diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 37f6b9b12cf17c951f9f626c0c895fd39687b4c2..49584c17be115572457aceca0958d6b56bcf4f43 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,11 +1,9 @@
     % Model Parameters
     m = 1.19;                       % Quadrotor + battery mass
     g = 9.81;                       % Acceleration of gravity
-    %Jxx = 0.0218;                   % Quadrotor and battery motor of inertia around bx (pitch)
-    %Jyy = 0.0277;                   % Quadrotor and battery motor of inertia around by (roll)
-    Jxx = 0.0277;
-    Jyy = 0.0218;
-    Jzz = 0.0332;                   % Quadrotor and battery motor of inertia around bz (yaw)
+    Jxx = 0.0277 %* 0.25;                   % Quadrotor and battery motor of inertia around bx (pitch)
+    Jyy = 0.0218 %* 0.25;                   % Quadrotor and battery motor of inertia around by (roll)
+    Jzz = 0.0332 %* 0.25;                   % Quadrotor and battery motor of inertia around bz (yaw)
     Jreq = 4.2012e-05;              % Rotor and motor moment of inertia around axis of rotation 
     Kt = 8.6519e-6;                 % Rotor thrust constant
     Kh = 0;                         % Rotor in-plane drag constant