diff --git a/drone_control/common/include/drone_alt_controller.hpp b/drone_control/common/include/drone_alt_controller.hpp
index 5e396dfc..464ac009 100644
--- a/drone_control/common/include/drone_alt_controller.hpp
+++ b/drone_control/common/include/drone_alt_controller.hpp
@@ -103,8 +103,8 @@ class DroneAltController {
             /*
              * thrust
              */
-            //out.thrust = (mass * gravity) + (throttle_gain * throttle_power);
-            out.thrust = (throttle_gain * throttle_power);
+            out.thrust = (mass * gravity) + (throttle_gain * throttle_power);
+            //out.thrust = (throttle_gain * throttle_power);
             spd_prev_out = out;
         }
         spd_simulation_time += delta_time;
diff --git a/hakoniwa/config/rc/drone_config_0.json b/hakoniwa/config/rc/drone_config_0.json
index 8db73053..29db1329 100644
--- a/hakoniwa/config/rc/drone_config_0.json
+++ b/hakoniwa/config/rc/drone_config_0.json
@@ -67,13 +67,13 @@
       },
       "battery": {
         "vendor": "None",
-        "model": "constant",
+        "model": "linear",
         "BatteryModelCsvFilePath": "./tmp_battery_model.csv",
         "VoltageLevelGreen": 12.1, 
         "VoltageLevelYellow": 11.1,
-        "CapacityLevelYellow": 900, 
+        "CapacityLevelYellow": 3, 
         "NominalVoltage": 14.8,
-        "NominalCapacity": 1000.0,
+        "NominalCapacity": 4.0,
         "EODVoltage": 3.0
       },
       "rotor": {