diff --git a/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp b/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp
index 70a3c7f..c4ef9ef 100644
--- a/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp
+++ b/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp
@@ -128,9 +128,10 @@ class MultirotorModel {
   ModelParams getParams(void);
   void        setParams(const ModelParams& params);
 
-private:
   void initializeState(void);
 
+private:
+
   void updateInternalState(void);
 
   MultirotorModel::State state_;
diff --git a/include/mrs_multirotor_simulator/uav_system/uav_system.hpp b/include/mrs_multirotor_simulator/uav_system/uav_system.hpp
index 71c1fb6..0e67d33 100644
--- a/include/mrs_multirotor_simulator/uav_system/uav_system.hpp
+++ b/include/mrs_multirotor_simulator/uav_system/uav_system.hpp
@@ -136,12 +136,17 @@ UavSystem::UavSystem(const MultirotorModel::ModelParams& model_params) {
 
   multirotor_model_.setParams(model_params);
 
+  multirotor_model_.initializeState();
+
   initializeControllers();
 }
 
 UavSystem::UavSystem(const MultirotorModel::ModelParams& model_params, const Eigen::Vector3d spawn_pos, const double spawn_heading) {
 
   multirotor_model_.setParams(model_params);
+
+  multirotor_model_.initializeState();
+
   multirotor_model_.setStatePos(spawn_pos, spawn_heading);
 
   initializeControllers();
diff --git a/tmux/standalone/session.yml b/tmux/standalone/session.yml
index a8bc71c..7858a43 100644
--- a/tmux/standalone/session.yml
+++ b/tmux/standalone/session.yml
@@ -5,7 +5,6 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
 startup_window: goto
 windows:
   - roscore:
diff --git a/tmux/standalone_400_uavs/session.yml b/tmux/standalone_400_uavs/session.yml
index 990e310..288b9a3 100644
--- a/tmux/standalone_400_uavs/session.yml
+++ b/tmux/standalone_400_uavs/session.yml
@@ -5,7 +5,6 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500; export BOND=false
 startup_window: goto
 windows:
   - roscore: