diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
index 3640be43..ed6769c0 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
@@ -47,104 +47,105 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <static_update_frequency>1</static_update_frequency>
         </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
-          name="ignition::gazebo::systems::MulticopterMotorModel">
-          <robotNamespace>model/#{_name}</robotNamespace>
-          <jointName>rotor_0_joint</jointName>
-          <linkName>rotor_0</linkName>
-          <turningDirection>ccw</turningDirection>
-          <timeConstantUp>0.0182</timeConstantUp>
-          <timeConstantDown>0.0182</timeConstantDown>
-          <maxRotVelocity>1000.0</maxRotVelocity>
-          <motorConstant>1.269e-05</motorConstant>
-          <momentConstant>0.016754</momentConstant>
-          <commandSubTopic>command/motor_speed</commandSubTopic>
-          <motorNumber>0</motorNumber>
-          <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-          <rollingMomentCoefficient>0</rollingMomentCoefficient>
-          <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-          <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-          <motorType>velocity</motorType>
-        </plugin>
-        <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
-          name="ignition::gazebo::systems::MulticopterMotorModel">
-          <robotNamespace>model/#{_name}</robotNamespace>
-          <jointName>rotor_1_joint</jointName>
-          <linkName>rotor_1</linkName>
-          <turningDirection>cw</turningDirection>
-          <timeConstantUp>0.0182</timeConstantUp>
-          <timeConstantDown>0.0182</timeConstantDown>
-          <maxRotVelocity>1000.0</maxRotVelocity>
-          <motorConstant>1.269e-05</motorConstant>
-          <momentConstant>0.016754</momentConstant>
-          <commandSubTopic>command/motor_speed</commandSubTopic>
-          <motorNumber>1</motorNumber>
-          <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-          <rollingMomentCoefficient>0</rollingMomentCoefficient>
-          <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-          <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-          <motorType>velocity</motorType>
-        </plugin>
-        <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
-          name="ignition::gazebo::systems::MulticopterMotorModel">
-          <robotNamespace>model/#{_name}</robotNamespace>
-          <jointName>rotor_2_joint</jointName>
-          <linkName>rotor_2</linkName>
-          <turningDirection>ccw</turningDirection>
-          <timeConstantUp>0.0182</timeConstantUp>
-          <timeConstantDown>0.0182</timeConstantDown>
-          <maxRotVelocity>1000.0</maxRotVelocity>
-          <motorConstant>1.269e-05</motorConstant>
-          <momentConstant>0.016754</momentConstant>
-          <commandSubTopic>command/motor_speed</commandSubTopic>
-          <motorNumber>2</motorNumber>
-          <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-          <rollingMomentCoefficient>0</rollingMomentCoefficient>
-          <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-          <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-          <motorType>velocity</motorType>
-        </plugin>
-        <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
-          name="ignition::gazebo::systems::MulticopterMotorModel">
-          <robotNamespace>model/#{_name}</robotNamespace>
-          <jointName>rotor_3_joint</jointName>
-          <linkName>rotor_3</linkName>
-          <turningDirection>cw</turningDirection>
-          <timeConstantUp>0.0182</timeConstantUp>
-          <timeConstantDown>0.0182</timeConstantDown>
-          <maxRotVelocity>1000.0</maxRotVelocity>
-          <motorConstant>1.269e-05</motorConstant>
-          <momentConstant>0.016754</momentConstant>
-          <commandSubTopic>command/motor_speed</commandSubTopic>
-          <motorNumber>3</motorNumber>
-          <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-          <rollingMomentCoefficient>0</rollingMomentCoefficient>
-          <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-          <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-          <motorType>velocity</motorType>
-        </plugin>
-        <plugin
-          filename="libignition-gazebo-multicopter-control-system.so"
-          name="ignition::gazebo::systems::MulticopterVelocityControl">
-          <robotNamespace>model/#{_name}</robotNamespace>
-          <commandSubTopic>cmd_vel</commandSubTopic>
-          <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
-          <enableSubTopic>velocity_controller/enable</enableSubTopic>
-          <comLinkName>base_link</comLinkName>
-          <velocityGain>8 8 10</velocityGain>
-          <attitudeGain>6 6 6</attitudeGain>
-          <angularRateGain>2.5 2.5 4.0</angularRateGain>
-          <maximumLinearAcceleration>5 5 5</maximumLinearAcceleration>
-          <maximumLinearVelocity>4 4 4</maximumLinearVelocity>
-          <maximumAngularVelocity>5 5 10</maximumAngularVelocity>
-          <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
-          <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
-          <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
-          <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
-          <linearVelocityNoiseStdDev>0.1105 0.1261 0.0947</linearVelocityNoiseStdDev>
-          <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
-          <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample  -->
-          <!-- time of 0.004 ms. -->
-          <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_0_joint</jointName>
+        <linkName>rotor_0</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1000.0</maxRotVelocity>
+        <motorConstant>1.269e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>0</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_1_joint</jointName>
+        <linkName>rotor_1</linkName>
+        <turningDirection>ccw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1000.0</maxRotVelocity>
+        <motorConstant>1.269e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>1</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_2_joint</jointName>
+        <linkName>rotor_2</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1000.0</maxRotVelocity>
+        <motorConstant>1.269e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>2</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
+        name="ignition::gazebo::systems::MulticopterMotorModel">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <jointName>rotor_3_joint</jointName>
+        <linkName>rotor_3</linkName>
+        <turningDirection>cw</turningDirection>
+        <timeConstantUp>0.0182</timeConstantUp>
+        <timeConstantDown>0.0182</timeConstantDown>
+        <maxRotVelocity>1000.0</maxRotVelocity>
+        <motorConstant>1.269e-05</motorConstant>
+        <momentConstant>0.016754</momentConstant>
+        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <motorNumber>3</motorNumber>
+        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+        <rollingMomentCoefficient>0</rollingMomentCoefficient>
+        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+        <motorType>velocity</motorType>
+      </plugin>
+      <!-- MulticopterVelocityControl plugin -->
+      <plugin
+        filename="libignition-gazebo-multicopter-control-system.so"
+        name="ignition::gazebo::systems::MulticopterVelocityControl">
+        <robotNamespace>model/#{_name}</robotNamespace>
+        <commandSubTopic>cmd_vel</commandSubTopic>
+        <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
+        <enableSubTopic>velocity_controller/enable</enableSubTopic>
+        <comLinkName>base_link</comLinkName>
+        <velocityGain>8 8 10</velocityGain>
+        <attitudeGain>6 6 6</attitudeGain>
+        <angularRateGain>2.5 2.5 4.0</angularRateGain>
+        <maximumLinearAcceleration>5 5 3</maximumLinearAcceleration>
+        <maximumLinearVelocity>10 10 5</maximumLinearVelocity>
+        <maximumAngularVelocity>3 3 6</maximumAngularVelocity>
+        <linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
+        <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
+        <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
+        <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
+        <linearVelocityNoiseStdDev>0.1105 0.1261 0.0947</linearVelocityNoiseStdDev>
+        <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
+        <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample  -->
+        <!-- time of 0.004 ms. -->
+        <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
 
           <rotorConfiguration>
             <rotor>
@@ -157,13 +158,13 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
               <jointName>rotor_1_joint</jointName>
               <forceConstant>1.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
-              <direction>-1</direction>
+              <direction>1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_2_joint</jointName>
               <forceConstant>1.269e-05</forceConstant>
               <momentConstant>1.6754e-2</momentConstant>
-              <direction>1</direction>
+              <direction>-1</direction>
             </rotor>
             <rotor>
               <jointName>rotor_3_joint</jointName>
diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
index 57ce3c6b..afe80cdb 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
@@ -102,7 +102,7 @@
         type="image_bridge"
         name="ros_ign_image_tof_top"
         args="$(arg sensor_prefix)/tof_top/depth_image">
-        <remap from="$(arg sensor_prefix)/tof_top/depth_image" to="top/depth"/>
+        <remap from="$(arg sensor_prefix)/tof_top/depth_image" to="tof_top/depth"/>
       </node>
     </group>
 
@@ -120,7 +120,7 @@
         type="image_bridge"
         name="ros_ign_image_tof_bottom"
         args="$(arg sensor_prefix)/tof_bottom/depth_image">
-        <remap from="$(arg sensor_prefix)/tof_bottom/depth_image" to="bottom/depth"/>
+        <remap from="$(arg sensor_prefix)/tof_bottom/depth_image" to="tof_bottom/depth"/>
       </node>
     </group>
 
diff --git a/submitted_models/marble_qav500_sensor_config_1/model.sdf b/submitted_models/marble_qav500_sensor_config_1/model.sdf
index 10c094d3..e524fc65 100644
--- a/submitted_models/marble_qav500_sensor_config_1/model.sdf
+++ b/submitted_models/marble_qav500_sensor_config_1/model.sdf
@@ -6,14 +6,21 @@
             <pose frame="">0 0 0 0 -0 0</pose>
             <inertial>
                 <pose frame="">0 0 0 0 -0 0</pose>
-                <mass>3</mass>
+                <!-- <mass>3</mass> -->
+                <mass>2.06</mass>
                 <inertia>
-                    <ixx>0.03567</ixx>
+                    <!-- <ixx>0.03567</ixx>
                     <ixy>0</ixy>
-                    <ixz>0.0006</ixz>
+                    <ixz>0.0</ixz>
                     <iyy>0.05534</iyy>
                     <iyz>0</iyz>
-                    <izz>0.0847</izz>
+                    <izz>0.0847</izz> -->
+                    <ixx>0.03566</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.05535</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.08475</izz>
                 </inertia>
             </inertial>
             <collision name="base_link_inertia_collision">
@@ -587,7 +594,7 @@
             </sensor> -->
         </link>
         <link name="rotor_0">
-            <pose frame="">0.206069 0.206092 0.028 0 0 0.523599</pose>
+            <pose frame="">0.206069 -0.205944 0.028 0 0 0.523599</pose>
             <inertial>
                 <pose frame="">0 0 0 0 -0 0</pose>
                 <mass>0.005</mass>
@@ -628,7 +635,7 @@
                 <material>
                     <diffuse>1 0 0 1</diffuse>
                     <script>
-                        <name>Gazebo/Red</name>
+                        <name>Gazebo/Blue</name>
                         <uri>materials/scripts/gazebo.material</uri>
                     </script>
                 </material>
@@ -690,13 +697,13 @@
                 <geometry>
                     <mesh>
                         <scale>1 1 1</scale>
-                        <uri>meshes/neo11_propeller_cw.dae</uri>
+                        <uri>meshes/neo11_propeller_ccw.dae</uri>
                     </mesh>
                 </geometry>
                 <material>
                     <diffuse>0 0 1 1</diffuse>
                     <script>
-                        <name>Gazebo/Blue</name>
+                        <name>Gazebo/Red</name>
                         <uri>materials/scripts/gazebo.material</uri>
                     </script>
                 </material>
@@ -789,7 +796,7 @@
             </axis>
         </joint> -->
         <link name="rotor_2">
-            <pose frame="">-0.206432 -0.205944 0.028 0 -0 -2.61799</pose>
+            <pose frame="">0.206432 0.205944 0.028 0 -0 -2.61799</pose>
             <inertial>
                 <pose frame="">0 0 0 0 -0 0</pose>
                 <mass>0.005</mass>
@@ -824,7 +831,7 @@
                 <geometry>
                     <mesh>
                         <scale>1 1 1</scale>
-                        <uri>meshes/neo11_propeller_ccw.dae</uri>
+                        <uri>meshes/neo11_propeller_cw.dae</uri>
                     </mesh>
                 </geometry>
                 <material>
@@ -923,7 +930,7 @@
             </axis>
         </joint> -->
         <link name="rotor_3">
-            <pose frame="">0.206432 -0.205944 0.028 0 0 -0.523599</pose>
+            <pose frame="">-0.206432 -0.205944 0.028 0 0 -0.523599</pose>
             <inertial>
                 <pose frame="">0 0 0 0 -0 0</pose>
                 <mass>0.005</mass>