diff --git a/conf/simulator/gazebo/models/ardrone/ardrone.sdf b/conf/simulator/gazebo/models/ardrone/ardrone.sdf
index 7f0aca4018..67065e483b 100644
--- a/conf/simulator/gazebo/models/ardrone/ardrone.sdf
+++ b/conf/simulator/gazebo/models/ardrone/ardrone.sdf
@@ -4,6 +4,11 @@
 		<pose>0 0 .1 0 0 0</pose>
 
 		<link name="chassis">
+			<velocity_decay>
+				<linear>0.001</linear>
+			</velocity_decay>
+			
+		
 			<inertial><!-- Taken from Paparazzi's ARDrone model for JSBsim -->
 				<mass>0.4</mass>
 				<inertia>
diff --git a/conf/simulator/nps/nps_sensors_params_ardrone2.h b/conf/simulator/nps/nps_sensors_params_ardrone2.h
index dd15c5663e..0bad6f3c1f 100644
--- a/conf/simulator/nps/nps_sensors_params_ardrone2.h
+++ b/conf/simulator/nps/nps_sensors_params_ardrone2.h
@@ -34,8 +34,8 @@
  * Accelerometer
  */
 /* navdata has 12 bit resolution */
-#define NPS_ACCEL_MIN -2047
-#define NPS_ACCEL_MAX  2047
+#define NPS_ACCEL_MIN  0
+#define NPS_ACCEL_MAX  4095
 /* ms-2 */
 /* aka 2^10/ACCEL_X_SENS  */
 #define NPS_ACCEL_SENSITIVITY_XX  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)