diff --git a/config/mrs_uav_system/a300.yaml b/config/mrs_uav_system/a300.yaml
new file mode 100644
index 0000000..ddb9da3
--- /dev/null
+++ b/config/mrs_uav_system/a300.yaml
@@ -0,0 +1,82 @@
+uav_mass: 1.21 # overall mass of the drone
+
+# force to throttle sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
+# for single rotor max 19,23432N it is sqrt(19,23432) * 0.2600 - 0.1765
+
+#those motor params are for 20,475625N max thrust 1 throttle ... ((1+0.1765)/0.26)^2
+#for zero throttle we get force of single rotor = (0.1765/0.26)^2 = 0,460832101N 
+# zero throttle thrist must correspond to min_rpm sqrt(0.460832101/0.000000045) = 3200,111459864
+motor_params:
+  n_motors: 4
+  a: 0.2600
+  b: -0.1765
+
+# these model parameters can be used when
+# - 'attitude rate', and/or
+# - 'actuator control'
+# are done by the MRS system.
+model_params:
+  arm_length: 0.15 # [m]
+  body_height: 0.05 # [m]
+
+  propulsion:
+    # force [N] = force_constant * rpm^2
+    # for 21400 max rpm it is 20,475625 N then the force constant is 0.000000045
+    force_constant: 0.000000045
+
+    # torque [Nm] = torque_constant * force [N]
+    torque_constant: 0.012 # 0.014 torque computed from power (efficiency estimated as 85% )
+
+    prop_radius: 0.089 # [m]
+
+    # allocation motors -> torques
+
+    # quadrotor X configuration
+    # hexarotor X configuration
+    # [roll torque,      [            [RPM_1^2,
+    #  pitch torque,  =    Alloc    *  RPM_2^2,
+    #  yaw torque,         Matrix       ...
+    #  thrust force]              ]    RPM_n_motors^2]
+    allocation_matrix: [
+        -0.707, 0.707,  0.707, -0.707, # *= force_constant*arm_length
+        -0.707, 0.707, -0.707,  0.707, # *= force_constant*arm_length
+          -1  ,  -1  ,   1   ,    1  , # *= torque_constant*force_constant
+           1  ,   1  ,   1   ,    1  , # *= force_constant
+      ]
+
+    # The UAV's inertia is approximated as a cilinder using the parameters above
+    # Alternatively, you can provide inertia matrix directly using the following parameter:
+    # inertia_matrix: []
+
+    rpm:
+      min: 3200 # [revolutions/minute]
+      max: 21400 # [revolutions/minute]
+
+mrs_uav_managers:
+  constraint_manager:
+    default_constraints:
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "medium"
+
+  safety:
+    tilt_limit:
+      eland:
+        enabled: false
+
+      disarm:
+        enabled: false
+
+    tilt_error_disarm:
+      enabled: false
+      timeout: 0.5 # [s] # for how long the error has to be present to disarm
+      error_threshold: deg(20) # [rad]
+
+    yaw_error_eland:
+      enabled: false
diff --git a/config/mrs_uav_system/robofly.yaml b/config/mrs_uav_system/robofly.yaml
new file mode 100644
index 0000000..61460c8
--- /dev/null
+++ b/config/mrs_uav_system/robofly.yaml
@@ -0,0 +1,81 @@
+uav_mass: 0.8 # overall mass of the drone
+
+# force to throttle sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
+# for single rotor max 19,23432N it is sqrt(19,23432) * 0.2600 - 0.1765
+
+#those motor params are for 20,475625N max thrust 1 throttle ... ((1+0.1765)/0.26)^2
+#for zero throttle we get force of single rotor = (0.1765/0.26)^2 = 0,460832101N 
+# zero throttle thrist must correspond to min_rpm sqrt(0.460832101/0.000000045) = 3200,111459864
+motor_params:
+  n_motors: 4
+  a: 0.2882
+  b: -0.0895
+# these model parameters can be used when
+# - 'attitude rate', and/or
+# - 'actuator control'
+# are done by the MRS system.
+model_params:
+  arm_length: 0.135 # [m]
+  body_height: 0.05 # [m]
+
+  propulsion:
+    # force [N] = force_constant * rpm^2
+    # for 21400 max rpm it is 20,475625 N then the force constant is 0.000000045
+    force_constant: 0.000000045
+
+    # torque [Nm] = torque_constant * force [N]
+    torque_constant: 0.012 # 0.014 torque computed from power (efficiency estimated as 85% )
+
+    prop_radius: 0.065 # [m]
+
+    # allocation motors -> torques
+
+    # quadrotor X configuration
+    # hexarotor X configuration
+    # [roll torque,      [            [RPM_1^2,
+    #  pitch torque,  =    Alloc    *  RPM_2^2,
+    #  yaw torque,         Matrix       ...
+    #  thrust force]              ]    RPM_n_motors^2]
+    allocation_matrix: [
+        -0.707, 0.707,  0.707, -0.707, # *= force_constant*arm_length
+        -0.707, 0.707, -0.707,  0.707, # *= force_constant*arm_length
+          -1  ,  -1  ,   1   ,    1  , # *= torque_constant*force_constant
+           1  ,   1  ,   1   ,    1  , # *= force_constant
+      ]
+
+    # The UAV's inertia is approximated as a cilinder using the parameters above
+    # Alternatively, you can provide inertia matrix directly using the following parameter:
+    # inertia_matrix: []
+
+    rpm:
+      min: 2400 # [revolutions/minute]
+      max: 3200 # [revolutions/minute]
+
+mrs_uav_managers:
+  constraint_manager:
+    default_constraints:
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "medium"
+
+  safety:
+    tilt_limit:
+      eland:
+        enabled: false
+
+      disarm:
+        enabled: false
+
+    tilt_error_disarm:
+      enabled: false
+      timeout: 0.5 # [s] # for how long the error has to be present to disarm
+      error_threshold: deg(20) # [rad]
+
+    yaw_error_eland:
+      enabled: false