diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
index 76bf9ecea6..bcb29ea1a9 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@@ -107,3 +107,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160
index 8bea5312a2..741d021da4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160
@@ -36,20 +36,21 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2
 
 param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MIN1 10
+param set-default SIM_GZ_EC_MAX1 1500
 param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MIN2 10
+param set-default SIM_GZ_EC_MAX2 1500
 param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MIN3 10
+param set-default SIM_GZ_EC_MAX3 1500
 param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MAX4 1000
+param set-default SIM_GZ_EC_MIN4 10
+param set-default SIM_GZ_EC_MAX4 1500
+
 param set-default SIM_GZ_EC_FUNC5 105
 param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MAX5 1000
+param set-default SIM_GZ_EC_MAX5 3500
 
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_FUNC2 202
@@ -106,3 +107,4 @@ param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2
+param set-default FD_ESCS_EN 0
diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf
index 0a2a9e53e8..c3181d8388 100644
--- a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf
+++ b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf
@@ -33,7 +33,7 @@
         <update_rate>250</update_rate>
       </sensor>
     </link>
-    <link name="airspeed">
+    <link name="airspeed_link">
       <pose>0 0 0 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -73,7 +73,7 @@
       </sensor>
     </link>
     <joint name='airspeed_joint' type='fixed'>
-      <child>airspeed</child>
+      <child>airspeed_link</child>
       <parent>base_link</parent>
     </joint>
     <link name="aileron_left_link">
diff --git a/Tools/simulation/gz/models/standard_vtol/model.sdf b/Tools/simulation/gz/models/standard_vtol/model.sdf
index 6867939440..86c5298334 100644
--- a/Tools/simulation/gz/models/standard_vtol/model.sdf
+++ b/Tools/simulation/gz/models/standard_vtol/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
-<sdf version='1.5'>
+<sdf version='1.9'>
   <model name='standard_vtol'>
     <pose>0 0 0.246 0 0 0</pose>
     <link name='base_link'>
@@ -556,34 +556,6 @@
         </material>
       </visual>
     </link>
-    <link name="elevator">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose> -0.5 0 0 0.00 0 0.0</pose>
-      </inertial>
-    </link>
-    <link name="rudder">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>-0.5 0 0.05 0 0 0 </pose>
-      </inertial>
-    </link>
     <joint name='servo_0' type='revolute'>
       <parent>base_link</parent>
       <child>left_elevon</child>
@@ -591,7 +563,6 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <!-- -30/+30 deg. -->
           <lower>-0.53</lower>
           <upper>0.53</upper>
         </limit>
@@ -612,7 +583,6 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <!-- -30/+30 deg. -->
           <lower>-0.53</lower>
           <upper>0.53</upper>
         </limit>
@@ -626,48 +596,7 @@
         </ode>
       </physics>
     </joint>
-    <joint name='servo_2' type='revolute'>
-      <parent>base_link</parent>
-      <child>elevator</child>
-      <pose> -0.5 0 0 0 0 0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_3' type='revolute'>
-      <parent>base_link</parent>
-      <child>rudder</child>
-      <pose>-0.5 0 0.05 0.00 0 0.0</pose>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>-0.01</lower>
-          <upper>0.01</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
-    <!-- <plugin name="left_wing_lift" filename="libLiftDragPlugin.so"> -->
       <a0>0.05984281113</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
@@ -690,7 +619,6 @@
       <joint_name>servo_0</joint_name>
       <sub_topic>servo_0</sub_topic>
     </plugin>
-    <!-- <plugin name="right_wing_lift" filename="libLiftDragPlugin.so"> -->
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
       <cla>4.752798721</cla>
@@ -714,52 +642,6 @@
       <joint_name>servo_1</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>
-      <cma>0.0</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.5 0 0</cp>
-      <area>0.01</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 0 1</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_2</control_joint_name>
-      <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_2</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>
-      <cma>0.0.</cma>
-      <alpha_stall>0.3391428111</alpha_stall>
-      <cla_stall>-3.85</cla_stall>
-      <cda_stall>-0.9233984055</cda_stall>
-      <cma_stall>0</cma_stall>
-      <cp>-0.5 0 0.05</cp>
-      <area>0.02</area>
-      <air_density>1.2041</air_density>
-      <forward>1 0 0</forward>
-      <upward>0 1 0</upward>
-      <link_name>base_link</link_name>
-      <control_joint_name>servo_3</control_joint_name>
-    </plugin>
-    <plugin
-      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>servo_3</joint_name>
-      <sub_topic>servo_3</sub_topic>
-    </plugin>
-    <!-- <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'> -->
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_0_joint</jointName>
       <linkName>rotor_0</linkName>
@@ -776,7 +658,6 @@
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <!-- <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'> -->
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
       <jointName>rotor_1_joint</jointName>
       <linkName>rotor_1</linkName>
@@ -793,7 +674,6 @@
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <!-- <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'> -->
     <plugin
       filename="gz-sim-multicopter-motor-model-system"
       name="gz::sim::systems::MulticopterMotorModel">
@@ -812,7 +692,6 @@
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <!-- <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'> -->
     <plugin
       filename="gz-sim-multicopter-motor-model-system"
       name="gz::sim::systems::MulticopterMotorModel">
@@ -831,7 +710,6 @@
       <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
       <motorType>velocity</motorType>
     </plugin>
-    <!-- <plugin name='puller_motor_model' filename='libgazebo_motor_model.so'> -->
     <plugin
       filename="gz-sim-multicopter-motor-model-system"
       name="gz::sim::systems::MulticopterMotorModel">
diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
index 9af8843411..146d03004b 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -184,6 +184,7 @@ int GZBridge::task_spawn(int argc, char *argv[])
 	const char *model_pose = nullptr;
 	const char *model_sim = nullptr;
 	const char *px4_instance = nullptr;
+	std::string model_name_std;
 
 
 	bool error_flag = false;
@@ -247,7 +248,7 @@ int GZBridge::task_spawn(int argc, char *argv[])
 		}
 
 	} else if (!model_name) {
-		std::string model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
+		model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
 		model_name = model_name_std.c_str();
 	}