diff --git a/models/tiltrotor/model.sdf b/models/tiltrotor/model.sdf
index ab323ae..619fc9c 100644
--- a/models/tiltrotor/model.sdf
+++ b/models/tiltrotor/model.sdf
@@ -1,3 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
 <sdf version='1.5'>
   <model name='tiltrotor'>
@@ -45,11 +46,9 @@
             <uri>model://tiltrotor/meshes/x8_wing.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+        <material> <!-- DarkGrey-->
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <visual name='left_motor_column'>
@@ -59,11 +58,9 @@
             <size>0.74 0.03 0.03</size>
           </box>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+        <material> <!-- DarkGrey-->
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <visual name='right_motor_column'>
@@ -73,59 +70,101 @@
             <size>0.74 0.03 0.03</size>
           </box>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+        <material> <!-- DarkGrey-->
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
       <velocity_decay/>
       <self_collide>0</self_collide>
+
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>250</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.0003394</stddev>
+                <dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.0003394</stddev>
+                <dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.0003394</stddev>
+                <dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.004</stddev>
+                <dynamic_bias_stddev>0.006</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.004</stddev>
+                <dynamic_bias_stddev>0.006</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.004</stddev>
+                <dynamic_bias_stddev>0.006</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <sensor name="air_pressure_sensor" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <air_pressure>
+          <pressure>
+            <noise type="gaussian">
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </pressure>
+        </air_pressure>
+      </sensor>
+      <sensor name="navsat_sensor" type="navsat">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+      </sensor>
     </link>
-    <link name='tiltrotor/imu_link'>
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.015</mass>
-        <inertia>
-          <ixx>1e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>1e-05</iyy>
-          <iyz>0</iyz>
-          <izz>1e-05</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name='tiltrotor/imu_joint' type='revolute'>
-      <child>tiltrotor/imu_link</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>0</lower>
-          <upper>0</upper>
-          <effort>0</effort>
-          <velocity>0</velocity>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>1</use_parent_model_frame>
-      </axis>
-    </joint>
-    <include>
+
+    <include merge="true">
       <uri>model://airspeed</uri>
-      <pose>0 0 0 0 0 0</pose>
-      <name>airspeed</name>
+      <pose >0. 0. 0. 0. 0. 0.</pose>
     </include>
     <joint name='airspeed_joint' type='fixed'>
-      <child>airspeed::link</child>
       <parent>base_link</parent>
+      <child>airspeed_link</child>
+      <pose relative_to="base_link">-0 0 0 0 0 0</pose>
     </joint>
+
     <link name='motor_0'>
       <pose>0.35 -0.35 0.02 0 0 0</pose>
       <inertial>
@@ -166,10 +205,8 @@
           </cylinder>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
@@ -235,11 +272,9 @@
             <uri>model://tiltrotor/meshes/iris_prop_ccw.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Blue</name>
-            <uri>__default__</uri>
-          </script>
+        <material>  <!-- Blue -->
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
@@ -302,11 +337,9 @@
             <uri>model://tiltrotor/meshes/iris_prop_ccw.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+        <material>  <!-- Blue -->
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
@@ -330,8 +363,6 @@
       </axis>
     </joint>
 
-
-
     <link name='motor_2'>
       <pose>0.35 0.35 0.02 0 0 0</pose>
       <inertial>
@@ -372,10 +403,8 @@
           </cylinder>
         </geometry>
         <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
@@ -441,11 +470,9 @@
             <uri>model://tiltrotor/meshes/iris_prop_ccw.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+        <material> <!-- DarkGrey-->
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
@@ -508,11 +535,9 @@
             <uri>model://tiltrotor/meshes/iris_prop_ccw.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/DarkGrey</name>
-            <uri>__default__</uri>
-          </script>
+        <material> <!-- DarkGrey-->
+          <ambient>0.175 0.175 0.175 1.0</ambient>
+          <diffuse>0.175 0.175 0.175 1.0</diffuse>
         </material>
       </visual>
       <gravity>1</gravity>
@@ -557,11 +582,9 @@
             <uri>model://tiltrotor/meshes/x8_elevon_left.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Blue</name>
-            <uri>__default__</uri>
-          </script>
+        <material>  <!-- Blue -->
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
         </material>
       </visual>
     </link>
@@ -586,11 +609,9 @@
             <uri>model://tiltrotor/meshes/x8_elevon_right.dae</uri>
           </mesh>
         </geometry>
-        <material>
-          <script>
-            <name>Gazebo/Blue</name>
-            <uri>__default__</uri>
-          </script>
+        <material>  <!-- Blue -->
+          <ambient>0 0 1 1.0</ambient>
+          <diffuse>0 0 1 1.0</diffuse>
         </material>
       </visual>
     </link>
@@ -706,16 +727,7 @@
         </ode>
       </physics>
     </joint>
-    <include>
-      <uri>model://gps</uri>
-      <pose>0 0 0 0 0 0</pose>
-      <name>gps</name>
-    </include>
-    <joint name='gps_joint' type='fixed'>
-      <child>gps::link</child>
-      <parent>base_link</parent>
-    </joint>
-    <plugin name="left_wing" filename="libLiftDragPlugin.so">
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
@@ -734,10 +746,13 @@
         left_elevon_joint
       </control_joint_name>
       <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-      <robotNamespace></robotNamespace>
-      <windSubTopic>world_wind</windSubTopic>
     </plugin>
-    <plugin name="right_wing" filename="libLiftDragPlugin.so">
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>left_elevon_joint</joint_name>
+      <sub_topic>servo_0</sub_topic>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
@@ -756,10 +771,13 @@
         right_elevon_joint
       </control_joint_name>
       <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
-      <robotNamespace></robotNamespace>
-      <windSubTopic>world_wind</windSubTopic>
     </plugin>
-    <plugin name="elevator" filename="libLiftDragPlugin.so">
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>right_elevon_joint</joint_name>
+      <sub_topic>servo_1</sub_topic>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>-0.2</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
@@ -778,10 +796,13 @@
         elevator_joint
       </control_joint_name>
       <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
-      <robotNamespace></robotNamespace>
-      <windSubTopic>world_wind</windSubTopic>
     </plugin>
-    <plugin name="rudder" filename="libLiftDragPlugin.so">
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>elevator_joint</joint_name>
+      <sub_topic>servo_2</sub_topic>
+    </plugin>
+    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.0</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
@@ -796,11 +817,16 @@
       <forward>1 0 0</forward>
       <upward>0 1 0</upward>
       <link_name>base_link</link_name>
-      <robotNamespace></robotNamespace>
-      <windSubTopic>world_wind</windSubTopic>
+      <!-- <control_joint_name>
+        rudder_joint
+      </control_joint_name> -->
     </plugin>
-    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
-      <robotNamespace></robotNamespace>
+    <!-- <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>rudder_joint</joint_name>
+      <sub_topic>servo_5</sub_topic>
+    </plugin> -->
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_0_joint</jointName>
       <linkName>rotor_0</linkName>
       <turningDirection>ccw</turningDirection>
@@ -809,15 +835,28 @@
       <maxRotVelocity>1500</maxRotVelocity>
       <motorConstant>2e-05</motorConstant>
       <momentConstant>0.06</momentConstant>
-      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
       <motorNumber>0</motorNumber>
       <rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>motor_0_joint</joint_name>
+      <sub_topic>servo_3</sub_topic>
+      <motorType>position</motorType>
+      <p_gain>10</p_gain>
+      <i_gain>0</i_gain>
+      <d_gain>0</d_gain>
+      <i_max>0.0</i_max>
+      <i_min>0.0</i_min>
+      <cmd_max>2</cmd_max>
+      <cmd_min>-2</cmd_min>
+      <err_max>0.2</err_max>
     </plugin>
-    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
-      <robotNamespace></robotNamespace>
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_1_joint</jointName>
       <linkName>rotor_1</linkName>
       <turningDirection>ccw</turningDirection>
@@ -826,15 +865,14 @@
       <maxRotVelocity>1500</maxRotVelocity>
       <motorConstant>2e-05</motorConstant>
       <momentConstant>0.06</momentConstant>
-      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
       <motorNumber>1</motorNumber>
       <rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
     </plugin>
-    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
-      <robotNamespace></robotNamespace>
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_2_joint</jointName>
       <linkName>rotor_2</linkName>
       <turningDirection>cw</turningDirection>
@@ -843,15 +881,28 @@
       <maxRotVelocity>1500</maxRotVelocity>
       <motorConstant>2e-05</motorConstant>
       <momentConstant>0.06</momentConstant>
-      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
       <motorNumber>2</motorNumber>
       <rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
+      <motorType>velocity</motorType>
     </plugin>
-    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
-      <robotNamespace></robotNamespace>
+    <plugin
+      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
+      <joint_name>motor_2_joint</joint_name>
+      <sub_topic>servo_4</sub_topic>
+      <motorType>position</motorType>
+      <p_gain>10</p_gain>
+      <i_gain>0</i_gain>
+      <d_gain>0</d_gain>
+      <i_max>0.0</i_max>
+      <i_min>0.0</i_min>
+      <cmd_max>2</cmd_max>
+      <cmd_min>-2</cmd_min>
+      <err_max>0.2</err_max>
+    </plugin>
+    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_3_joint</jointName>
       <linkName>rotor_3</linkName>
       <turningDirection>cw</turningDirection>
@@ -860,165 +911,12 @@
       <maxRotVelocity>1500</maxRotVelocity>
       <motorConstant>2e-05</motorConstant>
       <momentConstant>0.06</momentConstant>
-      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
+      <commandSubTopic>command/motor_speed</commandSubTopic>
       <motorNumber>3</motorNumber>
       <rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
-    </plugin>
-    <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
-      <robotNamespace></robotNamespace>
-      <linkName>tiltrotor/imu_link</linkName>
-      <imuTopic>/imu</imuTopic>
-      <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
-      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
-      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
-      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
-      <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
-      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
-      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
-      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
-    </plugin>
-    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
-      <robotNamespace/>
-    </plugin>
-    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
-      <robotNamespace/>
-      <pubRate>100</pubRate>
-      <noiseDensity>0.0004</noiseDensity>
-      <randomWalk>6.4e-06</randomWalk>
-      <biasCorrelationTime>600</biasCorrelationTime>
-      <magTopic>/mag</magTopic>
-    </plugin>
-    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
-      <robotNamespace/>
-      <pubRate>50</pubRate>
-      <baroTopic>/baro</baroTopic>
-    </plugin>
-    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
-      <robotNamespace></robotNamespace>
-      <imuSubTopic>/imu</imuSubTopic>
-      <magSubTopic>/mag</magSubTopic>
-      <baroSubTopic>/baro</baroSubTopic>
-      <mavlink_addr>INADDR_ANY</mavlink_addr>
-      <mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
-      <mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
-      <serialEnabled>false</serialEnabled>
-      <serialDevice>/dev/ttyACM0</serialDevice>
-      <baudRate>921600</baudRate>
-      <qgc_addr>INADDR_ANY</qgc_addr>
-      <qgc_udp_port>14550</qgc_udp_port>
-      <sdk_addr>INADDR_ANY</sdk_addr>
-      <sdk_udp_port>14540</sdk_udp_port>
-      <hil_mode>false</hil_mode>
-      <hil_state_level>false</hil_state_level>
-      <enable_lockstep>true</enable_lockstep>
-      <use_tcp>true</use_tcp>
-      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
-      <control_channels>
-        <channel name="rotor0">
-          <input_index>0</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1500</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-          <joint_name>rotor_0_joint</joint_name>
-        </channel>
-        <channel name="rotor1">
-          <input_index>1</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1500</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-          <joint_name>rotor_1_joint</joint_name>
-        </channel>
-        <channel name="rotor2">
-          <input_index>2</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1500</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-          <joint_name>rotor_2_joint</joint_name>
-        </channel>
-        <channel name="rotor3">
-          <input_index>3</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1500</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>velocity</joint_control_type>
-          <joint_name>rotor_3_joint</joint_name>
-        </channel>
-        <channel name="motor0_tilt">
-          <input_index>4</input_index>
-          <input_offset>0.785398</input_offset>
-          <input_scaling>0.785398</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-          <joint_name>motor_0_joint</joint_name>
-           <joint_control_pid>
-            <p>10</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0.0</iMax>
-            <iMin>0.0</iMin>
-            <cmdMax>2</cmdMax>
-            <cmdMin>-2</cmdMin>
-            <errMax>0.2</errMax>
-          </joint_control_pid>
-        </channel>
-        <channel name="motor2_tilt">
-          <input_index>5</input_index>
-          <input_offset>0.785398</input_offset>
-          <input_scaling>0.785398</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position</joint_control_type>
-          <joint_name>motor_2_joint</joint_name>
-           <joint_control_pid>
-            <p>10</p>
-            <i>0</i>
-            <d>0</d>
-            <iMax>0.0</iMax>
-            <iMin>0.0</iMin>
-            <cmdMax>2</cmdMax>
-            <cmdMin>-2</cmdMin>
-            <errMax>0.2</errMax>
-          </joint_control_pid>
-        </channel>
-        <channel name="left_elevon">
-          <input_index>6</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position_kinematic</joint_control_type>
-          <joint_name>left_elevon_joint</joint_name>
-        </channel>
-        <channel name="right_elevon">
-          <input_index>7</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position_kinematic</joint_control_type>
-          <joint_name>right_elevon_joint</joint_name>
-        </channel>
-        <channel name="elevator">
-          <input_index>8</input_index>
-          <input_offset>0</input_offset>
-          <input_scaling>1</input_scaling>
-          <zero_position_disarmed>0</zero_position_disarmed>
-          <zero_position_armed>0</zero_position_armed>
-          <joint_control_type>position_kinematic</joint_control_type>
-          <joint_name>elevator_joint</joint_name>
-        </channel>
-      </control_channels>
+      <motorType>velocity</motorType>
     </plugin>
     <static>0</static>
   </model>