
+SIM_VICON_POS_Y,0
+SIM_VICON_POS_Z,0
+SIM_VICON_TMASK,3
+SIM_VICON_VGLI_X,0
+SIM_VICON_VGLI_Y,0
+SIM_VICON_VGLI_Z,0
+SIM_VICON_YAW,0
+SIM_VICON_YAWERR,0
+SIM_WAVE_AMP,0.5
+SIM_WAVE_DIR,0
+SIM_WAVE_ENABLE,0
+SIM_WAVE_LENGTH,10
+SIM_WAVE_SPEED,0.5
+SIM_WIND_DELAY,0
+SIM_WIND_DIR,180
+SIM_WIND_DIR_Z,0
+SIM_WIND_SPD,0
+SIM_WIND_T,0
+SIM_WIND_T_ALT,60
+SIM_WIND_T_COEF,0.01
+SIM_WIND_TURB,0
+SIM_WOW_PIN,-1
+SIMPLE,0
+SPRAY_ENABLE,0
+SR0_ADSB,0
+SR0_EXT_STAT,10
+SR0_EXTRA1,10
+SR0_EXTRA2,10
+SR0_EXTRA3,10
+SR0_PARAMS,0
+SR0_POSITION,10
+SR0_RAW_CTRL,0
+SR0_RAW_SENS,10
+SR0_RC_CHAN,10
+SR1_ADSB,0
+SR1_EXT_STAT,0
+SR1_EXTRA1,0
+SR1_EXTRA2,0
+SR1_EXTRA3,0
+SR1_PARAMS,0
+SR1_POSITION,0
+SR1_RAW_CTRL,0
+SR1_RAW_SENS,0
+SR1_RC_CHAN,0
+SR2_ADSB,0
+SR2_EXT_STAT,0
+SR2_EXTRA1,0
+SR2_EXTRA2,0
+SR2_EXTRA3,0
+SR2_PARAMS,0
+SR2_POSITION,0
+SR2_RAW_CTRL,0
+SR2_RAW_SENS,0
+SR2_RC_CHAN,0
+SR3_ADSB,0
+SR3_EXT_STAT,0
+SR3_EXTRA1,0
+SR3_EXTRA2,0
+SR3_EXTRA3,0
+SR3_PARAMS,0
+SR3_POSITION,0
+SR3_RAW_CTRL,0
+SR3_RAW_SENS,0
+SR3_RC_CHAN,0
+SR4_ADSB,0
+SR4_EXT_STAT,0
+SR4_EXTRA1,0
+SR4_EXTRA2,0
+SR4_EXTRA3,0
+SR4_PARAMS,0
+SR4_POSITION,0
+SR4_RAW_CTRL,0
+SR4_RAW_SENS,0
+SR4_RC_CHAN,0
+SR5_ADSB,0
+SR5_EXT_STAT,0
+SR5_EXTRA1,0
+SR5_EXTRA2,0
+SR5_EXTRA3,0
+SR5_PARAMS,0
+SR5_POSITION,0
+SR5_RAW_CTRL,0
+SR5_RAW_SENS,0
+SR5_RC_CHAN,0
+SR6_ADSB,0
+SR6_EXT_STAT,0
+SR6_EXTRA1,0
+SR6_EXTRA2,0
+SR6_EXTRA3,0
+SR6_PARAMS,0
+SR6_POSITION,0
+SR6_RAW_CTRL,0
+SR6_RAW_SENS,0
+SR6_RC_CHAN,0
+SRTL_ACCURACY,2
+SRTL_POINTS,300
+STAT_BOOTCNT,22
+STAT_FLTTIME,4488
+STAT_RESET,158455321
+STAT_RUNTIME,16568
+SUPER_SIMPLE,0
+SYSID_ENFORCE,0
+SYSID_MYGCS,255
+SYSID_THISMAV,1
+TCAL_ENABLED,0
+TELEM_DELAY,0
+TERRAIN_ENABLE,0
+THR_DZ,100
+THROW_MOT_START,0
+THROW_NEXTMODE,18
+THROW_TYPE,0
+TUNE,0
+TUNE_MAX,0
+TUNE_MIN,0
+VISO_TYPE,0
+VTX_ENABLE,0
+WINCH_TYPE,0
+WP_NAVALT_MIN,0
+WP_YAW_BEHAVIOR,2
+WPNAV_ACCEL,1000
+WPNAV_ACCEL_Z,100
+WPNAV_RADIUS,200
+WPNAV_RFND_USE,1
+WPNAV_SPEED,5000
+WPNAV_SPEED_DN,150
+WPNAV_SPEED_UP,250
+ZIGZ_AUTO_ENABLE,0
diff --git a/Gazebo/config/omnicopter-zero-torque.param b/Gazebo/config/omnicopter-zero-torque.param
new file mode 100644
index 00000000..9d3ae9b1
--- /dev/null
+++ b/Gazebo/config/omnicopter-zero-torque.param
@@ -0,0 +1,1237 @@
+ACRO_BAL_PITCH   1.000000
+ACRO_BAL_ROLL    1.000000
+ACRO_OPTIONS     0
+ACRO_RP_EXPO     0.300000
+ACRO_RP_RATE     360.000000
+ACRO_THR_MID     0.000000
+ACRO_TRAINER     2
+ACRO_Y_EXPO      0.000000
+ACRO_Y_RATE      202.500000
+ADSB_TYPE        0
+AHRS_COMP_BETA   0.100000
+AHRS_CUSTOM_PIT  0.000000
+AHRS_CUSTOM_ROLL 0.000000
+AHRS_CUSTOM_YAW  0.000000
+AHRS_EKF_TYPE    2
+AHRS_GPS_GAIN    1.000000
+AHRS_GPS_MINSATS 6
+AHRS_GPS_USE     1
+AHRS_ORIENTATION 0
+AHRS_RP_P        0.200000
+AHRS_TRIM_X      0.000000
+AHRS_TRIM_Y      0.000000
+AHRS_TRIM_Z      0.000000
+AHRS_WIND_MAX    0
+AHRS_YAW_P       0.200000
+ANGLE_MAX        8000
+ARMING_ACCTHRESH 0.750000
+ARMING_CHECK     1
+ARMING_MIS_ITEMS 0
+ARMING_RUDDER    2
+ATC_ACCEL_P_MAX  110000.000000
+ATC_ACCEL_R_MAX  110000.000000
+ATC_ACCEL_Y_MAX  27000.000000
+ATC_ANGLE_BOOST  0
+ATC_ANG_LIM_TC   1.000000
+ATC_ANG_PIT_P    4.500000
+ATC_ANG_RLL_P    4.500000
+ATC_ANG_YAW_P    4.500000
+ATC_INPUT_TC     0.150000
+ATC_RATE_FF_ENAB 1
+ATC_RATE_P_MAX   0.000000
+ATC_RATE_R_MAX   0.000000
+ATC_RATE_Y_MAX   0.000000
+ATC_RAT_PIT_D    0.008000
+ATC_RAT_PIT_FF   0.000000
+ATC_RAT_PIT_FLTD 20.000000
+ATC_RAT_PIT_FLTE 0.000000
+ATC_RAT_PIT_FLTT 20.000000
+ATC_RAT_PIT_I    0.010000
+ATC_RAT_PIT_IMAX 0.500000
+ATC_RAT_PIT_P    0.020000
+ATC_RAT_PIT_SMAX 20.000000
+ATC_RAT_RLL_D    0.001000
+ATC_RAT_RLL_FF   0.000000
+ATC_RAT_RLL_FLTD 20.000000
+ATC_RAT_RLL_FLTE 0.000000
+ATC_RAT_RLL_FLTT 20.000000
+ATC_RAT_RLL_I    0.200000
+ATC_RAT_RLL_IMAX 0.500000
+ATC_RAT_RLL_P    0.200000
+ATC_RAT_RLL_SMAX 20.000000
+ATC_RAT_YAW_D    0.002000
+ATC_RAT_YAW_FF   0.000000
+ATC_RAT_YAW_FLTD 20.000000
+ATC_RAT_YAW_FLTE 2.500000
+ATC_RAT_YAW_FLTT 20.000000
+ATC_RAT_YAW_I    0.010000
+ATC_RAT_YAW_IMAX 0.500000
+ATC_RAT_YAW_P    0.100000
+ATC_RAT_YAW_SMAX 20.000000
+ATC_SLEW_YAW     6000.000000
+ATC_THR_MIX_MAN  0.100000
+ATC_THR_MIX_MAX  0.500000
+ATC_THR_MIX_MIN  0.100000
+AUTOTUNE_AGGR    0.100000
+AUTOTUNE_AXES    7
+AUTOTUNE_MIN_D   0.001000
+AUTO_OPTIONS     0
+AVD_ENABLE       0
+AVOID_ACCEL_MAX  3.000000
+AVOID_ALT_MIN    0.000000
+AVOID_ANGLE_MAX  1000
+AVOID_BACKUP_DZ  0.100000
+AVOID_BACKUP_SPD 0.750000
+AVOID_BEHAVE     0
+AVOID_DIST_MAX   5.000000
+AVOID_ENABLE     3
+AVOID_MARGIN     2.000000
+BARO1_DEVID      65540
+BARO1_GND_PRESS  94502.929688
+BARO1_WCF_ENABLE 0
+BARO2_DEVID      65796
+BARO2_GND_PRESS  94502.148438
+BARO2_WCF_ENABLE 0
+BARO3_DEVID      0
+BARO3_GND_PRESS  0.000000
+BARO3_WCF_ENABLE 0
+BARO_ALT_OFFSET  0.000000
+BARO_EXT_BUS     -1
+BARO_FLTR_RNG    0
+BARO_GND_TEMP    0.000000
+BARO_PRIMARY     0
+BARO_PROBE_EXT   0
+BATT2_MONITOR    0
+BATT3_MONITOR    0
+BATT4_MONITOR    0
+BATT5_MONITOR    0
+BATT6_MONITOR    0
+BATT7_MONITOR    0
+BATT8_MONITOR    0
+BATT9_MONITOR    0
+BATT_MONITOR     0
+BCN_TYPE         0
+BRD_BOOT_DELAY   0
+BRD_OPTIONS      0
+BRD_RTC_TYPES    1
+BRD_RTC_TZ_MIN   0
+BRD_SAFETYOPTION 3
+BRD_SERIAL_NUM   0
+BRD_VBUS_MIN     4.300000
+BRD_VSERVO_MIN   0.000000
+BTN_ENABLE       0
+CAM_AUTO_ONLY    0
+CAM_DURATION     10
+CAM_FEEDBACK_PIN -1
+CAM_FEEDBACK_POL 1
+CAM_MAX_ROLL     0
+CAM_MIN_INTERVAL 0
+CAM_RC_TYPE      0
+CAM_RELAY_ON     1
+CAM_SERVO_OFF    1100
+CAM_SERVO_ON     1300
+CAM_TRIGG_DIST   0.000000
+CAM_TRIGG_TYPE   0
+CAM_TYPE         0
+CHUTE_ENABLED    0
+CIRCLE_OPTIONS   1
+CIRCLE_RADIUS    1000.000000
+CIRCLE_RATE      20.000000
+COMPASS_AUTODEC  1
+COMPASS_AUTO_ROT 2
+COMPASS_CAL_FIT  16.000000
+COMPASS_CUS_PIT  0.000000
+COMPASS_CUS_ROLL 0.000000
+COMPASS_CUS_YAW  0.000000
+COMPASS_DEC      0.000000
+COMPASS_DEV_ID   97539
+COMPASS_DEV_ID2  131874
+COMPASS_DEV_ID3  263178
+COMPASS_DEV_ID4  97283
+COMPASS_DEV_ID5  97795
+COMPASS_DEV_ID6  98051
+COMPASS_DEV_ID7  0
+COMPASS_DEV_ID8  0
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+COMPASS_DIA_Z    1.000000
+COMPASS_ENABLE   1
+COMPASS_EXTERN2  0
+COMPASS_EXTERN3  0
+COMPASS_EXTERNAL 1
+COMPASS_FLTR_RNG 0
+COMPASS_LEARN    0
+COMPASS_MOT2_X   0.000000
+COMPASS_MOT2_Y   0.000000
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+COMPASS_MOT3_X   0.000000
+COMPASS_MOT3_Y   0.000000
+COMPASS_MOT3_Z   0.000000
+COMPASS_MOTCT    0
+COMPASS_MOT_X    0.000000
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+COMPASS_MOT_Z    0.000000
+COMPASS_ODI2_X   0.000000
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+COMPASS_ODI2_Z   0.000000
+COMPASS_ODI3_X   0.000000
+COMPASS_ODI3_Y   0.000000
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+COMPASS_ODI_X    0.000000
+COMPASS_ODI_Y    0.000000
+COMPASS_ODI_Z    0.000000
+COMPASS_OFFS_MAX 1800
+COMPASS_OFS2_X   5.000000
+COMPASS_OFS2_Y   13.000000
+COMPASS_OFS2_Z   -18.000000
+COMPASS_OFS3_X   5.000000
+COMPASS_OFS3_Y   13.000000
+COMPASS_OFS3_Z   -18.000000
+COMPASS_OFS_X    5.000000
+COMPASS_OFS_Y    13.000000
+COMPASS_OFS_Z    -18.000000
+COMPASS_OPTIONS  0
+COMPASS_ORIENT   0
+COMPASS_ORIENT2  0
+COMPASS_ORIENT3  0
+COMPASS_PMOT_EN  0
+COMPASS_PRIO1_ID 97539
+COMPASS_PRIO2_ID 131874
+COMPASS_PRIO3_ID 263178
+COMPASS_SCALE    1.000000
+COMPASS_SCALE2   1.000000
+COMPASS_SCALE3   1.000000
+COMPASS_TYPEMASK 0
+COMPASS_USE      1
+COMPASS_USE2     1
+COMPASS_USE3     1
+DEV_OPTIONS      0
+DISARM_DELAY     10
+EAHRS_TYPE       0
+EFI_TYPE         0
+EK2_ABIAS_P_NSE  0.005000
+EK2_ACC_P_NSE    0.600000
+EK2_ALT_M_NSE    3.000000
+EK2_ALT_SOURCE   0
+EK2_BCN_DELAY    50
+EK2_BCN_I_GTE    500
+EK2_BCN_M_NSE    1.000000
+EK2_CHECK_SCALE  100
+EK2_EAS_I_GATE   400
+EK2_EAS_M_NSE    1.400000
+EK2_ENABLE       1
+EK2_FLOW_DELAY   10
+EK2_FLOW_I_GATE  300
+EK2_FLOW_M_NSE   0.250000
+EK2_FLOW_USE     1
+EK2_GBIAS_P_NSE  0.000100
+EK2_GLITCH_RAD   25
+EK2_GPS_CHECK    31
+EK2_GPS_TYPE     0
+EK2_GSCL_P_NSE   0.000500
+EK2_GSF_RST_MAX  2
+EK2_GSF_RUN_MASK 3
+EK2_GSF_USE_MASK 3
+EK2_GYRO_P_NSE   0.030000
+EK2_HGT_DELAY    60
+EK2_HGT_I_GATE   500
+EK2_HRT_FILT     2.000000
+EK2_IMU_MASK     3
+EK2_MAGB_P_NSE   0.000100
+EK2_MAGE_P_NSE   0.001000
+EK2_MAG_CAL      3
+EK2_MAG_EF_LIM   50
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+EK2_MAG_MASK     0
+EK2_MAG_M_NSE    0.050000
+EK2_MAX_FLOW     2.500000
+EK2_NOAID_M_NSE  10.000000
+EK2_OGN_HGT_MASK 0
+EK2_POSNE_M_NSE  1.000000
+EK2_POS_I_GATE   500
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+EK2_RNG_USE_HGT  -1
+EK2_RNG_USE_SPD  2.000000
+EK2_TAU_OUTPUT   25
+EK2_TERR_GRAD    0.100000
+EK2_VELD_M_NSE   0.500000
+EK2_VELNE_M_NSE  0.300000
+EK2_VEL_I_GATE   500
+EK2_WIND_PSCALE  0.500000
+EK2_WIND_P_NSE   0.100000
+EK2_YAW_I_GATE   300
+EK2_YAW_M_NSE    0.500000
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+FLTMODE6         5
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+FORMAT_VERSION   120
+FRAME_CLASS      16
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+FRSKY_DNLINK1_ID 20
+FRSKY_DNLINK2_ID 7
+FRSKY_DNLINK_ID  27
+FRSKY_OPTIONS    0
+FRSKY_UPLINK_ID  13
+FS_CRASH_CHECK   0
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+FS_EKF_THRESH    0.800000
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+GCS_PID_MASK     2
+GEN_TYPE         0
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+GPS_BLEND_TC     10.000000
+GPS_COM_PORT     1
+GPS_COM_PORT2    1
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+GPS_PRIMARY      0
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+GPS_RATE_MS2     200
+GPS_RAW_DATA     0
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+GPS_TYPE         1
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+INS_ACC2OFFS_X   0.001000
+INS_ACC2OFFS_Y   0.001000
+INS_ACC2OFFS_Z   0.001000
+INS_ACC2SCAL_X   1.001000
+INS_ACC2SCAL_Y   1.001000
+INS_ACC2SCAL_Z   1.001000
+INS_ACC2_CALTEMP -300.000000
+INS_ACC2_ID      2753036.000000
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+INS_ACCSCAL_X    1.001000
+INS_ACCSCAL_Y    1.001000
+INS_ACCSCAL_Z    1.001000
+INS_ACC_BODYFIX  2
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+INS_GYR2_ID      2752780
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+INS_GYR_ID       2752772
+INS_HNTCH_ENABLE 0
+INS_LOG_BAT_CNT  1024
+INS_LOG_BAT_LGCT 32
+INS_LOG_BAT_LGIN 20
+INS_LOG_BAT_MASK 0
+INS_LOG_BAT_OPT  0
+INS_NOTCH_ENABLE 0
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+INS_STILL_THRESH 2.500000
+INS_TCAL1_ENABLE 0
+INS_TCAL2_ENABLE 0
+INS_TCAL3_ENABLE 0
+INS_TCAL_OPTIONS 0
+INS_TRIM_OPTION  1
+INS_USE          1
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+INS_USE3         1
+LAND_ALT_LOW     1000
+LAND_REPOSITION  1
+LAND_SPEED       50
+LAND_SPEED_HIGH  0
+LGR_DEPLOY_ALT   0
+LGR_DEPLOY_PIN   -1
+LGR_DEPLOY_POL   0
+LGR_ENABLE       1
+LGR_OPTIONS      3
+LGR_RETRACT_ALT  0
+LGR_STARTUP      0
+LGR_WOW_PIN      8
+LGR_WOW_POL      1
+LOG_BACKEND_TYPE 1
+LOG_BITMASK      176126
+LOG_BLK_RATEMAX  0.000000
+LOG_DISARMED     0
+LOG_FILE_BUFSIZE 200
+LOG_FILE_DSRMROT 0
+LOG_FILE_MB_FREE 500
+LOG_FILE_RATEMAX 0.000000
+LOG_FILE_TIMEOUT 5
+LOG_MAV_BUFSIZE  8
+LOG_MAV_RATEMAX  0.000000
+LOG_REPLAY       0
+LOIT_ACC_MAX     500.000000
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+LOIT_BRK_DELAY   1.000000
+LOIT_BRK_JERK    500.000000
+LOIT_SPEED       1250.000000
+MIS_OPTIONS      0
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+MIS_TOTAL        6.000000
+MNT_TYPE         0
+MOT_BAT_CURR_MAX 0.000000
+MOT_BAT_CURR_TC  5.000000
+MOT_BAT_IDX      0
+MOT_BAT_VOLT_MAX 0.000000
+MOT_BAT_VOLT_MIN 0.000000
+MOT_BOOST_SCALE  0.000000
+MOT_HOVER_LEARN  2
+MOT_PWM_MAX      2000
+MOT_PWM_MIN      1000
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+MOT_SAFE_TIME    1.000000
+MOT_SLEW_DN_TIME 0.000000
+MOT_SLEW_UP_TIME 0.000000
+MOT_SPIN_ARM     0.100000
+MOT_SPIN_MAX     1.000000
+MOT_SPIN_MIN     -1.000000
+MOT_SPOOL_TIME   0.500000
+MOT_THST_EXPO    0.750000
+MOT_THST_HOVER   0.318280
+MOT_YAW_HEADROOM 50
+MSP_OPTIONS      0
+MSP_OSD_NCELLS   0
+NTF_BUZZ_ON_LVL  1
+NTF_BUZZ_PIN     -1
+NTF_BUZZ_TYPES   1
+NTF_BUZZ_VOLUME  100
+NTF_DISPLAY_TYPE 0
+NTF_LED_BRIGHT   3
+NTF_LED_LEN      1
+NTF_LED_OVERRIDE 0
+NTF_LED_TYPES    199
+OA_TYPE          0
+OSD_TYPE         0
+PHLD_BRAKE_ANGLE 3000
+PHLD_BRAKE_RATE  8
+PILOT_ACCEL_Z    250
+PILOT_SPEED_DN   0
+PILOT_SPEED_UP   250
+PILOT_THR_BHV    0
+PILOT_THR_FILT   0.000000
+PILOT_TKOFF_ALT  0.000000
+PILOT_Y_EXPO     0.000000
+PILOT_Y_RATE     202.500000
+PLND_ENABLED     0
+PRX_TYPE         0
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+PSC_ACCZ_FLTD    0.000000
+PSC_ACCZ_FLTE    20.000000
+PSC_ACCZ_FLTT    0.000000
+PSC_ACCZ_I       1.234634
+PSC_ACCZ_IMAX    800.000000
+PSC_ACCZ_P       0.617317
+PSC_ACCZ_SMAX    0.000000
+PSC_ANGLE_MAX    0.000000
+PSC_JERK_XY      5.000000
+PSC_JERK_Z       5.000000
+PSC_POSXY_P      1.000000
+PSC_POSZ_P       1.000000
+PSC_VELXY_D      0.500000
+PSC_VELXY_FF     0.000000
+PSC_VELXY_FLTD   5.000000
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+PSC_VELZ_D       0.000000
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+PSC_VELZ_FLTD    5.000000
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+PSC_VELZ_I       0.000000
+PSC_VELZ_IMAX    1000.000000
+PSC_VELZ_P       5.000000
+RALLY_INCL_HOME  1
+RALLY_LIMIT_KM   0.300000
+RALLY_TOTAL      0
+RC10_DZ          0
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+RC10_OPTION      0
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+RC1_DZ           20
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+RC2_DZ           20
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+RC3_DZ           30
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+RC3_OPTION       0
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+RC4_DZ           20
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+RC8_DZ           0
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+RC9_OPTION       0
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+RCMAP_PITCH      2
+RCMAP_ROLL       1
+RCMAP_THROTTLE   3
+RCMAP_YAW        4
+RC_OPTIONS       32
+RC_OVERRIDE_TIME 3.000000
+RC_PROTOCOLS     1
+RC_SPEED         490
+RELAY_DEFAULT    0
+RELAY_PIN        13
+RELAY_PIN2       -1
+RELAY_PIN3       -1
+RELAY_PIN4       -1
+RELAY_PIN5       -1
+RELAY_PIN6       -1
+RNGFND1_TYPE     0
+RNGFND2_TYPE     0
+RNGFND3_TYPE     0
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+RNGFND5_TYPE     0
+RNGFND6_TYPE     0
+RNGFND7_TYPE     0
+RNGFND8_TYPE     0
+RNGFND9_TYPE     0
+RNGFNDA_TYPE     0
+RNGFND_FILT      0.500000
+RPM1_TYPE        0
+RPM2_TYPE        0
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+RTL_ALT          1500
+RTL_ALT_FINAL    0
+RTL_ALT_TYPE     0
+RTL_CLIMB_MIN    0
+RTL_CONE_SLOPE   3.000000
+RTL_LOIT_TIME    5000
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+SCHED_DEBUG      0
+SCHED_LOOP_RATE  400
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+SCR_USER6        0.000000
+SCR_VM_I_COUNT   10000
+SERIAL0_BAUD     115
+SERIAL0_PROTOCOL 2
+SERIAL1_BAUD     57
+SERIAL1_OPTIONS  0
+SERIAL1_PROTOCOL 2
+SERIAL2_BAUD     57
+SERIAL2_OPTIONS  0
+SERIAL2_PROTOCOL 2
+SERIAL3_BAUD     38
+SERIAL3_OPTIONS  0
+SERIAL3_PROTOCOL 5
+SERIAL4_BAUD     38
+SERIAL4_OPTIONS  0
+SERIAL4_PROTOCOL 5
+SERIAL5_BAUD     57
+SERIAL5_OPTIONS  0
+SERIAL5_PROTOCOL -1
+SERIAL6_BAUD     57
+SERIAL6_OPTIONS  0
+SERIAL6_PROTOCOL -1
+SERIAL7_BAUD     57
+SERIAL7_OPTIONS  0
+SERIAL7_PROTOCOL -1
+SERIAL_PASS1     0
+SERIAL_PASS2     -1
+SERIAL_PASSTIMO  15
+SERVO10_FUNCTION 0
+SERVO10_MAX      1900
+SERVO10_MIN      1100
+SERVO10_REVERSED 0
+SERVO10_TRIM     1500
+SERVO11_FUNCTION 0
+SERVO11_MAX      1900
+SERVO11_MIN      1100
+SERVO11_REVERSED 0
+SERVO11_TRIM     1500
+SERVO12_FUNCTION 0
+SERVO12_MAX      1900
+SERVO12_MIN      1100
+SERVO12_REVERSED 0
+SERVO12_TRIM     1500
+SERVO13_FUNCTION 0
+SERVO13_MAX      1900
+SERVO13_MIN      1100
+SERVO13_REVERSED 0
+SERVO13_TRIM     1500
+SERVO14_FUNCTION 0
+SERVO14_MAX      1900
+SERVO14_MIN      1100
+SERVO14_REVERSED 0
+SERVO14_TRIM     1500
+SERVO15_FUNCTION 0
+SERVO15_MAX      1900
+SERVO15_MIN      1100
+SERVO15_REVERSED 0
+SERVO15_TRIM     1500
+SERVO16_FUNCTION 0
+SERVO16_MAX      1900
+SERVO16_MIN      1100
+SERVO16_REVERSED 0
+SERVO16_TRIM     1500
+SERVO1_FUNCTION  33
+SERVO1_MAX       2000
+SERVO1_MIN       1000
+SERVO1_REVERSED  0
+SERVO1_TRIM      1500
+SERVO2_FUNCTION  34
+SERVO2_MAX       2000
+SERVO2_MIN       1000
+SERVO2_REVERSED  0
+SERVO2_TRIM      1500
+SERVO3_FUNCTION  35
+SERVO3_MAX       2000
+SERVO3_MIN       1000
+SERVO3_REVERSED  0
+SERVO3_TRIM      1500
+SERVO4_FUNCTION  36
+SERVO4_MAX       2000
+SERVO4_MIN       1000
+SERVO4_REVERSED  0
+SERVO4_TRIM      1500
+SERVO5_FUNCTION  37
+SERVO5_MAX       2000
+SERVO5_MIN       1000
+SERVO5_REVERSED  0
+SERVO5_TRIM      1500
+SERVO6_FUNCTION  38
+SERVO6_MAX       2000
+SERVO6_MIN       1000
+SERVO6_REVERSED  0
+SERVO6_TRIM      1500
+SERVO7_FUNCTION  0
+SERVO7_MAX       1900
+SERVO7_MIN       1100
+SERVO7_REVERSED  0
+SERVO7_TRIM      1500
+SERVO8_FUNCTION  0
+SERVO8_MAX       1900
+SERVO8_MIN       1100
+SERVO8_REVERSED  0
+SERVO8_TRIM      1500
+SERVO9_FUNCTION  0
+SERVO9_MAX       1900
+SERVO9_MIN       1100
+SERVO9_REVERSED  0
+SERVO9_TRIM      1500
+SERVO_DSHOT_ESC  0
+SERVO_DSHOT_RATE 0
+SERVO_FTW_MASK   0
+SERVO_FTW_POLES  14
+SERVO_FTW_RVMASK 0
+SERVO_GPIO_MASK  0
+SERVO_RATE       50
+SERVO_ROB_POSMAX 4095
+SERVO_ROB_POSMIN 0
+SERVO_SBUS_RATE  50
+SERVO_VOLZ_MASK  0
+SID_AXIS         0
+SIMPLE           0
+SIM_ACC1_BIAS_X  0.000000
+SIM_ACC1_BIAS_Y  0.000000
+SIM_ACC1_BIAS_Z  0.000000
+SIM_ACC1_RND     0.000000
+SIM_ACC1_SCAL_X  0.000000
+SIM_ACC1_SCAL_Y  0.000000
+SIM_ACC1_SCAL_Z  0.000000
+SIM_ACC2_BIAS_X  0.000000
+SIM_ACC2_BIAS_Y  0.000000
+SIM_ACC2_BIAS_Z  0.000000
+SIM_ACC2_RND     0.000000
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+SIM_ACC2_SCAL_Y  0.000000
+SIM_ACC2_SCAL_Z  0.000000
+SIM_ACC3_BIAS_X  0.000000
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+SIM_GRPE_ENABLE  0
+SIM_GRPE_PIN     -1
+SIM_GRPS_ENABLE  0
+SIM_GRPS_GRAB    2000
+SIM_GRPS_PIN     -1
+SIM_GRPS_RELEASE 1000
+SIM_GRPS_REVERSE 0
+SIM_GYR1_RND     0.000000
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+SIM_GYR1_SCALE_Y 0.000000
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+SIM_GYR3_RND     0.000000
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+SIM_GYR3_SCALE_Y 0.000000
+SIM_GYR3_SCALE_Z 0.000000
+SIM_GYR_FAIL_MSK 0
+SIM_IE24_ENABLE  0
+SIM_IE24_ERROR   0
+SIM_IE24_STATE   -1
+SIM_IMUT1_ENABLE 0
+SIM_IMUT2_ENABLE 0
+SIM_IMUT3_ENABLE 0
+SIM_IMUT_END     45.000000
+SIM_IMUT_FIXED   0.000000
+SIM_IMUT_START   25.000000
+SIM_IMUT_TCONST  300.000000
+SIM_IMU_COUNT    2
+SIM_IMU_POS_X    0.000000
+SIM_IMU_POS_Y    0.000000
+SIM_IMU_POS_Z    0.000000
+SIM_INIT_ALT_OFS 0.000000
+SIM_INIT_LAT_OFS 0.000000
+SIM_INIT_LON_OFS 0.000000
+SIM_INS_THR_MIN  0.100000
+SIM_JSON_MASTER  0
+SIM_LED_LAYOUT   0
+SIM_LOOP_DELAY   0
+SIM_MAG1_DEVID   97539
+SIM_MAG1_FAIL    0
+SIM_MAG1_SCALING 1.000000
+SIM_MAG2_DEVID   131874
+SIM_MAG2_DIA_X   0.000000
+SIM_MAG2_DIA_Y   0.000000
+SIM_MAG2_DIA_Z   0.000000
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+SIM_MAG2_ODI_Z   0.000000
+SIM_MAG2_OFS_X   5.000000
+SIM_MAG2_OFS_Y   13.000000
+SIM_MAG2_OFS_Z   -18.000000
+SIM_MAG2_ORIENT  0
+SIM_MAG2_SCALING 1.000000
+SIM_MAG3_DEVID   263178
+SIM_MAG3_DIA_X   0.000000
+SIM_MAG3_DIA_Y   0.000000
+SIM_MAG3_DIA_Z   0.000000
+SIM_MAG3_FAIL    0
+SIM_MAG3_ODI_X   0.000000
+SIM_MAG3_ODI_Y   0.000000
+SIM_MAG3_ODI_Z   0.000000
+SIM_MAG3_OFS_X   5.000000
+SIM_MAG3_OFS_Y   13.000000
+SIM_MAG3_OFS_Z   -18.000000
+SIM_MAG3_ORIENT  0
+SIM_MAG3_SCALING 1.000000
+SIM_MAG4_DEVID   97283
+SIM_MAG5_DEVID   97795
+SIM_MAG6_DEVID   98051
+SIM_MAG7_DEVID   0
+SIM_MAG8_DEVID   0
+SIM_MAG_ALY_HGT  1.000000
+SIM_MAG_ALY_X    0.000000
+SIM_MAG_ALY_Y    0.000000
+SIM_MAG_ALY_Z    0.000000
+SIM_MAG_DELAY    0
+SIM_MAG_DIA_X    0.000000
+SIM_MAG_DIA_Y    0.000000
+SIM_MAG_DIA_Z    0.000000
+SIM_MAG_MOT_X    0.000000
+SIM_MAG_MOT_Y    0.000000
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+SIM_MAG_ODI_Y    0.000000
+SIM_MAG_ODI_Z    0.000000
+SIM_MAG_OFS_X    5.000000
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+SIM_MAG_OFS_Z    -18.000000
+SIM_MAG_ORIENT   0
+SIM_MAG_RND      0.000000
+SIM_ODOM_ENABLE  0
+SIM_OPOS_ALT     584.000000
+SIM_OPOS_HDG     353.000000
+SIM_OPOS_LAT     -35.363262
+SIM_OPOS_LNG     149.165237
+SIM_PARA_ENABLE  0
+SIM_PARA_PIN     -1
+SIM_PIN_MASK     0
+SIM_PLD_ALT_LMT  15.000000
+SIM_PLD_DIST_LMT 10.000000
+SIM_PLD_ENABLE   0
+SIM_PLD_HEIGHT   0.000000
+SIM_PLD_LAT      0.000000
+SIM_PLD_LON      0.000000
+SIM_PLD_RATE     100
+SIM_PLD_TYPE     0
+SIM_PLD_YAW      0
+SIM_RATE_HZ      1200
+SIM_RC_CHANCOUNT 16
+SIM_RC_FAIL      0
+SIM_RICH_CTRL    -1
+SIM_RICH_ENABLE  0
+SIM_SAFETY_STATE 0
+SIM_SAIL_TYPE    0
+SIM_SERVO_SPEED  0.140000
+SIM_SHIP_DSIZE   10.000000
+SIM_SHIP_ENABLE  0
+SIM_SHIP_PSIZE   1000.000000
+SIM_SHIP_SPEED   3.000000
+SIM_SHIP_SYSID   17
+SIM_SHOVE_TIME   0
+SIM_SHOVE_X      0.000000
+SIM_SHOVE_Y      0.000000
+SIM_SHOVE_Z      0.000000
+SIM_SONAR_GLITCH 0.000000
+SIM_SONAR_POS_X  0.000000
+SIM_SONAR_POS_Y  0.000000
+SIM_SONAR_POS_Z  0.000000
+SIM_SONAR_RND    0.000000
+SIM_SONAR_SCALE  12.121200
+SIM_SPEEDUP      1.000000
+SIM_SPR_ENABLE   0
+SIM_SPR_PUMP     -1
+SIM_SPR_SPIN     -1
+SIM_TA_ENABLE    1
+SIM_TEMP_BFACTOR 0.000000
+SIM_TEMP_BRD_OFF 20.000000
+SIM_TEMP_START   25.000000
+SIM_TEMP_TCONST  30.000000
+SIM_TERRAIN      1
+SIM_THML_SCENARI 0
+SIM_TIDE_DIR     0.000000
+SIM_TIDE_SPEED   0.000000
+SIM_TWIST_TIME   0
+SIM_TWIST_X      0.000000
+SIM_TWIST_Y      0.000000
+SIM_TWIST_Z      0.000000
+SIM_VIB_FREQ_X   0.000000
+SIM_VIB_FREQ_Y   0.000000
+SIM_VIB_FREQ_Z   0.000000
+SIM_VIB_MOT_MAX  0.000000
+SIM_VIB_MOT_MULT 1.000000
+SIM_VICON_FAIL   0
+SIM_VICON_GLIT_X 0.000000
+SIM_VICON_GLIT_Y 0.000000
+SIM_VICON_GLIT_Z 0.000000
+SIM_VICON_POS_X  0.000000
+SIM_VICON_POS_Y  0.000000
+SIM_VICON_POS_Z  0.000000
+SIM_VICON_TMASK  3
+SIM_VICON_VGLI_X 0.000000
+SIM_VICON_VGLI_Y 0.000000
+SIM_VICON_VGLI_Z 0.000000
+SIM_VICON_YAW    0
+SIM_VICON_YAWERR 0
+SIM_WAVE_AMP     0.500000
+SIM_WAVE_DIR     0.000000
+SIM_WAVE_ENABLE  0
+SIM_WAVE_LENGTH  10.000000
+SIM_WAVE_SPEED   0.500000
+SIM_WIND_DELAY   0
+SIM_WIND_DIR     180.000000
+SIM_WIND_DIR_Z   0.000000
+SIM_WIND_SPD     0.000000
+SIM_WIND_T       0
+SIM_WIND_TURB    0.000000
+SIM_WIND_T_ALT   60.000000
+SIM_WIND_T_COEF  0.010000
+SIM_WOW_PIN      -1
+SPRAY_ENABLE     0
+SR0_ADSB         4
+SR0_EXTRA1       4
+SR0_EXTRA2       4
+SR0_EXTRA3       4
+SR0_EXT_STAT     4
+SR0_PARAMS       0
+SR0_POSITION     4
+SR0_RAW_CTRL     4
+SR0_RAW_SENS     4
+SR0_RC_CHAN      4
+SR1_ADSB         0
+SR1_EXTRA1       0
+SR1_EXTRA2       0
+SR1_EXTRA3       0
+SR1_EXT_STAT     0
+SR1_PARAMS       0
+SR1_POSITION     0
+SR1_RAW_CTRL     0
+SR1_RAW_SENS     0
+SR1_RC_CHAN      0
+SR2_ADSB         0
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+SR2_EXT_STAT     0
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+SR2_RAW_CTRL     0
+SR2_RAW_SENS     0
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+SR4_RAW_SENS     0
+SR4_RC_CHAN      0
+SR5_ADSB         0
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+SR5_EXTRA2       0
+SR5_EXTRA3       0
+SR5_EXT_STAT     0
+SR5_PARAMS       0
+SR5_POSITION     0
+SR5_RAW_CTRL     0
+SR5_RAW_SENS     0
+SR5_RC_CHAN      0
+SR6_ADSB         0
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+SR6_EXTRA2       0
+SR6_EXTRA3       0
+SR6_EXT_STAT     0
+SR6_PARAMS       0
+SR6_POSITION     0
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+SR6_RAW_SENS     0
+SR6_RC_CHAN      0
+SRTL_ACCURACY    2.000000
+SRTL_OPTIONS     0
+SRTL_POINTS      300
+STAT_BOOTCNT     59
+STAT_FLTTIME     20179.000000
+STAT_RESET       187974747
+STAT_RUNTIME     224797.000000
+SUPER_SIMPLE     0
+SURFTRAK_MODE    1
+SYSID_ENFORCE    0
+SYSID_MYGCS      255
+SYSID_THISMAV    1
+TCAL_ENABLED     0
+TELEM_DELAY      0
+TERRAIN_ENABLE   1
+TERRAIN_MARGIN   0.050000
+TERRAIN_OPTIONS  0
+TERRAIN_SPACING  100
+THROW_MOT_START  0
+THROW_NEXTMODE   18
+THROW_TYPE       0
+THR_DZ           100
+TUNE             0
+TUNE_MAX         0.000000
+TUNE_MIN         0.000000
+VISO_TYPE        0
+VTX_ENABLE       0
+WINCH_TYPE       0
+WPNAV_ACCEL      250.000000
+WPNAV_ACCEL_Z    100.000000
+WPNAV_JERK       1.000000
+WPNAV_RADIUS     200.000000
+WPNAV_RFND_USE   1
+WPNAV_SPEED      1000.000000
+WPNAV_SPEED_DN   150.000000
+WPNAV_SPEED_UP   250.000000
+WPNAV_TER_MARGIN 10.000000
+WP_NAVALT_MIN    0.000000
+WP_YAW_BEHAVIOR  2
+ZIGZ_AUTO_ENABLE 0
diff --git a/Gazebo/config/omnicopter.param b/Gazebo/config/omnicopter.param
new file mode 100644
index 00000000..06463520
--- /dev/null
+++ b/Gazebo/config/omnicopter.param
@@ -0,0 +1,71 @@
+AHRS_EKF_TYPE,10
+ANGLE_MAX,8000
+ATC_ANGLE_BOOST,0
+ATC_RAT_PIT_D,0.02
+ATC_RAT_PIT_I,0.015
+ATC_RAT_PIT_P,0.03
+ATC_RAT_RLL_D,0.02
+ATC_RAT_RLL_I,0.015
+ATC_RAT_RLL_P,0.03
+ATC_RAT_YAW_D,0.02
+ATC_RAT_YAW_FLTD,20
+ATC_RAT_YAW_FLTE,0
+ATC_RAT_YAW_FLTT,20
+ATC_RAT_YAW_I,0.025
+ATC_RAT_YAW_P,0.04
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,7
+AUTOTUNE_MIN_D,0.001
+EK2_ENABLE,1
+EK3_ENABLE,0
+FLTMODE2,2
+FLTMODE3,5
+FLTMODE6,5
+FRAME_CLASS,16
+FRAME_TYPE,1
+FS_CRASH_CHECK,0
+MOT_PWM_MAX,2000
+MOT_PWM_MIN,1000
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,1
+MOT_SPIN_MIN,-1
+MOT_THST_EXPO,0.75
+MOT_THST_HOVER,0.25
+MOT_YAW_HEADROOM,50
+RC1_MAX,2000
+RC1_MIN,1000
+RC2_MAX,2000
+RC2_MIN,1000
+RC2_REVERSED,1
+RC3_MAX,2000
+RC3_MIN,1000
+RC4_MAX,2000
+RC4_MIN,1000
+RC8_OPTION,17
+SCR_DEBUG_LVL,0
+SCR_DIR_DISABLE,0
+SCR_ENABLE,1
+SCR_HEAP_SIZE,65536
+SCR_USER1,0
+SCR_USER2,0
+SCR_USER3,0
+SCR_USER4,0
+SCR_VM_I_COUNT,10000
+SERVO1_FUNCTION,33
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO2_FUNCTION,34
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO3_FUNCTION,35
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO4_FUNCTION,36
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO5_FUNCTION,37
+SERVO5_MAX,2000
+SERVO5_MIN,1000
+SERVO6_FUNCTION,38
+SERVO6_MAX,2000
+SERVO6_MIN,1000
diff --git a/Gazebo/docs/Omnicopter.md b/Gazebo/docs/Omnicopter.md
new file mode 100644
index 00000000..2b6c8354
--- /dev/null
+++ b/Gazebo/docs/Omnicopter.md
@@ -0,0 +1,33 @@
+# Omnicopter
+
+Model for the 6DoF omnicopter for use with ArduPilot.
+It is derived from the [version prepared for RealFlight](https://github.com/ArduPilot/SITL_Models/tree/master/RealFlight/WIP/iampete/Lynchpin).
+
+
+![omnicopter_2](https://user-images.githubusercontent.com/24916364/146563555-57b4afc7-dec5-4720-9446-d1dafb82aeca.png)
+
+![omnicopter_1_viz](https://user-images.githubusercontent.com/24916364/146563631-592c6459-d72c-45a7-86c6-09da64a96e22.png)
+
+## Usage
+
+Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions.
+
+Update the `GZ_SIM_RESOURCE_PATH` to include these models:
+
+```bash
+export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
+$HOME/SITL_Models/Gazebo/models:\
+$HOME/SITL_Models/Gazebo/worlds
+```
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r omnicopter_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v ArduCopter -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omnicopter.param --console --map
+```
diff --git a/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_diffuse.jpg b/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_diffuse.jpg
new file mode 100644
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diff --git a/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_metallic.jpg b/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_metallic.jpg
new file mode 100644
index 00000000..2eca564d
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diff --git a/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_normal.jpg b/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_normal.jpg
new file mode 100644
index 00000000..e24d0c5d
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diff --git a/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_roughness.jpg b/Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_roughness.jpg
new file mode 100644
index 00000000..f5cd81f4
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diff --git a/Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_diffuse.jpg b/Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_diffuse.jpg
new file mode 100644
index 00000000..50b2d7fa
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diff --git a/Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_normal.jpg b/Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_normal.jpg
new file mode 100644
index 00000000..2fb33b8c
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diff --git a/Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_roughness.jpg b/Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_roughness.jpg
new file mode 100644
index 00000000..0bb3c71d
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diff --git a/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_diffuse.jpg b/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_diffuse.jpg
new file mode 100644
index 00000000..6d87c7c2
Binary files /dev/null and b/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_diffuse.jpg differ
diff --git a/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_normal.jpg b/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_normal.jpg
new file mode 100644
index 00000000..e2d6d11a
Binary files /dev/null and b/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_normal.jpg differ
diff --git a/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_roughness.jpg b/Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_roughness.jpg
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+          <technique_common>
+            <accessor source="#EPP1045_A-mesh-map-0-array" count="11517" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="EPP1045_A-mesh-vertices">
+          <input semantic="POSITION" source="#EPP1045_A-mesh-positions"/>
+        </vertices>
+        <triangles material="EPP1045_A-material" count="3839">
+          <input semantic="VERTEX" source="#EPP1045_A-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#EPP1045_A-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#EPP1045_A-mesh-map-0" offset="2" set="0"/>
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11487 1906 3785 11488 1914 3785 11489 1914 3786 11490 1906 3786 11491 1886 3786 11492 1914 3787 11493 1886 3787 11494 1913 3787 11495 1913 3788 11496 1886 3788 11497 1887 3788 11498 1913 3789 11499 1887 3789 11500 1912 3789 11501 1912 3790 11502 1887 3790 11503 1904 3790 11504 1912 3791 11505 1904 3791 11506 1903 3791 11507 1903 3792 11508 1904 3792 11509 1905 3792 11510 1903 3793 11511 1905 3793 11512 357 3793 11513 357 3794 11514 1905 3794 11515 354 3794 11516</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="EPP1045_A" name="EPP1045_A" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#EPP1045_A-mesh" name="EPP1045_A">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="EPP1045_A-material" target="#EPP1045_A-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/iris_prop_cw.dae b/Gazebo/models/omnicopter/meshes/iris_prop_cw.dae
new file mode 100644
index 00000000..a554bc6d
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/iris_prop_cw.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-03-12, commit time:05:06, hash:375c7dc4caf4</authoring_tool>
+    </contributor>
+    <created>2021-11-17T12:51:11</created>
+    <modified>2021-11-17T12:51:11</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="EPP1045_B-effect">
+      <profile_COMMON>
+        <newparam sid="x8_tga-surface">
+          <surface type="2D">
+            <init_from>../materials/textures/plastic008/plastic008_1k_diffuse.jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="x8_tga-sampler">
+          <sampler2D>
+            <source>x8_tga-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="x8_tga-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="x8_tga" name="x8_tga">
+      <init_from>x8.tga</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="EPP1045_B-material" name="EPP1045_B">
+      <instance_effect url="#EPP1045_B-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="EPP1045_B-mesh" name="EPP1045 B">
+      <mesh>
+        <source id="EPP1045_B-mesh-positions">
+          <float_array id="EPP1045_B-mesh-positions-array" count="6933">0.004280865 -3.49388e-4 0.005053937 8.01072e-4 9.88087e-5 0.005053937 7.80612e-4 -1.48083e-4 0.005053937 3.16992e-4 -0.001004695 0.005053937 0.003346145 -0.002840042 0.005053937 6.20291e-4 -6.15112e-4 0.005053937 0.003805816 -0.002070546 0.005053937 0.004120886 -0.001231372 0.005053937 -9.63807e-5 -0.001274824 0.005053937 0.002055466 -0.004074037 0.005053937 0.002756357 -0.003515124 0.005053937 -5.75051e-4 -0.001396 0.005053937 -0.001067042 -0.00135529 0.005053937 -0.001370072 -0.004855871 0.005053937 -0.005618572 -7.93976e-4 0.005053937 -0.002117574 -3.8824e-4 0.005053937 -0.002198815 9.88087e-5 0.005053937 -0.002117574 5.85858e-4 0.005053937 -0.005618572 9.91593e-4 0.005053937 -0.005698919 9.88087e-5 0.005053937 -0.001882553 0.001020014 0.005053937 -0.004991114 0.002663195 0.005053937 -0.005380094 0.001855671 0.005053937 -4.74602e-4 -0.004896104 0.005053937 4.13686e-4 -0.004775822 0.005053937 0.001266181 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4253 12995 2267 4254 12996 2278 4254 12997 2283 4254 12998 2283 4255 12999 2278 4255 13000 2280 4255 13001 2283 4256 13002 2280 4256 13003 2282 4256 13004 2060 4257 13005 2059 4257 13006 2270 4257 13007 2270 4258 13008 2059 4258 13009 2268 4258 13010 2270 4259 13011 2268 4259 13012 2309 4259 13013 2309 4260 13014 2268 4260 13015 2302 4260 13016 2309 4261 13017 2302 4261 13018 2308 4261 13019 2308 4262 13020 2302 4262 13021 2301 4262 13022 2308 4263 13023 2301 4263 13024 2307 4263 13025 2307 4264 13026 2301 4264 13027 2300 4264 13028 2307 4265 13029 2300 4265 13030 2306 4265 13031 2306 4266 13032 2300 4266 13033 2299 4266 13034 2306 4267 13035 2299 4267 13036 2305 4267 13037 2305 4268 13038 2299 4268 13039 2298 4268 13040 2305 4269 13041 2298 4269 13042 2304 4269 13043 2304 4270 13044 2298 4270 13045 2272 4270 13046 2304 4271 13047 2272 4271 13048 2303 4271 13049 2303 4272 13050 2272 4272 13051 2271 4272 13052 2303 4273 13053 2271 4273 13054 2310 4273 13055 2149 4274 13056 2148 4274 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="EPP1045_B" name="EPP1045_B" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#EPP1045_B-mesh" name="EPP1045_B">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="EPP1045_B-material" target="#EPP1045_B-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/omnicopter.dae b/Gazebo/models/omnicopter/meshes/omnicopter.dae
new file mode 100644
index 00000000..6706261d
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/omnicopter.dae
@@ -0,0 +1,897 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:00:51</created>
+    <modified>2021-12-14T16:00:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner4_Frame_fo-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Spinner4 Frame fo">
+      <mesh>
+        <source id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner4_Frame_fo-mesh-positions">
+          <float_array id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner4_Frame_fo-mesh-positions-array" count="222">0.07115131 -0.08290058 0.07122641 0.07115131 -0.0832355 0.07247638 0.07115131 -0.0832355 0.06997638 0.07115131 -0.08415055 0.06906133 0.07115131 -0.08415055 0.07339143 0.07115131 -0.08540058 0.06872642 0.07115131 -0.08540058 0.07372641 0.07115131 -0.08665055 0.06906133 0.07115131 -0.08665055 0.07339143 0.07115131 -0.0875656 0.06997638 0.07115131 -0.0875656 0.07247638 0.07115131 -0.08790057 0.07122641 0.05915135 -0.0832355 0.07247638 0.05915135 -0.08290058 0.07122641 0.05915135 -0.0832355 0.06997638 0.05915135 -0.08415055 0.06906133 0.05915135 -0.08540058 0.06872642 0.05915135 -0.08665055 0.06906133 0.05915135 -0.0875656 0.06997638 0.05915135 -0.08790057 0.07122641 0.05915135 -0.0875656 0.07247638 0.05915135 -0.08665055 0.07339143 0.05915135 -0.08540058 0.07372641 0.05915135 -0.08415055 0.07339143 0.05915135 -0.08107042 0.06872642 0.05915135 -0.08040058 0.07122641 0.05915135 -0.08107042 0.07372641 0.05915135 -0.08290058 0.07555651 0.05915135 -0.08540058 0.07622641 0.05915135 -0.08790057 0.07555651 0.05915135 -0.08973067 0.07372641 0.05915135 -0.09040057 0.07122641 0.05915135 -0.08973067 0.06872642 0.05915135 -0.08790057 0.06689625 0.05915135 -0.08540058 0.06622642 0.05915135 -0.08290058 0.06689625 0.05615133 -0.07220643 0.06669682 0.05615133 -0.07145059 0.07122641 0.05615133 -0.07220643 0.07575595 0.05615133 -0.07439208 0.07979464 0.05615133 -0.07777065 0.08290487 0.05615133 -0.08197605 0.08474951 0.05615133 -0.08655256 0.08512872 0.05615133 -0.09100419 0.08400142 0.05615133 -0.09484863 0.08148974 0.05615133 -0.09766924 0.07786583 0.05615133 -0.09916031 0.0735225 0.05615133 -0.09916031 0.06893032 0.05615133 -0.09766924 0.06458693 0.05615133 -0.09484863 0.06096303 0.05615133 -0.09100419 0.05845135 0.05615133 -0.08655256 0.05732405 0.05615133 -0.08197605 0.05770325 0.05615133 -0.07777065 0.0595479 0.05615133 -0.07439208 0.06265813 0.04815131 -0.07220643 0.07575595 0.04815131 -0.07145059 0.07122641 0.04815131 -0.07220643 0.06669682 0.04815131 -0.07439208 0.06265813 0.04815131 -0.07777065 0.0595479 0.04815131 -0.08197605 0.05770325 0.04815131 -0.08655256 0.05732405 0.04815131 -0.09100419 0.05845135 0.04815131 -0.09484863 0.06096303 0.04815131 -0.09766924 0.06458693 0.04815131 -0.09916031 0.06893032 0.04815131 -0.09916031 0.0735225 0.04815131 -0.09766924 0.07786583 0.04815131 -0.09484863 0.08148974 0.04815131 -0.09100419 0.08400142 0.04815131 -0.08655256 0.08512872 0.04815131 -0.08197605 0.08474951 0.04815131 -0.07777065 0.08290487 0.04815131 -0.07439208 0.07979464</float_array>
+          <technique_common>
+            <accessor source="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner4_Frame_fo-mesh-positions-array" count="74" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+          <input semantic="POSITION" source="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh-positions"/>
+        </vertices>
+        <triangles count="3442">
+          <input semantic="VERTEX" source="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh-map" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom4" name="~CS_Tailboom4" type="NODE">
+        <matrix sid="transform">0.867716 -0.4970604 0 0.04815135 0.4970604 0.867716 0 -0.08540058 0 0 1 0.07122642 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom4_Frame_f-mesh" name="~CS_Tailboom4"/>
+        <node id="_CS_Engine4" name="~CS_Engine4" type="NODE">
+          <matrix sid="transform">1 0 0 -0.04815136 0 1 0 0.08540058 0 0 1 -0.07122642 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Engine4_Frame_for-mesh" name="~CS_Engine4"/>
+        </node>
+        <node id="_CS_Spinner4" name="~CS_Spinner4" type="NODE">
+          <matrix sid="transform">1 0 0 -0.04815136 0 1 0 0.08540058 0 0 1 -0.07122642 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner4_Frame_fo-mesh" name="~CS_Spinner4"/>
+        </node>
+      </node>
+      <node id="_CS_Tailboom6" name="~CS_Tailboom6" type="NODE">
+        <matrix sid="transform">0.8666803 0.498864 0 0.04815135 -0.498864 0.8666803 0 0.0854006 0 0 1 0.07122642 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom6_Frame_f-mesh" name="~CS_Tailboom6"/>
+        <node id="_CS_Engine6" name="~CS_Engine6" type="NODE">
+          <matrix sid="transform">1 0 0 -0.04815135 0 1 0 -0.0854006 0 0 1 -0.07122642 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Engine6_Frame_for-mesh" name="~CS_Engine6"/>
+        </node>
+        <node id="_CS_Spinner6" name="~CS_Spinner6" type="NODE">
+          <matrix sid="transform">1 0 0 -0.04815135 0 1 0 -0.0854006 0 0 1 -0.07122642 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner6_Frame_fo-mesh" name="~CS_Spinner6"/>
+        </node>
+      </node>
+      <node id="_CS_Tailboom1" name="~CS_Tailboom1" type="NODE">
+        <matrix sid="transform">0.5468293 0 -0.8372441 0.09878671 0 1 0 0 0.8372441 0 0.5468293 -0.06562033 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom1_Frame_f-mesh" name="~CS_Tailboom1"/>
+        <node id="_CS_Engine1" name="~CS_Engine1" type="NODE">
+          <matrix sid="transform">1 0 0 -0.09878672 0 1 0 0 0 0 1 0.06562033 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Engine1_Frame_for-mesh" name="~CS_Engine1"/>
+        </node>
+        <node id="_CS_Spinner1" name="~CS_Spinner1" type="NODE">
+          <matrix sid="transform">1 0 0 -0.09878672 0 1 0 0 0 0 1 0.06562033 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner1_Frame_fo-mesh" name="~CS_Spinner1"/>
+        </node>
+      </node>
+      <node id="_CS_Tailboom2" name="~CS_Tailboom2" type="NODE">
+        <matrix sid="transform">-0.2695821 0.4724039 -0.8391424 -0.04939336 -0.478799 0.6903036 0.5424321 -0.0855518 0.83551 0.5480105 0.04009303 -0.06562033 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh" name="~CS_Tailboom2"/>
+        <node id="_CS_Engine2" name="~CS_Engine2" type="NODE">
+          <matrix sid="transform">1 0 3.35276e-8 0.04939336 0 1 -3.72529e-9 0.0855518 2.23517e-8 0 1 0.06562033 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Engine2_Frame_for-mesh" name="~CS_Engine2"/>
+        </node>
+        <node id="_CS_Spinner2" name="~CS_Spinner2" type="NODE">
+          <matrix sid="transform">1 0 3.35276e-8 0.04939336 0 1 -3.72529e-9 0.0855518 2.23517e-8 0 1 0.06562033 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner2_Frame_fo-mesh" name="~CS_Spinner2"/>
+        </node>
+      </node>
+      <node id="_CS_Tailboom5" name="~CS_Tailboom5" type="NODE">
+        <matrix sid="transform">-0.002223946 -0.9997591 0.02183497 -0.09803475 0.9999938 -0.002164009 0.002768249 -0.001 -0.002720331 0.02184099 0.9997578 0.07122642 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom5_Frame_f-mesh" name="~CS_Tailboom5"/>
+        <node id="_CS_Engine5" name="~CS_Engine5" type="NODE">
+          <matrix sid="transform">1 -7.27596e-11 0 0.09803475 1.63709e-10 1 0 9.99995e-4 -2.32831e-10 1.86265e-9 1 -0.07122641 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Engine5_Frame_for-mesh" name="~CS_Engine5"/>
+        </node>
+        <node id="_CS_Spinner5" name="~CS_Spinner5" type="NODE">
+          <matrix sid="transform">1 -7.27596e-11 0 0.09803475 1.63709e-10 1 0 9.99995e-4 -2.32831e-10 1.86265e-9 1 -0.07122641 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner5_Frame_fo-mesh" name="~CS_Spinner5"/>
+        </node>
+      </node>
+      <node id="_CS_Tailboom3" name="~CS_Tailboom3" type="NODE">
+        <matrix sid="transform">-0.2764308 -0.4719504 -0.8371671 -0.04939336 0.4807571 0.6863689 -0.5456833 0.0855518 0.832141 -0.5533177 0.03715996 -0.06562035 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom3_Frame_f-mesh" name="~CS_Tailboom3"/>
+        <node id="_CS_Engine3" name="~CS_Engine3" type="NODE">
+          <matrix sid="transform">1 0 -2.6077e-8 0.04939336 2.98023e-8 1 1.49012e-8 -0.08555181 -5.58794e-9 9.31323e-9 1 0.06562036 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Engine3_Frame_for-mesh" name="~CS_Engine3"/>
+        </node>
+        <node id="_CS_Spinner3" name="~CS_Spinner3" type="NODE">
+          <matrix sid="transform">1 0 -2.6077e-8 0.04939336 2.98023e-8 1 1.49012e-8 -0.08555181 -5.58794e-9 9.31323e-9 1 0.06562036 0 0 0 1</matrix>
+          <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Spinner3_Frame_fo-mesh" name="~CS_Spinner3"/>
+        </node>
+      </node>
+      <node id="Fuselage" name="Fuselage" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2_Fuselage_Frame_for_RF-mesh" name="Fuselage"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/omnicopter_base.dae b/Gazebo/models/omnicopter/meshes/omnicopter_base.dae
new file mode 100644
index 00000000..1f8e1275
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/omnicopter_base.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:01:29</created>
+    <modified>2021-12-14T16:01:29</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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13309 25275 80221 13314 25275 80222 13314 25276 80223 13309 25276 80224 13352 25276 80225 13306 25277 80226 13325 25277 80227 13309 25277 80228 13309 25278 80229 13325 25278 80230 13352 25278 80231 13322 25279 80232 13330 25279 80233 13323 25279 80234 13323 25280 80235 13330 25280 80236 13350 25280 80237 13323 25281 80238 13350 25281 80239 13353 25281 80240 13353 25282 80241 13350 25282 80242 13347 25282 80243 13353 25283 80244 13347 25283 80245 13354 25283 80246 13354 25284 80247 13347 25284 80248 13346 25284 80249 13354 25285 80250 13346 25285 80251 13355 25285 80252 13355 25286 80253 13346 25286 80254 13349 25286 80255 13355 25287 80256 13349 25287 80257 13356 25287 80258 13356 25288 80259 13349 25288 80260 13348 25288 80261 13356 25289 80262 13348 25289 80263 13357 25289 80264 13357 25290 80265 13348 25290 80266 13333 25290 80267 13357 25291 80268 13333 25291 80269 13320 25291 80270 13320 25292 80271 13333 25292 80272 13331 25292 80273 13320 25293 80274 13331 25293 80275 13318 25293 80276 13318 25294 80277 13331 25294 80278 13327 25294 80279 13318 25295 80280 13327 25295 80281 13319 25295 80282 13319 25296 80283 13327 25296 80284 13326 25296 80285 13319 25297 80286 13326 25297 80287 13315 25297 80288 13315 25298 80289 13326 25298 80290 13328 25298 80291 13315 25299 80292 13328 25299 80293 13316 25299 80294 13316 25300 80295 13328 25300 80296 13329 25300 80297 13316 25301 80298 13329 25301 80299 13322 25301 80300 13322 25302 80301 13329 25302 80302 13330 25302 80303 13339 19591 80304 13337 19591 80305 13351 19591 80306 13351 25303 80307 13337 25303 80308 13355 25303 80309 13351 25304 80310 13355 25304 80311 13356 25304 80312 13355 25305 80313 13337 25305 80314 13354 25305 80315 13354 19598 80316 13337 19598 80317 13321 19598 80318 13354 25306 80319 13321 25306 80320 13353 25306 80321 13353 25307 80322 13321 25307 80323 13323 25307 80324 13356 25308 80325 13357 25308 80326 13351 25308 80327 13351 25309 80328 13357 25309 80329 13320 25309 80330 13351 25310 80331 13320 25310 80332 13317 25310 80333 13247 112 80334 13285 112 80335 13248 112 80336 13248 112 80337 13285 112 80338 13283 112 80339 13248 112 80340 13283 112 80341 13249 112 80342 13249 112 80343 13283 112 80344 13281 112 80345 13249 112 80346 13281 112 80347 13250 112 80348 13250 112 80349 13281 112 80350 13303 112 80351 13250 112 80352 13303 112 80353 13251 112 80354 13251 25311 80355 13303 25311 80356 13301 25311 80357 13251 25312 80358 13301 25312 80359 13299 25312 80360 13247 112 80361 13246 112 80362 13285 112 80363 13285 25313 80364 13246 25313 80365 13287 25313 80366 13287 112 80367 13246 112 80368 13245 112 80369 13287 25314 80370 13245 25314 80371 13289 25314 80372 13289 25312 80373 13245 25312 80374 13291 25312 80375 13291 112 80376 13245 112 80377 13244 112 80378 13291 112 80379 13244 112 80380 13293 112 80381 13293 112 80382 13244 112 80383 13243 112 80384 13293 112 80385 13243 112 80386 13295 112 80387 13295 112 80388 13243 112 80389 13242 112 80390 13295 112 80391 13242 112 80392 13241 112 80393 13295 25315 80394 13241 25315 80395 13297 25315 80396 13297 112 80397 13241 112 80398 13240 112 80399 13297 25316 80400 13240 25316 80401 13299 25316 80402 13299 112 80403 13240 112 80404 13251 112 80405 13226 25317 80406 13225 25317 80407 13268 25317 80408 13268 25318 80409 13225 25318 80410 13224 25318 80411 13268 25319 80412 13224 25319 80413 13266 25319 80414 13266 25320 80415 13224 25320 80416 13239 25320 80417 13266 25321 80418 13239 25321 80419 13264 25321 80420 13264 25322 80421 13239 25322 80422 13238 25322 80423 13264 25323 80424 13238 25323 80425 13262 25323 80426 13262 25324 80427 13238 25324 80428 13237 25324 80429 13262 25325 80430 13237 25325 80431 13261 25325 80432 13261 25326 80433 13237 25326 80434 13259 25326 80435 13259 25327 80436 13237 25327 80437 13236 25327 80438 13259 25328 80439 13236 25328 80440 13257 25328 80441 13257 25329 80442 13236 25329 80443 13235 25329 80444 13257 25330 80445 13235 25330 80446 13253 25330 80447 13253 25331 80448 13235 25331 80449 13234 25331 80450 13253 25332 80451 13234 25332 80452 13255 25332 80453 13255 25333 80454 13234 25333 80455 13233 25333 80456 13255 25334 80457 13233 25334 80458 13256 25334 80459 13256 25335 80460 13233 25335 80461 13232 25335 80462 13256 25336 80463 13232 25336 80464 13231 25336 80465 13256 25337 80466 13231 25337 80467 13278 25337 80468 13278 25338 80469 13231 25338 80470 13230 25338 80471 13278 25339 80472 13230 25339 80473 13276 25339 80474 13276 25340 80475 13230 25340 80476 13229 25340 80477 13276 25341 80478 13229 25341 80479 13275 25341 80480 13275 25342 80481 13229 25342 80482 13273 25342 80483 13273 25343 80484 13229 25343 80485 13228 25343 80486 13273 25326 80487 13228 25326 80488 13271 25326 80489 13271 25344 80490 13228 25344 80491 13227 25344 80492 13271 25345 80493 13227 25345 80494 13269 25345 80495 13269 25346 80496 13227 25346 80497 13226 25346 80498 13269 25347 80499 13226 25347 80500 13268 25347 80501 13341 19632 80502 13339 19632 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13376 25365 80559 13375 25365 80560 13377 25365 80561 13376 25366 80562 13377 25366 80563 13378 25366 80564 13378 25367 80565 13377 25367 80566 13379 25367 80567 13378 25368 80568 13379 25368 80569 13380 25368 80570 13380 25369 80571 13379 25369 80572 13381 25369 80573 13380 25370 80574 13381 25370 80575 13382 25370 80576 13382 25371 80577 13381 25371 80578 13383 25371 80579 13383 25372 80580 13381 25372 80581 13384 25372 80582 13383 25373 80583 13384 25373 80584 13358 25373 80585 13358 25374 80586 13384 25374 80587 13359 25374 80588 4503 25375 80589 13385 25375 80590 4501 25375 80591 4501 25376 80592 13385 25376 80593 13386 25376 80594 4501 25377 80595 13386 25377 80596 4522 25377 80597 4522 25378 80598 13386 25378 80599 13387 25378 80600 4522 25379 80601 13387 25379 80602 4520 25379 80603 4520 25380 80604 13387 25380 80605 13388 25380 80606 4520 25381 80607 13388 25381 80608 4519 25381 80609 4519 25382 80610 13388 25382 80611 13389 25382 80612 4519 25383 80613 13389 25383 80614 4517 25383 80615 4517 25384 80616 13389 25384 80617 13390 25384 80618 4517 25385 80619 13390 25385 80620 4514 25385 80621 4514 25386 80622 13390 25386 80623 13391 25386 80624 4514 25387 80625 13391 25387 80626 4512 25387 80627 4512 25388 80628 13391 25388 80629 13392 25388 80630 4512 25389 80631 13392 25389 80632 4510 25389 80633 4510 25390 80634 13392 25390 80635 13393 25390 80636 4510 25391 80637 13393 25391 80638 4508 25391 80639 4508 25392 80640 13393 25392 80641 13394 25392 80642 4508 25393 80643 13394 25393 80644 4507 25393 80645 4507 25394 80646 13394 25394 80647 13395 25394 80648 4507 25395 80649 13395 25395 80650 4505 25395 80651 4505 25396 80652 13395 25396 80653 13396 25396 80654 4505 25397 80655 13396 25397 80656 4503 25397 80657 4503 25398 80658 13396 25398 80659 13385 25398 80660 13359 25399 80661 13393 25399 80662 13361 25399 80663 13361 25400 80664 13393 25400 80665 13392 25400 80666 13361 25401 80667 13392 25401 80668 13363 25401 80669 13363 25402 80670 13392 25402 80671 13391 25402 80672 13363 25403 80673 13391 25403 80674 13365 25403 80675 13365 25404 80676 13391 25404 80677 13390 25404 80678 13365 25405 80679 13390 25405 80680 13367 25405 80681 13367 25406 80682 13390 25406 80683 13389 25406 80684 13367 25407 80685 13389 25407 80686 13369 25407 80687 13369 25408 80688 13389 25408 80689 13388 25408 80690 13369 25409 80691 13388 25409 80692 13371 25409 80693 13371 25410 80694 13388 25410 80695 13387 25410 80696 13371 25411 80697 13387 25411 80698 13373 25411 80699 13373 25412 80700 13387 25412 80701 13386 25412 80702 13373 25413 80703 13386 25413 80704 13375 25413 80705 13375 25414 80706 13386 25414 80707 13385 25414 80708 13375 25415 80709 13385 25415 80710 13377 25415 80711 13377 25416 80712 13385 25416 80713 13396 25416 80714 13377 25417 80715 13396 25417 80716 13379 25417 80717 13379 25418 80718 13396 25418 80719 13395 25418 80720 13379 25419 80721 13395 25419 80722 13381 25419 80723 13381 25420 80724 13395 25420 80725 13394 25420 80726 13381 25421 80727 13394 25421 80728 13384 25421 80729 13384 25422 80730 13394 25422 80731 13393 25422 80732 13384 25423 80733 13393 25423 80734 13359 25423 80735 4418 25424 80736 4186 25424 80737 13374 25424 80738 13374 25425 80739 4186 25425 80740 4185 25425 80741 13374 25426 80742 4185 25426 80743 13372 25426 80744 13372 25427 80745 4185 25427 80746 4258 25427 80747 13372 25428 80748 4258 25428 80749 4256 25428 80750 13372 25429 80751 4256 25429 80752 13370 25429 80753 13370 25430 80754 4256 25430 80755 4254 25430 80756 13370 25431 80757 4254 25431 80758 4252 25431 80759 4252 25432 80760 4250 25432 80761 13370 25432 80762 13370 25433 80763 4250 25433 80764 13368 25433 80765 13368 25434 80766 4250 25434 80767 4246 25434 80768 13368 25435 80769 4246 25435 80770 4245 25435 80771 13368 25436 80772 4245 25436 80773 13366 25436 80774 13366 25437 80775 4245 25437 80776 4244 25437 80777 13366 25438 80778 4244 25438 80779 4209 25438 80780 13366 25439 80781 4209 25439 80782 13364 25439 80783 13364 25440 80784 4209 25440 80785 4523 25440 80786 13364 25441 80787 4523 25441 80788 4531 25441 80789 13364 25442 80790 4531 25442 80791 13362 25442 80792 13362 25443 80793 4531 25443 80794 4533 25443 80795 13362 25444 80796 4533 25444 80797 4535 25444 80798 13362 25445 80799 4535 25445 80800 13360 25445 80801 13360 25446 80802 4535 25446 80803 12918 25446 80804 13360 25447 80805 12918 25447 80806 13358 25447 80807 13358 25448 80808 12918 25448 80809 12915 25448 80810 13358 25449 80811 12915 25449 80812 12881 25449 80813 13358 25450 80814 12881 25450 80815 13383 25450 80816 13383 25451 80817 12881 25451 80818 12882 25451 80819 13383 25452 80820 12882 25452 80821 12884 25452 80822 13383 25453 80823 12884 25453 80824 13382 25453 80825 13382 25454 80826 12884 25454 80827 12886 25454 80828 13382 25455 80829 12886 25455 80830 12888 25455 80831 12888 25456 80832 12890 25456 80833 13382 25456 80834 13382 25457 80835 12890 25457 80836 13380 25457 80837 13380 25458 80838 12890 25458 80839 12892 25458 80840 13380 25459 80841 12892 25459 80842 13378 25459 80843 13378 25460 80844 12892 25460 80845 4434 25460 80846 13378 25461 80847 4434 25461 80848 4432 25461 80849 13378 25462 80850 4432 25462 80851 13376 25462 80852 13376 25463 80853 4432 25463 80854 4427 25463 80855 13376 25464 80856 4427 25464 80857 4418 25464 80858 13376 25465 80859 4418 25465 80860 13374 25465 80861</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Fuselage" name="Fuselage" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2_Fuselage_Frame_for_RF-mesh" name="Fuselage"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/spinner.dae b/Gazebo/models/omnicopter/meshes/spinner.dae
new file mode 100644
index 00000000..a6113ee2
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/spinner.dae
@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T17:29:27</created>
+    <modified>2021-12-14T17:29:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="spinner1-mesh" name="spinner1">
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+          <technique_common>
+            <accessor source="#spinner1-mesh-map-0-array" count="432" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="spinner1-mesh-vertices">
+          <input semantic="POSITION" source="#spinner1-mesh-positions"/>
+        </vertices>
+        <triangles count="144">
+          <input semantic="VERTEX" source="#spinner1-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#spinner1-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#spinner1-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="spinner1" name="spinner1" type="NODE">
+        <matrix sid="transform">1 0 0 -3.41684e-8 0 0.8374273 -0.5465487 0 0 0.5465487 0.8374273 0 0 0 0 1</matrix>
+        <instance_geometry url="#spinner1-mesh" name="spinner1"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">1 0 0 7.358891 0 1 2.98023e-8 -6.925791 0 -2.98023e-8 1 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">1 0 0 4.076245 0 1 -2.98023e-8 1.005454 0 2.98023e-8 1 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/tailboom1.dae b/Gazebo/models/omnicopter/meshes/tailboom1.dae
new file mode 100644
index 00000000..42cac952
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/tailboom1.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:03:34</created>
+    <modified>2021-12-14T16:03:34</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom1_Frame_f-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Tailboom1 Frame f">
+      <mesh>
+        <source id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom1_Frame_f-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom1" name="~CS_Tailboom1" type="NODE">
+        <matrix sid="transform">0.5468293 0 -0.8372441 0.09878671 0 1 0 0 0.8372441 0 0.5468293 -0.06562033 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom1_Frame_f-mesh" name="~CS_Tailboom1"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/tailboom2.dae b/Gazebo/models/omnicopter/meshes/tailboom2.dae
new file mode 100644
index 00000000..8bc4d62f
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/tailboom2.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:03:42</created>
+    <modified>2021-12-14T16:03:42</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Taiboom2 Frame fo">
+      <mesh>
+        <source id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom2" name="~CS_Tailboom2" type="NODE">
+        <matrix sid="transform">-0.2695821 0.4724039 -0.8391424 -0.04939336 -0.478799 0.6903036 0.5424321 -0.0855518 0.83551 0.5480105 0.04009303 -0.06562033 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Taiboom2_Frame_fo-mesh" name="~CS_Tailboom2"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/tailboom3.dae b/Gazebo/models/omnicopter/meshes/tailboom3.dae
new file mode 100644
index 00000000..d089cfb9
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/tailboom3.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:03:49</created>
+    <modified>2021-12-14T16:03:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom3_Frame_f-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Tailboom3 Frame f">
+      <mesh>
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9602 581 2993 9603 1651 2993 9604 1652 2993 9605 581 20 9606 1652 20 9607 580 20 9608 580 2994 9609 1652 2994 9610 1639 2994 9611 1649 20 9612 595 20 9613 1648 20 9614 1648 2995 9615 595 2995 9616 593 2995 9617 1648 2996 9618 593 2996 9619 591 2996 9620 1648 20 9621 591 20 9622 1200 20 9623 1200 20 9624 591 20 9625 589 20 9626 1200 20 9627 589 20 9628 1167 20 9629 1181 2997 9630 1179 2997 9631 1656 2997 9632 1656 2998 9633 1179 2998 9634 1171 2998 9635 1656 2999 9636 1171 2999 9637 1655 2999 9638 1655 3000 9639 1171 3000 9640 1170 3000 9641 1655 3001 9642 1170 3001 9643 1169 3001 9644 1169 3002 9645 1166 3002 9646 1655 3002 9647 1655 3003 9648 1166 3003 9649 1654 3003 9650 1654 3004 9651 1166 3004 9652 1165 3004 9653 596 3005 9654 1662 3005 9655 1667 3005 9656 1667 3006 9657 1662 3006 9658 1663 3006 9659 1667 3007 9660 1663 3007 9661 1664 3007 9662 1664 3008 9663 1665 3008 9664 1668 3008 9665 1668 3009 9666 1665 3009 9667 1666 3009 9668 1668 3010 9669 1666 3010 9670 581 3010 9671 575 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9741 554 3032 9742 1624 3032 9743 1670 3033 9744 1624 3033 9745 558 3033 9746 558 3034 9747 573 3034 9748 1670 3034 9749 572 3035 9750 569 3035 9751 1671 3035 9752 1671 3036 9753 569 3036 9754 1672 3036 9755 1671 3037 9756 1672 3037 9757 554 3037 9758 554 3038 9759 1659 3038 9760 1671 3038 9761 390 3039 9762 397 3039 9763 339 3039 9764 339 3040 9765 397 3040 9766 493 3040 9767 339 3041 9768 493 3041 9769 333 3041 9770 333 3042 9771 493 3042 9772 515 3042 9773 333 3043 9774 515 3043 9775 331 3043 9776 331 3044 9777 515 3044 9778 317 3044 9779 331 3045 9780 317 3045 9781 329 3045 9782 329 3046 9783 317 3046 9784 319 3046 9785 329 3047 9786 319 3047 9787 327 3047 9788 327 3048 9789 319 3048 9790 321 3048 9791 327 3049 9792 321 3049 9793 325 3049 9794 325 3050 9795 321 3050 9796 323 3050 9797 390 3051 9798 399 3051 9799 397 3051 9800 397 3052 9801 526 3052 9802 493 3052 9803 493 3053 9804 526 3053 9805 476 3053 9806 476 3054 9807 526 3054 9808 886 3054 9809 476 3055 9810 886 3055 9811 885 3055 9812 526 3056 9813 887 3056 9814 886 3056 9815 476 3057 9816 885 3057 9817 477 3057 9818 477 3058 9819 885 3058 9820 874 3058 9821 477 3059 9822 874 3059 9823 472 3059 9824 472 3060 9825 874 3060 9826 470 3060 9827 470 3061 9828 874 3061 9829 482 3061 9830 482 3062 9831 874 3062 9832 281 3062 9833 482 3063 9834 281 3063 9835 490 3063 9836 490 3064 9837 281 3064 9838 488 3064 9839 488 3065 9840 281 3065 9841 284 3065 9842 488 3066 9843 284 3066 9844 486 3066 9845 486 3067 9846 284 3067 9847 283 3067 9848 486 3068 9849 283 3068 9850 484 3068 9851 484 3069 9852 283 3069 9853 282 3069 9854 484 3070 9855 282 3070 9856 605 3070 9857 605 3071 9858 282 3071 9859 1230 3071 9860 1230 3072 9861 282 3072 9862 1390 3072 9863 1230 3073 9864 1390 3073 9865 1228 3073 9866 1228 3074 9867 1390 3074 9868 1388 3074 9869 1228 3075 9870 1388 3075 9871 1225 3075 9872 1225 3076 9873 1388 3076 9874 1386 3076 9875 1225 3077 9876 1386 3077 9877 1184 3077 9878 282 3078 9879 301 3078 9880 1390 3078 9881 1390 3079 9882 301 3079 9883 1392 3079 9884 1392 3080 9885 301 3080 9886 1456 3080 9887 1456 3081 9888 301 3081 9889 1457 3081 9890 1457 3082 9891 301 3082 9892 457 3082 9893 1457 3083 9894 457 3083 9895 342 3083 9896 342 3084 9897 457 3084 9898 428 3084 9899 342 3085 9900 428 3085 9901 344 3085 9902 344 3086 9903 428 3086 9904 429 3086 9905 344 3087 9906 429 3087 9907 430 3087 9908 301 3088 9909 873 3088 9910 457 3088 9911 457 3089 9912 873 3089 9913 459 3089 9914 459 3090 9915 873 3090 9916 872 3090 9917 459 3091 9918 872 3091 9919 461 3091 9920 461 3092 9921 872 3092 9922 871 3092 9923 461 3093 9924 871 3093 9925 863 3093 9926 865 3094 9927 454 3094 9928 863 3094 9929 863 3095 9930 454 3095 9931 463 3095 9932 863 3096 9933 463 3096 9934 461 3096 9935 454 3097 9936 865 3097 9937 452 3097 9938 452 3098 9939 865 3098 9940 856 3098 9941 452 3099 9942 856 3099 9943 469 3099 9944 469 3100 9945 856 3100 9946 466 3100 9947 466 3101 9948 856 3101 9949 465 3101 9950 465 3102 9951 856 3102 9952 858 3102 9953 465 3103 9954 858 3103 9955 450 3103 9956 450 3104 9957 858 3104 9958 361 3104 9959 450 3105 9960 361 3105 9961 375 3105 9962 375 3106 9963 361 3106 9964 358 3106 9965 375 3107 9966 358 3107 9967 356 3107 9968 356 3108 9969 354 3108 9970 375 3108 9971 375 3109 9972 354 3109 9973 377 3109 9974 377 3110 9975 354 3110 9976 352 3110 9977 377 3111 9978 352 3111 9979 379 3111 9980 379 3112 9981 352 3112 9982 381 3112 9983 381 3113 9984 352 3113 9985 350 3113 9986 381 3114 9987 350 3114 9988 383 3114 9989 383 3115 9990 350 3115 9991 348 3115 9992 383 3116 9993 348 3116 9994 385 3116 9995 385 3117 9996 348 3117 9997 346 3117 9998 385 3118 9999 346 3118 10000 387 3118 10001 387 3119 10002 346 3119 10003 430 3119 10004 387 3120 10005 430 3120 10006 432 3120 10007 346 3121 10008 344 3121 10009 430 3121 10010 1174 3122 10011 1644 3122 10012 1184 3122 10013 1184 3123 10014 1644 3123 10015 1219 3123 10016 1184 3124 10017 1219 3124 10018 1225 3124 10019 1175 3125 10020 1183 3125 10021 1174 3125 10022 1174 3126 10023 1183 3126 10024 1646 3126 10025 1174 3127 10026 1646 3127 10027 1644 3127 10028 1644 3128 10029 1646 3128 10030 1645 3128 10031 605 3129 10032 603 3129 10033 484 3129 10034 484 3130 10035 603 3130 10036 601 3130 10037 484 3131 10038 601 3131 10039 403 3131 10040 484 3132 10041 403 3132 10042 481 3132 10043 481 3133 10044 403 3133 10045 401 3133 10046 481 3134 10047 401 3134 10048 480 3134 10049 480 3135 10050 401 3135 10051 425 3135 10052 480 3136 10053 425 3136 10054 422 3136 10055 401 3137 10056 408 3137 10057 425 3137 10058 422 3138 10059 419 3138 10060 480 3138 10061 480 3139 10062 419 3139 10063 418 3139 10064 480 3140 10065 418 3140 10066 1673 3140 10067 1674 3141 10068 499 3141 10069 1673 3141 10070 1673 3142 10071 499 3142 10072 496 3142 10073 1673 3143 10074 496 3143 10075 480 3143 10076 499 3144 10077 1674 3144 10078 501 3144 10079 501 3145 10080 1674 3145 10081 317 3145 10082 501 3146 10083 317 3146 10084 518 3146 10085 518 3147 10086 317 3147 10087 515 3147 10088 333 3148 10089 335 3148 10090 339 3148 10091 339 3149 10092 335 3149 10093 337 3149 10094 367 3150 10095 443 3150 10096 369 3150 10097 369 3151 10098 443 3151 10099 441 3151 10100 369 3152 10101 441 3152 10102 439 3152 10103 389 3153 10104 434 3153 10105 367 3153 10106 367 3154 10107 434 3154 10108 436 3154 10109 367 3155 10110 436 3155 10111 443 3155 10112 434 3156 10113 389 3156 10114 432 3156 10115 432 3157 10116 389 3157 10117 387 3157 10118 375 3158 10119 373 3158 10120 450 3158 10121 450 3159 10122 373 3159 10123 448 3159 10124 448 3160 10125 373 3160 10126 446 3160 10127 446 3161 10128 373 3161 10129 371 3161 10130 446 3162 10131 371 3162 10132 444 3162 10133 444 3163 10134 371 3163 10135 439 3163 10136 439 3164 10137 371 3164 10138 369 3164 10139 318 3165 10140 317 3165 10141 1187 3165 10142 1187 3166 10143 317 3166 10144 1674 3166 10145 1187 3167 10146 1674 3167 10147 1188 3167 10148 1188 3168 10149 1674 3168 10150 1673 3168 10151 1188 3169 10152 1673 3169 10153 421 3169 10154 421 3170 10155 1673 3170 10156 418 3170 10157 1675 31 10158 1676 31 10159 1677 31 10160 1677 3171 10161 1676 3171 10162 1678 3171 10163 1677 31 10164 1678 31 10165 1679 31 10166 1679 3172 10167 1678 3172 10168 1680 3172 10169 1679 31 10170 1680 31 10171 1681 31 10172 1681 3173 10173 1680 3173 10174 1682 3173 10175 1681 3174 10176 1682 3174 10177 1683 3174 10178 1676 31 10179 1675 31 10180 1684 31 10181 1684 3175 10182 1675 3175 10183 1685 3175 10184 1684 3176 10185 1685 3176 10186 1686 3176 10187 1679 3177 10188 1687 3177 10189 1677 3177 10190 1677 3178 10191 1687 3178 10192 1688 3178 10193 1677 3179 10194 1688 3179 10195 1675 3179 10196 1675 3180 10197 1688 3180 10198 1689 3180 10199 1675 3181 10200 1689 3181 10201 1685 3181 10202 1685 3182 10203 1689 3182 10204 1690 3182 10205 1685 3183 10206 1690 3183 10207 1686 3183 10208 1686 3184 10209 1690 3184 10210 1691 3184 10211 1686 3185 10212 1691 3185 10213 1684 3185 10214 1684 3186 10215 1691 3186 10216 1692 3186 10217 1684 3187 10218 1692 3187 10219 1676 3187 10220 1676 3188 10221 1692 3188 10222 1693 3188 10223 1676 3189 10224 1693 3189 10225 1678 3189 10226 1678 3190 10227 1693 3190 10228 1694 3190 10229 1678 3191 10230 1694 3191 10231 1680 3191 10232 1680 3192 10233 1694 3192 10234 1695 3192 10235 1680 3193 10236 1695 3193 10237 1682 3193 10238 1682 3194 10239 1695 3194 10240 1696 3194 10241 1682 3195 10242 1696 3195 10243 1683 3195 10244 1683 3196 10245 1696 3196 10246 1697 3196 10247 1683 3197 10248 1697 3197 10249 1681 3197 10250 1681 3198 10251 1697 3198 10252 1698 3198 10253 1681 3199 10254 1698 3199 10255 1679 3199 10256 1679 3200 10257 1698 3200 10258 1687 3200 10259 1693 20 10260 1690 20 10261 1694 20 10262 1694 3201 10263 1690 3201 10264 1689 3201 10265 1694 3202 10266 1689 3202 10267 1695 3202 10268 1695 3203 10269 1689 3203 10270 1688 3203 10271 1695 3204 10272 1688 3204 10273 1696 3204 10274 1696 3205 10275 1688 3205 10276 1687 3205 10277 1696 20 10278 1687 20 10279 1697 20 10280 1697 20 10281 1687 20 10282 1698 20 10283 1692 3206 10284 1691 3206 10285 1693 3206 10286 1693 20 10287 1691 20 10288 1690 20 10289</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom3" name="~CS_Tailboom3" type="NODE">
+        <matrix sid="transform">-0.2764308 -0.4719504 -0.8371671 -0.04939336 0.4807571 0.6863689 -0.5456833 0.0855518 0.832141 -0.5533177 0.03715996 -0.06562035 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom3_Frame_f-mesh" name="~CS_Tailboom3"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/tailboom4.dae b/Gazebo/models/omnicopter/meshes/tailboom4.dae
new file mode 100644
index 00000000..12fabb4d
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/tailboom4.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:03:57</created>
+    <modified>2021-12-14T16:03:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom4_Frame_f-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Tailboom4 Frame f">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom4" name="~CS_Tailboom4" type="NODE">
+        <matrix sid="transform">0.867716 -0.4970604 0 0.04815135 0.4970604 0.867716 0 -0.08540058 0 0 1 0.07122642 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom4_Frame_f-mesh" name="~CS_Tailboom4"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/tailboom5.dae b/Gazebo/models/omnicopter/meshes/tailboom5.dae
new file mode 100644
index 00000000..249ac4d2
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/tailboom5.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:04:05</created>
+    <modified>2021-12-14T16:04:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom5_Frame_f-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Tailboom5 Frame f">
+      <mesh>
+        <source id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom5_Frame_f-mesh-positions">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom5" name="~CS_Tailboom5" type="NODE">
+        <matrix sid="transform">-0.002223946 -0.9997591 0.02183497 -0.09803475 0.9999938 -0.002164009 0.002768249 -0.001 -0.002720331 0.02184099 0.9997578 0.07122642 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom5_Frame_f-mesh" name="~CS_Tailboom5"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/meshes/tailboom6.dae b/Gazebo/models/omnicopter/meshes/tailboom6.dae
new file mode 100644
index 00000000..1414904c
--- /dev/null
+++ b/Gazebo/models/omnicopter/meshes/tailboom6.dae
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1</authoring_tool>
+    </contributor>
+    <created>2021-12-14T16:04:12</created>
+    <modified>2021-12-14T16:04:12</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom6_Frame_f-mesh" name="Frame for RF arms v2 Frame for RF arms v2 ~CS Tailboom6 Frame f">
+      <mesh>
+        <source id="Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom6_Frame_f-mesh-positions">
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1509 2399 9001 208 2399 9002 208 2399 9003 1509 2399 9004 1520 2399 9005 208 2399 9006 1520 2399 9007 206 2399 9008 206 2885 9009 1520 2885 9010 1521 2885 9011 206 2886 9012 1521 2886 9013 204 2886 9014 204 2399 9015 1521 2399 9016 1522 2399 9017 204 2887 9018 1522 2887 9019 226 2887 9020 226 2399 9021 1522 2399 9022 1523 2399 9023 226 2888 9024 1523 2888 9025 224 2888 9026 224 2889 9027 1523 2889 9028 1524 2889 9029 224 2890 9030 1524 2890 9031 222 2890 9032 222 2399 9033 1524 2399 9034 1525 2399 9035 222 2399 9036 1525 2399 9037 220 2399 9038 220 2399 9039 1525 2399 9040 1526 2399 9041 220 2399 9042 1526 2399 9043 218 2399 9044 218 2399 9045 1526 2399 9046 216 2399 9047 265 2399 9048 1500 2399 9049 263 2399 9050 263 2399 9051 1500 2399 9052 1498 2399 9053 263 2399 9054 1498 2399 9055 261 2399 9056 261 2891 9057 1498 2891 9058 1502 2891 9059 261 2399 9060 1502 2399 9061 275 2399 9062 275 2399 9063 1502 2399 9064 1527 2399 9065 275 2892 9066 1527 2892 9067 277 2892 9068 277 2399 9069 1527 2399 9070 1528 2399 9071 277 2893 9072 1528 2893 9073 279 2893 9074 279 2894 9075 1528 2894 9076 1529 2894 9077 279 2895 9078 1529 2895 9079 281 2895 9080 281 2896 9081 1529 2896 9082 1530 2896 9083 281 2399 9084 1530 2399 9085 283 2399 9086 283 2897 9087 1530 2897 9088 1531 2897 9089 283 2898 9090 1531 2898 9091 286 2898 9092 286 2899 9093 1531 2899 9094 1532 2899 9095 286 2900 9096 1532 2900 9097 271 2900 9098 271 2399 9099 1532 2399 9100 1482 2399 9101 271 2399 9102 1482 2399 9103 269 2399 9104 269 2399 9105 1482 2399 9106 267 2399 9107 267 2399 9108 1482 2399 9109 1483 2399 9110 267 2399 9111 1483 2399 9112 1500 2399 9113 265 2399 9114 267 2399 9115 1500 2399 9116 228 2399 9117 230 2399 9118 1486 2399 9119 1486 2901 9120 230 2901 9121 232 2901 9122 1486 2902 9123 232 2902 9124 1533 2902 9125 1533 2903 9126 232 2903 9127 234 2903 9128 1533 2904 9129 234 2904 9130 1534 2904 9131 1534 2905 9132 234 2905 9133 236 2905 9134 1534 2399 9135 236 2399 9136 1535 2399 9137 1535 2399 9138 236 2399 9139 238 2399 9140 1535 2399 9141 238 2399 9142 1536 2399 9143 1536 2399 9144 238 2399 9145 253 2399 9146 1536 2399 9147 253 2399 9148 1537 2399 9149 1537 2906 9150 253 2906 9151 250 2906 9152 1537 2399 9153 250 2399 9154 1485 2399 9155 1485 2907 9156 250 2907 9157 248 2907 9158 1485 2908 9159 248 2908 9160 1484 2908 9161 1484 2399 9162 248 2399 9163 246 2399 9164 1484 2909 9165 246 2909 9166 1518 2909 9167 1518 2910 9168 246 2910 9169 244 2910 9170 1518 2911 9171 244 2911 9172 1516 2911 9173 1516 2399 9174 244 2399 9175 242 2399 9176 1516 2912 9177 242 2912 9178 228 2912 9179 1486 2399 9180 1487 2399 9181 228 2399 9182 228 2399 9183 1487 2399 9184 1516 2399 9185 1499 2399 9186 1501 2399 9187 1497 2399 9188 1497 2399 9189 1501 2399 9190 1503 2399 9191 1503 2399 9192 1501 2399 9193 1519 2399 9194 1503 2399 9195 1519 2399 9196 1506 2399 9197 1506 2399 9198 1519 2399 9199 1517 2399 9200 1506 2399 9201 1517 2399 9202 1508 2399 9203 1508 2399 9204 1517 2399 9205 1515 2399 9206 1508 2399 9207 1515 2399 9208 1510 2399 9209 1510 2399 9210 1515 2399 9211 1514 2399 9212 1510 2399 9213 1514 2399 9214 1512 2399 9215 843 2913 9216 1535 2913 9217 842 2913 9218 842 2914 9219 1535 2914 9220 1536 2914 9221 842 2915 9222 1536 2915 9223 1481 2915 9224 1481 2916 9225 1536 2916 9226 1537 2916 9227 1481 2917 9228 1537 2917 9229 1480 2917 9230 1480 2918 9231 1537 2918 9232 1485 2918 9233 1480 2919 9234 1485 2919 9235 1476 2919 9236 843 2920 9237 882 2920 9238 1535 2920 9239 1535 2921 9240 882 2921 9241 876 2921 9242 1535 2922 9243 876 2922 9244 874 2922 9245 874 2923 9246 873 2923 9247 1535 2923 9248 1535 2924 9249 873 2924 9250 1435 2924 9251 1535 2925 9252 1435 2925 9253 1534 2925 9254 1534 2926 9255 1435 2926 9256 1471 2926 9257 1534 2927 9258 1471 2927 9259 1533 2927 9260 1533 2928 9261 1471 2928 9262 1464 2928 9263 1533 2929 9264 1464 2929 9265 1486 2929 9266 1486 2930 9267 1464 2930 9268 1466 2930 9269 612 2931 9270 1530 2931 9271 613 2931 9272 613 2932 9273 1530 2932 9274 1529 2932 9275 613 2933 9276 1529 2933 9277 1440 2933 9278 1440 2934 9279 1529 2934 9280 1528 2934 9281 1440 2935 9282 1528 2935 9283 1441 2935 9284 1441 2936 9285 1528 2936 9286 1527 2936 9287 1441 2937 9288 1527 2937 9289 1444 2937 9290 612 2938 9291 818 2938 9292 1530 2938 9293 1530 2939 9294 818 2939 9295 812 2939 9296 1530 2940 9297 812 2940 9298 810 2940 9299 810 2941 9300 809 2941 9301 1530 2941 9302 1530 2942 9303 809 2942 9304 822 2942 9305 1530 2943 9306 822 2943 9307 1531 2943 9308 1531 2944 9309 822 2944 9310 1479 2944 9311 1531 2945 9312 1479 2945 9313 1532 2945 9314 1532 2946 9315 1479 2946 9316 1472 2946 9317 1532 2947 9318 1472 2947 9319 1482 2947 9320 1482 2948 9321 1472 2948 9322 1473 2948 9323 1538 2949 9324 1539 2949 9325 1540 2949 9326 1540 2950 9327 1539 2950 9328 1541 2950 9329 1540 2951 9330 1541 2951 9331 1542 2951 9332 1542 2951 9333 1541 2951 9334 1543 2951 9335 1542 2952 9336 1543 2952 9337 1544 2952 9338 1544 2953 9339 1543 2953 9340 1545 2953 9341 1544 2954 9342 1545 2954 9343 1546 2954 9344 1546 2955 9345 1545 2955 9346 1547 2955 9347 1546 2956 9348 1547 2956 9349 1548 2956 9350 1548 2957 9351 1547 2957 9352 1549 2957 9353 1548 2958 9354 1549 2958 9355 1550 2958 9356 1550 2958 9357 1549 2958 9358 1551 2958 9359 1550 2959 9360 1551 2959 9361 1552 2959 9362 1552 2960 9363 1551 2960 9364 1553 2960 9365 1552 2961 9366 1553 2961 9367 1554 2961 9368 1554 2962 9369 1553 2962 9370 1555 2962 9371 1554 2963 9372 1555 2963 9373 1556 2963 9374 1556 2964 9375 1555 2964 9376 1557 2964 9377 1556 2965 9378 1557 2965 9379 1558 2965 9380 1558 2965 9381 1557 2965 9382 1559 2965 9383 1558 2966 9384 1559 2966 9385 1560 2966 9386 1560 2966 9387 1559 2966 9388 1561 2966 9389 1560 2967 9390 1561 2967 9391 1538 2967 9392 1538 2968 9393 1561 2968 9394 1539 2968 9395 1542 2399 9396 1550 2399 9397 1540 2399 9398 1540 2969 9399 1550 2969 9400 1552 2969 9401 1540 2970 9402 1552 2970 9403 1538 2970 9404 1538 2971 9405 1552 2971 9406 1554 2971 9407 1538 2399 9408 1554 2399 9409 1560 2399 9410 1560 2399 9411 1554 2399 9412 1556 2399 9413 1560 2399 9414 1556 2399 9415 1558 2399 9416 1550 2399 9417 1542 2399 9418 1548 2399 9419 1548 2399 9420 1542 2399 9421 1544 2399 9422 1548 2399 9423 1544 2399 9424 1546 2399 9425 1551 2972 9426 1543 2972 9427 1553 2972 9428 1553 2973 9429 1543 2973 9430 1541 2973 9431 1553 1512 9432 1541 1512 9433 1555 1512 9434 1555 2974 9435 1541 2974 9436 1539 2974 9437 1555 2975 9438 1539 2975 9439 1557 2975 9440 1557 2976 9441 1539 2976 9442 1561 2976 9443 1557 1512 9444 1561 1512 9445 1559 1512 9446 1543 2977 9447 1551 2977 9448 1545 2977 9449 1545 2978 9450 1551 2978 9451 1549 2978 9452 1545 1512 9453 1549 1512 9454 1547 1512 9455</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_CS_Tailboom6" name="~CS_Tailboom6" type="NODE">
+        <matrix sid="transform">0.8666803 0.498864 0 0.04815135 -0.498864 0.8666803 0 0.0854006 0 0 1 0.07122642 0 0 0 1</matrix>
+        <instance_geometry url="#Frame_for_RF_arms_v2_Frame_for_RF_arms_v2__CS_Tailboom6_Frame_f-mesh" name="~CS_Tailboom6"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Gazebo/models/omnicopter/model.config b/Gazebo/models/omnicopter/model.config
new file mode 100644
index 00000000..4d554e63
--- /dev/null
+++ b/Gazebo/models/omnicopter/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<model>
+  <name>OmniCopter</name>
+  <version>1.0</version>
+  <sdf version='1.7'>model.sdf</sdf>
+
+  <author>
+    <name>Peter Hall</name>
+  </author>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>rhys.mainwaring@me.com</email>
+  </author>
+
+  <description>
+    This is a model of a 6DOF OmniCopter with ArduPilot integration.
+  </description>
+</model>
diff --git a/Gazebo/models/omnicopter/model.sdf b/Gazebo/models/omnicopter/model.sdf
new file mode 100644
index 00000000..8da0b91c
--- /dev/null
+++ b/Gazebo/models/omnicopter/model.sdf
@@ -0,0 +1,1303 @@
+<sdf version='1.7'>
+  <model name='omnicopter'>
+    <static>0</static>
+    <self_collide>0</self_collide>
+
+    <link name='base_link'>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>1.5</mass>
+        <inertia>
+          <ixx>0.009375</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.009375</iyy>
+          <iyz>0</iyz>
+          <izz>0.009375</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.25 0.25 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='base_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/omnicopter_base.dae</uri>
+          </mesh>
+        </geometry>
+         <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic006/plastic006_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic006/plastic006_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic006/plastic006_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+     </visual>
+      <visual name='tailboom1_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/tailboom1.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='tailboom2_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/tailboom2.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='tailboom3_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/tailboom3.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='tailboom4_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/tailboom4.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='tailboom5_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/tailboom5.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='tailboom6_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/tailboom6.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+    </link>
+
+    <link name='motor_1_link'>
+      <pose relative_to='motor_1_joint'>0 0 0.018 0 0 0</pose>
+      <inertial>
+        <pose>0 0 -0.018 0 0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='spinner_visual'>
+        <pose>0 0 -0.01 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/spinner.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>1 1 1</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg</albedo_map>
+              <metalness_map>model://omnicopter/materials/textures/red_metal/red_metal_metallic.jpg</metalness_map>
+              <normal_map>model://omnicopter/materials/textures/red_metal/red_metal_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/red_metal/red_metal_roughness.jpg</roughness_map>
+              <roughness>1.0</roughness>
+              <metalness>1.0</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='prop_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <!-- <visual name='prop_disk_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 0 0.5</ambient>
+          <diffuse>1 1 0 0.5</diffuse>
+          <specular>0.3 0.3 0.3 0.5</specular>
+        </material>
+      </visual> -->
+    </link>
+    <joint name='motor_1_joint' type='revolute'>
+      <pose relative_to='base_link'>0.10147914 0. -0.06590132 0. 0.57595865 0.</pose>
+      <parent>base_link</parent>
+      <child>motor_1_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e16</lower>
+          <upper>1e16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+      <sensor name="force_torque_sensor" type="force_torque">
+        <update_rate>30</update_rate>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </joint>
+
+    <link name='motor_2_link'>
+      <pose relative_to='motor_2_joint'>0 0 0.018 0 0 0</pose>
+      <inertial>
+        <pose>0 0 -0.018 0 0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='spinner_visual'>
+        <pose>0 0 -0.01 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/spinner.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>1 1 1</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg</albedo_map>
+              <metalness_map>model://omnicopter/materials/textures/red_metal/red_metal_metallic.jpg</metalness_map>
+              <normal_map>model://omnicopter/materials/textures/red_metal/red_metal_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/red_metal/red_metal_roughness.jpg</roughness_map>
+              <roughness>1.0</roughness>
+              <metalness>1.0</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='prop_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://omnicopter/meshes/iris_prop_cw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <!-- <visual name='prop_disk_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 0 0.5</ambient>
+          <diffuse>1 1 0 0.5</diffuse>
+          <specular>0.3 0.3 0.3 0.5</specular>
+        </material>
+      </visual> -->
+    </link>
+    <joint name='motor_2_joint' type='revolute'>
+      <pose relative_to='base_link'>-0.05073957 -0.08788351 -0.06590132 3.30947295e-17 5.75958653e-01 -2.09439510e+00</pose>
+      <parent>base_link</parent>
+      <child>motor_2_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e16</lower>
+          <upper>1e16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+      <sensor name="force_torque_sensor" type="force_torque">
+        <update_rate>30</update_rate>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </joint>
+
+    <link name='motor_3_link'>
+      <pose relative_to='motor_3_joint'>0 0 0.018 0 0 0</pose>
+      <inertial>
+        <pose>0 0 -0.018 0 0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='spinner_visual'>
+        <pose>0 0 -0.01 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/spinner.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>1 1 1</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg</albedo_map>
+              <metalness_map>model://omnicopter/materials/textures/red_metal/red_metal_metallic.jpg</metalness_map>
+              <normal_map>model://omnicopter/materials/textures/red_metal/red_metal_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/red_metal/red_metal_roughness.jpg</roughness_map>
+              <roughness>1.0</roughness>
+              <metalness>1.0</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='prop_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://omnicopter/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <!-- <visual name='prop_disk_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 0 0.5</ambient>
+          <diffuse>1 1 0 0.5</diffuse>
+          <specular>0.3 0.3 0.3 0.5</specular>
+        </material>
+      </visual> -->
+    </link>
+    <joint name='motor_3_joint' type='revolute'>
+      <pose relative_to='base_link'>-0.05073957 0.08788351 -0.06590132 -3.30947295e-17 5.75958653e-01 2.09439510e+00</pose>
+      <parent>base_link</parent>
+      <child>motor_3_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e16</lower>
+          <upper>1e16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+      <sensor name="force_torque_sensor" type="force_torque">
+        <update_rate>30</update_rate>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </joint>
+
+    <link name='motor_4_link'>
+      <pose relative_to='motor_4_joint'>0 0 0.018 0 0 0</pose>
+      <inertial>
+        <pose>0 0 -0.018 0 0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='spinner_visual'>
+        <pose>0 0 -0.01 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/spinner.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>1 1 1</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg</albedo_map>
+              <metalness_map>model://omnicopter/materials/textures/red_metal/red_metal_metallic.jpg</metalness_map>
+              <normal_map>model://omnicopter/materials/textures/red_metal/red_metal_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/red_metal/red_metal_roughness.jpg</roughness_map>
+              <roughness>1.0</roughness>
+              <metalness>1.0</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='prop_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://omnicopter/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <!-- <visual name='prop_disk_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 0 0.5</ambient>
+          <diffuse>1 1 0 0.5</diffuse>
+          <specular>0.3 0.3 0.3 0.5</specular>
+        </material>
+      </visual> -->
+    </link>
+    <joint name='motor_4_joint' type='revolute'>
+      <pose relative_to='base_link'>0.04894553 -0.08477614 0.07112202 1.57079633 0. 2.0943951</pose>
+      <parent>base_link</parent>
+      <child>motor_4_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e16</lower>
+          <upper>1e16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+      <sensor name="force_torque_sensor" type="force_torque">
+        <update_rate>30</update_rate>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </joint>
+
+    <link name='motor_5_link'>
+      <pose relative_to='motor_5_joint'>0 0 0.018 0 0 0</pose>
+      <inertial>
+        <pose>0 0 -0.018 0 0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='spinner_visual'>
+        <pose>0 0 -0.01 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/spinner.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>1 1 1</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg</albedo_map>
+              <metalness_map>model://omnicopter/materials/textures/red_metal/red_metal_metallic.jpg</metalness_map>
+              <normal_map>model://omnicopter/materials/textures/red_metal/red_metal_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/red_metal/red_metal_roughness.jpg</roughness_map>
+              <roughness>1.0</roughness>
+              <metalness>1.0</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='prop_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://omnicopter/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <!-- <visual name='prop_disk_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 0 0.5</ambient>
+          <diffuse>1 1 0 0.5</diffuse>
+          <specular>0.3 0.3 0.3 0.5</specular>
+        </material>
+      </visual> -->
+    </link>
+    <joint name='motor_5_joint' type='revolute'>
+      <pose relative_to='base_link'>-0.09789106 0. 0.07112202 -1.57079633 0. 0.</pose>
+      <parent>base_link</parent>
+      <child>motor_5_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e16</lower>
+          <upper>1e16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+      <sensor name="force_torque_sensor" type="force_torque">
+        <update_rate>30</update_rate>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </joint>
+
+    <link name='motor_6_link'>
+      <pose relative_to='motor_6_joint'>0 0 0.018 0 0 0</pose>
+      <inertial>
+        <pose>0 0 -0.018 0 0 0</pose>
+        <mass>0.025</mass>
+        <inertia>
+          <ixx>9.75e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.000166704</iyy>
+          <iyz>0</iyz>
+          <izz>0.000167604</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='spinner_visual'>
+        <pose>0 0 -0.01 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://omnicopter/meshes/spinner.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>1 1 1</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg</albedo_map>
+              <metalness_map>model://omnicopter/materials/textures/red_metal/red_metal_metallic.jpg</metalness_map>
+              <normal_map>model://omnicopter/materials/textures/red_metal/red_metal_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/red_metal/red_metal_roughness.jpg</roughness_map>
+              <roughness>1.0</roughness>
+              <metalness>1.0</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <visual name='prop_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.5 0.5 0.5</scale>
+            <uri>model://omnicopter/meshes/iris_prop_ccw.dae</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 1 1</ambient>
+          <diffuse>1 1 1</diffuse>
+          <specular>0.3 0.3 0.3</specular>
+          <pbr>
+            <metal>
+              <albedo_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg</albedo_map>
+              <normal_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg</normal_map>
+              <roughness_map>model://omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg</roughness_map>
+              <roughness>0.5</roughness>
+              <metalness>0.5</metalness> 
+            </metal>
+          </pbr>
+        </material>
+      </visual>
+      <!-- <visual name='prop_disk_visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.002</length>
+            <radius>0.05</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 0 0.5</ambient>
+          <diffuse>1 1 0 0.5</diffuse>
+          <specular>0.3 0.3 0.3 0.5</specular>
+        </material>
+      </visual> -->
+    </link>
+    <joint name='motor_6_joint' type='revolute'>
+      <pose relative_to='base_link'>0.04894553 0.08477614 0.07112202 -1.57079633 0. -2.0943951</pose>
+      <parent>base_link</parent>
+      <child>motor_6_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e16</lower>
+          <upper>1e16</upper>
+        </limit>
+        <dynamics>
+          <damping>0.002</damping>
+        </dynamics>
+      </axis>
+      <sensor name="force_torque_sensor" type="force_torque">
+        <update_rate>30</update_rate>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </joint>
+
+    <!-- sensors -->
+    <link name='imu_link'>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.15</mass>
+        <inertia>
+          <ixx>0.00002</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00002</iyy>
+          <iyz>0</iyz>
+          <izz>0.00002</izz>
+        </inertia>
+      </inertial>
+      <sensor name="imu_sensor" type="imu">
+        <pose>0 0 0 3.141593 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>1000.0</update_rate>
+      </sensor>
+    </link>
+    <joint name='imu_joint' type='revolute'>
+      <child>imu_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>0</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>1.0</damping>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+
+    <!-- plugins -->
+    <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
+      name="ignition::gazebo::systems::JointStatePublisher">
+    </plugin>
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+      name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>motor_1_joint</joint_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+      name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>motor_2_joint</joint_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+      name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>motor_3_joint</joint_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+      name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>motor_4_joint</joint_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+      name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>motor_5_joint</joint_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-apply-joint-force-system.so"
+      name="ignition::gazebo::systems::ApplyJointForce">
+      <joint_name>motor_6_joint</joint_name>
+    </plugin>
+
+    <!-- prop motor_1 (cw) lift-drag -->
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>0.05 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_1_link</link_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.05 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_1_link</link_name>
+    </plugin>
+
+    <!-- prop motor_2 (cw) lift-drag -->
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>0.05 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_2_link</link_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.05 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_2_link</link_name>
+    </plugin>
+
+    <!-- prop motor_3 (ccw) lift-drag -->
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>0.05 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_3_link</link_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.05 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_3_link</link_name>
+    </plugin>
+
+    <!-- prop motor_4 (ccw) lift-drag -->
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>0.05 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_4_link</link_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.05 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_4_link</link_name>
+    </plugin>
+
+    <!-- prop motor_5 (cw) lift-drag -->
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>0.05 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_5_link</link_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.05 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_5_link</link_name>
+    </plugin>
+
+    <!-- prop motor_6 (ccw) lift-drag -->
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>0.05 0 0</cp>
+      <forward>0 1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_6_link</link_name>
+    </plugin>
+    <plugin filename="libignition-gazebo-lift-drag-system.so"
+        name="ignition::gazebo::systems::LiftDrag">
+      <a0>0.3</a0>
+      <alpha_stall>1.4</alpha_stall>
+      <cla>4.2500</cla>
+      <cda>0.10</cda>
+      <cma>0.00</cma>
+      <cla_stall>-0.025</cla_stall>
+      <cda_stall>0.0</cda_stall>
+      <cma_stall>0.0</cma_stall>
+      <area>0.003</area>
+      <air_density>1.2041</air_density>
+      <cp>-0.05 0 0</cp>
+      <forward>0 -1 0</forward>
+      <upward>0 0 1</upward>
+      <link_name>motor_6_link</link_name>
+    </plugin>
+
+    <plugin name="ArduPilotPlugin" filename="libArduPilotPlugin.so">
+      <!-- Port settings -->
+      <fdm_addr>127.0.0.1</fdm_addr>
+      <fdm_port_in>9002</fdm_port_in>
+      <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
+      <lock_step>1</lock_step>
+
+      <!-- Frame conventions
+        modelXYZToAirplaneXForwardZDown:
+          - transforms body frame from orientation in Gazebo to NED
+
+        gazeboXYZToNED
+          - transforms world from Gazebo convention xyz = N -E -D
+            to ArduPilot convention xyz = NED
+
+        Vehicle is oriented x-forward, y-left, z-up
+      -->
+      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
+      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
+
+      <!-- Sensors -->
+      <imuName>imu_link::imu_sensor</imuName>
+
+      <!-- 
+          SERVO1_FUNCTION   33 (Motor 1 CW)
+          SERVO1_MAX        2000
+          SERVO1_MIN        1000
+          SERVO1_REVERSED   0
+          SERVO1_TRIM       1500
+       -->
+      <control channel="0">
+        <jointName>motor_1_joint</jointName>
+        <useForce>1</useForce>
+        <multiplier>-2762</multiplier>
+        <offset>-0.5</offset>
+        <servo_min>1000</servo_min>
+        <servo_max>2000</servo_max>
+        <type>VELOCITY</type>
+        <p_gain>0.25</p_gain> 
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>-1</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+      </control>
+
+      <!-- 
+          SERVO2_FUNCTION   34 (Motor 2 CW)
+          SERVO2_MAX        2000
+          SERVO2_MIN        1000
+          SERVO2_REVERSED   0
+          SERVO2_TRIM       1500
+       -->
+      <control channel="1">
+        <jointName>motor_2_joint</jointName>
+        <useForce>1</useForce>
+        <multiplier>-2762</multiplier>
+        <offset>-0.5</offset>
+        <servo_min>1000</servo_min>
+        <servo_max>2000</servo_max>
+        <type>VELOCITY</type>
+        <p_gain>0.25</p_gain> 
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>-1</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+      </control>
+
+      <!-- 
+          SERVO3_FUNCTION   35 (Motor 3 CCW)
+          SERVO3_MAX        2000
+          SERVO3_MIN        1000
+          SERVO3_REVERSED   0
+          SERVO3_TRIM       1500
+       -->
+      <control channel="2">
+        <jointName>motor_3_joint</jointName>
+        <useForce>1</useForce>
+        <multiplier>2762</multiplier>
+        <offset>-0.5</offset>
+        <servo_min>1000</servo_min>
+        <servo_max>2000</servo_max>
+        <type>VELOCITY</type>
+        <p_gain>0.25</p_gain> 
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>-1</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+      </control>
+
+      <!-- 
+          SERVO4_FUNCTION   36 (Motor 4 CCW)
+          SERVO4_MAX        2000
+          SERVO4_MIN        1000
+          SERVO4_REVERSED   0
+          SERVO4_TRIM       1500
+       -->
+      <control channel="3">
+        <jointName>motor_4_joint</jointName>
+        <useForce>1</useForce>
+        <multiplier>2762</multiplier>
+        <offset>-0.5</offset>
+        <servo_min>1000</servo_min>
+        <servo_max>2000</servo_max>
+        <type>VELOCITY</type>
+        <p_gain>0.25</p_gain> 
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>-1</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+      </control>
+
+      <!-- 
+          SERVO5_FUNCTION   37 (Motor 5 CW)
+          SERVO5_MAX        2000
+          SERVO5_MIN        1000
+          SERVO5_REVERSED   0
+          SERVO5_TRIM       1500
+       -->
+      <control channel="4">
+        <jointName>motor_5_joint</jointName>
+        <useForce>1</useForce>
+        <multiplier>-2762</multiplier>
+        <offset>-0.5</offset>
+        <servo_min>1000</servo_min>
+        <servo_max>2000</servo_max>
+        <type>VELOCITY</type>
+        <p_gain>0.25</p_gain> 
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>-1</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+      </control>
+
+      <!-- 
+          SERVO6_FUNCTION   38 (Motor 6 CCW)
+          SERVO6_MAX        2000
+          SERVO6_MIN        1000
+          SERVO6_REVERSED   0
+          SERVO6_TRIM       1500
+       -->
+      <control channel="5">
+        <jointName>motor_6_joint</jointName>
+        <useForce>1</useForce>
+        <multiplier>2762</multiplier>
+        <offset>-0.5</offset>
+        <servo_min>1000</servo_min>
+        <servo_max>2000</servo_max>
+        <type>VELOCITY</type>
+        <p_gain>0.25</p_gain> 
+        <i_gain>0</i_gain>
+        <d_gain>0</d_gain>
+        <i_max>-1</i_max>
+        <i_min>0</i_min>
+        <cmd_max>2.5</cmd_max>
+        <cmd_min>-2.5</cmd_min>
+      </control>
+
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/Gazebo/models/omnicopter/thumbnails/1.png b/Gazebo/models/omnicopter/thumbnails/1.png
new file mode 100644
index 00000000..61282711
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diff --git a/Gazebo/models/omnicopter/thumbnails/2.png b/Gazebo/models/omnicopter/thumbnails/2.png
new file mode 100644
index 00000000..517d77ae
Binary files /dev/null and b/Gazebo/models/omnicopter/thumbnails/2.png differ
diff --git a/Gazebo/models/omnicopter/thumbnails/3.png b/Gazebo/models/omnicopter/thumbnails/3.png
new file mode 100644
index 00000000..f16a0062
Binary files /dev/null and b/Gazebo/models/omnicopter/thumbnails/3.png differ
diff --git a/Gazebo/models/omnicopter/thumbnails/4.png b/Gazebo/models/omnicopter/thumbnails/4.png
new file mode 100644
index 00000000..af957e83
Binary files /dev/null and b/Gazebo/models/omnicopter/thumbnails/4.png differ
diff --git a/Gazebo/models/omnicopter/thumbnails/5.png b/Gazebo/models/omnicopter/thumbnails/5.png
new file mode 100644
index 00000000..1a321b07
Binary files /dev/null and b/Gazebo/models/omnicopter/thumbnails/5.png differ
diff --git a/Gazebo/models/omnicopter/thumbnails/6.png b/Gazebo/models/omnicopter/thumbnails/6.png
new file mode 100644
index 00000000..ca25b02a
Binary files /dev/null and b/Gazebo/models/omnicopter/thumbnails/6.png differ
diff --git a/Gazebo/scripts/6DoF_roll_pitch.lua b/Gazebo/scripts/6DoF_roll_pitch.lua
new file mode 100644
index 00000000..1f170d2a
--- /dev/null
+++ b/Gazebo/scripts/6DoF_roll_pitch.lua
@@ -0,0 +1,60 @@
+-- A script for controlling the roll and pitch of 6DoF vehicles
+-- The script sets the target roll and pitch to the current value when arming or when E-stop is removed
+-- this allows the vehicle to be placed upside-down on the ground and to take off as normal
+-- its is also possible to setup a switch with option 300 to use either 4 or 6DoF control
+
+-- make sure the vehicle is capable of 6DoF control
+assert(param:get('FRAME_CLASS') == 16, "script requires a 6DoF vehicle")
+
+local e_stop = rc:find_channel_for_option(31)
+local sw = rc:find_channel_for_option(300)
+local motors_spinning = false
+
+function update() -- this is the loop which periodically runs
+
+  -- motor state
+  local current_motors_spinning = false
+
+  if arming:is_armed() then
+    -- if armed then motors are spinning
+    current_motors_spinning = true
+  end
+
+  if e_stop then
+    -- if E-stop switch is setup
+    if e_stop:get_aux_switch_pos() == 2 then
+      -- E-stop on, motors stopped
+      current_motors_spinning = false
+    end
+  end
+
+  if not motors_spinning and current_motors_spinning then
+    -- Just armed or removed E-stop
+    -- set offsets to current attitude
+    -- local roll = math.deg(ahrs:get_roll())
+    -- local pitch = math.deg(ahrs:get_pitch())
+    -- attitude_control:set_offset_roll_pitch(roll,pitch)
+    -- gcs:send_text(0, string.format("Set Offsets Roll: %0.1f, Pitch: %0.1f",roll,pitch))
+
+    -- if sw then
+    --   if sw:get_aux_switch_pos() == 2 then
+        -- switch to 'normal' 4 DoF attitude control
+    gcs:send_text(0, "4 DoF attitude control")
+    attitude_control:set_lateral_enable(false)
+    attitude_control:set_forward_enable(false)
+
+      -- else
+        -- 6DoF attutude control
+    --     gcs:send_text(0, "6 DoF attitude control")
+    --     attitude_control:set_lateral_enable(true)
+    --     attitude_control:set_forward_enable(true)
+    --   end
+    -- end
+
+  end
+  motors_spinning = current_motors_spinning
+
+  return update, 100 -- 10hz
+end
+
+return update()
diff --git a/Gazebo/scripts/Motors_6DoF.lua b/Gazebo/scripts/Motors_6DoF.lua
new file mode 100644
index 00000000..bb06c786
--- /dev/null
+++ b/Gazebo/scripts/Motors_6DoF.lua
@@ -0,0 +1,11 @@
+-- This script loads the 6DoF mixer matrix for a 6 motor frame
+-- https://youtu.be/QUDhnYvH66k
+
+Motors_6DoF:add_motor(0,  0.003285,  0.470445,  0.031489,  0.885866,  0.563927,  0.031026, true, 1)
+Motors_6DoF:add_motor(1, -0.373686, -0.267196,  0.092861,  0.789066, -0.223271,  0.495176, true, 2)
+Motors_6DoF:add_motor(2,  0.370400, -0.203249, -0.053720,  0.841080, -0.340656, -0.526202, true, 3)
+Motors_6DoF:add_motor(3, -0.146980, -0.216342, -0.338296,  0.001577,  0.900822, -0.460986, true, 4)
+Motors_6DoF:add_motor(4, -0.205533, -0.035715,  0.359267, -0.048371,  0.010753, -1.013924, true, 5)
+Motors_6DoF:add_motor(5,  0.143881, -0.227449,  0.375220, -0.046098,  0.811593,  0.431718, true, 6)
+
+assert(Motors_6DoF:init(6),'unable to setup 6 motors')
diff --git a/Gazebo/scripts/Motors_6DoF_k_tau=0.00000.lua b/Gazebo/scripts/Motors_6DoF_k_tau=0.00000.lua
new file mode 100644
index 00000000..02c09ea0
--- /dev/null
+++ b/Gazebo/scripts/Motors_6DoF_k_tau=0.00000.lua
@@ -0,0 +1,11 @@
+-- This script loads the 6DoF mixer matrix for a 6 motor frame
+-- https://youtu.be/QUDhnYvH66k
+
+Motors_6DoF:add_motor(0, -0.000000,  0.500000, -0.000000,  0.787038,  0.587785, -0.000000, true, 1)
+Motors_6DoF:add_motor(1, -0.433013, -0.250000,  0.000000,  0.787038, -0.293893,  0.509037, true, 2)
+Motors_6DoF:add_motor(2,  0.433013, -0.250000,  0.000000,  0.787038, -0.293893, -0.509037, true, 3)
+Motors_6DoF:add_motor(3, -0.136160, -0.235836, -0.407943,  0.000000,  0.866025, -0.500000, true, 4)
+Motors_6DoF:add_motor(4, -0.272320,  0.000000,  0.407943, -0.000000, -0.000000, -1.000000, true, 5)
+Motors_6DoF:add_motor(5,  0.136160, -0.235836,  0.407943, -0.000000,  0.866025,  0.500000, true, 6)
+
+assert(Motors_6DoF:init(6),'unable to setup 6 motors')
diff --git a/Gazebo/scripts/Motors_6DoF_k_tau=0.01085.lua b/Gazebo/scripts/Motors_6DoF_k_tau=0.01085.lua
new file mode 100644
index 00000000..7c12edfd
--- /dev/null
+++ b/Gazebo/scripts/Motors_6DoF_k_tau=0.01085.lua
@@ -0,0 +1,11 @@
+-- This script loads the 6DoF mixer matrix for a 6 motor frame
+-- https://youtu.be/QUDhnYvH66k
+
+Motors_6DoF:add_motor(0,  0.003817,  0.500000, -0.036946,  0.800918,  0.561626,  0.024300, true, 1)
+Motors_6DoF:add_motor(1, -0.452580, -0.277281,  0.020489,  0.730687, -0.234176,  0.493098, true, 2)
+Motors_6DoF:add_motor(2,  0.448763, -0.222719,  0.016457,  0.767900, -0.327450, -0.517399, true, 3)
+Motors_6DoF:add_motor(3, -0.171323, -0.230612, -0.398279,  0.001580,  0.883490, -0.463366, true, 4)
+Motors_6DoF:add_motor(4, -0.255615, -0.030959,  0.417607, -0.035365,  0.009037, -1.000000, true, 5)
+Motors_6DoF:add_motor(5,  0.167723, -0.241059,  0.433131, -0.034046,  0.813576,  0.440443, true, 6)
+
+assert(Motors_6DoF:init(6),'unable to setup 6 motors')
diff --git a/Gazebo/scripts/Motors_6DoF_no_torque.lua b/Gazebo/scripts/Motors_6DoF_no_torque.lua
new file mode 100644
index 00000000..95ec20b9
--- /dev/null
+++ b/Gazebo/scripts/Motors_6DoF_no_torque.lua
@@ -0,0 +1,11 @@
+-- This script loads the 6DoF mixer matrix for a 6 motor frame
+-- https://youtu.be/QUDhnYvH66k
+
+Motors_6DoF:add_motor(0,  0.02,   0.5, -0.04, 0.84, 0.54,   0,    true, 1)
+Motors_6DoF:add_motor(1, -0.45, -0.23, -0.04, 0.84, -0.27,  0.47, true, 2)
+Motors_6DoF:add_motor(2,  0.45, -0.23,  0.04, 0.84, -0.27, -0.47, true, 3)
+Motors_6DoF:add_motor(3, -0.19, -0.23, -0.4,  0,     0.87, -0.5,  true, 4)
+Motors_6DoF:add_motor(4, -0.29, -0.04,  0.4,  0,     0,    -1,    true, 5)
+Motors_6DoF:add_motor(5,  0.11, -0.28,  0.4,  0,     0.87,  0.5,  true, 6)
+
+assert(Motors_6DoF:init(6),'unable to setup 6 motors')
diff --git a/Gazebo/scripts/Motors_6DoF_zero_torque.lua b/Gazebo/scripts/Motors_6DoF_zero_torque.lua
new file mode 100644
index 00000000..f23df64a
--- /dev/null
+++ b/Gazebo/scripts/Motors_6DoF_zero_torque.lua
@@ -0,0 +1,11 @@
+-- This script loads the 6DoF mixer matrix for a 6 motor frame
+-- https://youtu.be/QUDhnYvH66k
+
+Motors_6DoF:add_motor(0, -0.000000, 0.500000, -0.000000, 0.787038, 0.587785, -0.000000, true, 1)
+Motors_6DoF:add_motor(1, -0.433013, -0.250000, 0.000000, 0.787038, -0.293893, 0.509037, true, 2)
+Motors_6DoF:add_motor(2, 0.433013, -0.250000, 0.000000, 0.787038, -0.293893, -0.509037, true, 3)
+Motors_6DoF:add_motor(3, -0.136160, -0.235836, -0.407943, 0.000000, 0.866025, -0.500000, true, 4)
+Motors_6DoF:add_motor(4, -0.272320, 0.000000, 0.407943, -0.000000, -0.000000, -1.000000, true, 5)
+Motors_6DoF:add_motor(5, 0.136160, -0.235836, 0.407943, -0.000000, 0.866025, 0.500000, true, 6)
+
+assert(Motors_6DoF:init(6),'unable to setup 6 motors')
diff --git a/Gazebo/worlds/omnicopter_runway.sdf b/Gazebo/worlds/omnicopter_runway.sdf
new file mode 100755
index 00000000..82f3856d
--- /dev/null
+++ b/Gazebo/worlds/omnicopter_runway.sdf
@@ -0,0 +1,50 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+  <world name="omnicopter_runway">
+    <plugin filename="libignition-gazebo-physics-system.so"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin filename="libignition-gazebo-user-commands-system.so"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin filename="libignition-gazebo-scene-broadcaster-system.so"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="libignition-gazebo-imu-system.so"
+      name="ignition::gazebo::systems::Imu">
+    </plugin>
+    <plugin filename="ignition-gazebo-forcetorque-system"
+      name="ignition::gazebo::systems::ForceTorque" />
+
+    <scene>
+      <ambient>1.0 1.0 1.0</ambient>
+      <background>0.8 0.8 0.8</background>
+      <sky></sky>
+    </scene>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <include>
+      <uri>model://runway</uri>
+    </include>
+
+    <!-- OmniCopter -->
+    <include>
+      <pose>0 0 0.15 0 0 0</pose>
+      <uri>model://omnicopter</uri>
+    </include>
+
+  </world>
+</sdf>