diff --git a/config/gazebo-iris-gimbal.parm b/config/gazebo-iris-gimbal.parm
index 3cf5d186..f8154e85 100644
--- a/config/gazebo-iris-gimbal.parm
+++ b/config/gazebo-iris-gimbal.parm
@@ -2,29 +2,35 @@
 FRAME_CLASS	     1
 FRAME_TYPE	     1
 
-# IRLOCK FEATURE
-RC8_OPTION       39
-PLND_ENABLED     1
-PLND_TYPE        3
+# Match servo out for motors
+MOT_PWM_MIN      1100
+MOT_PWM_MAX      1900
 
-# SONAR FOR IRLOCK
-SIM_SONAR_SCALE  10
-RNGFND1_TYPE     1
-RNGFND1_SCALING  10
-RNGFND1_PIN      0
-RNGFND1_MAX_CM   5000
+# Gimbal on mount 1 has 3 DOF
+MNT1_TYPE        1           # Servo
+MNT1_PITCH_MAX   45
+MNT1_PITCH_MIN   -135
+MNT1_ROLL_MAX    30
+MNT1_ROLL_MIN    -30
+MNT1_YAW_MAX     160
+MNT1_YAW_MIN     -160
 
-# Gimbal on mount 1 has 2 DOF
-MNT1_PITCH_MAX   90
-MNT1_PITCH_MIN   -90
-MNT1_ROLL_MAX    90
-MNT1_ROLL_MIN    -90
-MNT1_TYPE        1
+# Gimbal RC in
+RC6_MAX          1900
+RC6_MIN          1100
+RC6_OPTION       212         # Mount1 Roll
+RC7_MAX          1900
+RC7_MIN          1100
+RC7_OPTION       213         # Mount1 Pitch
+RC8_MAX          1900
+RC8_MIN          1100
+RC8_OPTION       214         # Mount1 Yaw
+RC8_REVERSED     0           # Normal
+RC9_MAX          1900
+RC9_MIN          1100
+RC9_OPTION       0           # Do Nothing
 
-# Gimbal roll and pitch RC
-RC9_OPTION       212
-RC10_OPTION      213
-
-# Gimbal roll and pitch servos
-SERVO5_FUNCTION  8
-SERVO6_FUNCTION  7
+# Gimbal servo out
+SERVO9_FUNCTION  8           # Mount1Roll
+SERVO10_FUNCTION 7           # Mount1Pitch
+SERVO11_FUNCTION 6           # Mount1Yaw
\ No newline at end of file
diff --git a/models/gimbal_small_1d/model.sdf b/models/gimbal_small_1d/model.sdf
index f449fae6..4fefeb56 100644
--- a/models/gimbal_small_1d/model.sdf
+++ b/models/gimbal_small_1d/model.sdf
@@ -140,11 +140,11 @@
       <axis>
         <xyz>1 0 0</xyz>
         <dynamics>
-          <damping>0.5</damping>
+          <damping>0.01</damping>
         </dynamics>
         <limit>
-          <lower>-1.57079632</lower>
-          <upper>1.57079632</upper>
+          <lower>-3.1415926</lower>
+          <upper>3.1415926</upper>
         </limit>
       </axis>
       <pose>0 0 0.02 0 0 0</pose>
diff --git a/models/gimbal_small_2d/model.sdf b/models/gimbal_small_2d/model.sdf
index cddceb05..cf2af733 100644
--- a/models/gimbal_small_2d/model.sdf
+++ b/models/gimbal_small_2d/model.sdf
@@ -76,11 +76,11 @@
       <axis>
         <xyz>0 0 1</xyz>
         <dynamics>
-          <damping>0.5</damping>
+          <damping>0.01</damping>
         </dynamics>
         <limit>
-          <lower>-1.57079632</lower>
-          <upper>1.57079632</upper>
+          <lower>-3.1415926</lower>
+          <upper>3.1415926</upper>
         </limit>
       </axis>
       <pose>0.01 0 -0.04 0 0 0</pose>
@@ -176,11 +176,11 @@
       <axis>
         <xyz>1 0 0</xyz>
         <dynamics>
-          <damping>0.5</damping>
+          <damping>0.01</damping>
         </dynamics>
         <limit>
-          <lower>-1.57079632</lower>
-          <upper>1.57079632</upper>
+          <lower>-3.1415926</lower>
+          <upper>3.1415926</upper>
         </limit>
       </axis>
       <pose>0 0 0.02 0 0 0</pose>
diff --git a/models/gimbal_small_3d/model.sdf b/models/gimbal_small_3d/model.sdf
index d265f7ea..22a866ae 100644
--- a/models/gimbal_small_3d/model.sdf
+++ b/models/gimbal_small_3d/model.sdf
@@ -74,11 +74,11 @@
       <axis>
         <xyz>0 1 0</xyz>
         <dynamics>
-          <damping>0.5</damping>
+          <damping>0.01</damping>
         </dynamics>
         <limit>
-          <lower>-1.57079632</lower>
-          <upper>1.57079632</upper>
+          <lower>-3.1415926</lower>
+          <upper>3.1415926</upper>
         </limit>
       </axis>
       <pose>0.0105 0.065 -0.002 0 0 0</pose>
@@ -122,11 +122,11 @@
       <axis>
         <xyz>0 0 1</xyz>
         <dynamics>
-          <damping>0.5</damping>
+          <damping>0.01</damping>
         </dynamics>
         <limit>
-          <lower>-1.57079632</lower>
-          <upper>1.57079632</upper>
+          <lower>-3.1415926</lower>
+          <upper>3.1415926</upper>
         </limit>
       </axis>
       <pose>0.0099 0.002 -0.05 0 0 0</pose>
@@ -227,11 +227,11 @@
       <axis>
         <xyz>1 0 0</xyz>
         <dynamics>
-          <damping>0.5</damping>
+          <damping>0.01</damping>
         </dynamics>
         <limit>
-          <lower>-1.57079632</lower>
-          <upper>1.57079632</upper>
+          <lower>-3.1415926</lower>
+          <upper>3.1415926</upper>
         </limit>
       </axis>
       <pose>0.045 0.0021 0.0199 0 0 0</pose>
diff --git a/models/iris_with_gimbal/model.sdf b/models/iris_with_gimbal/model.sdf
index 94311401..70935b39 100755
--- a/models/iris_with_gimbal/model.sdf
+++ b/models/iris_with_gimbal/model.sdf
@@ -6,7 +6,7 @@
     </include>
 
     <include>
-      <uri>model://gimbal_small_2d</uri>
+      <uri>model://gimbal_small_3d</uri>
       <name>gimbal</name>
       <pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>    
     </include>
@@ -280,26 +280,40 @@
         <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
       </control>
 
-      <control channel="4">
+      <!-- roll range is -30 to +30 deg -->
+      <control channel="8">
         <jointName>gimbal::roll_joint</jointName>
-        <multiplier>3.14159265</multiplier>
+        <multiplier>1.047197551196</multiplier>
         <offset>-0.5</offset>
         <servo_min>1100</servo_min>
         <servo_max>1900</servo_max>
         <type>COMMAND</type>
         <cmd_topic>/gimbal/cmd_roll</cmd_topic>
-        <p_gain>3</p_gain>
+        <p_gain>2</p_gain>
       </control>
 
-      <control channel="5">
-        <jointName>gimbal::tilt_joint</jointName>
-        <multiplier>3.14159265</multiplier>
+      <!-- pitch range is -135 to +45 deg -->
+      <control channel="9">
+        <jointName>gimbal::pitch_joint</jointName>
+        <multiplier>-3.14159265</multiplier>
+        <offset>-0.75</offset>
+        <servo_min>1100</servo_min>
+        <servo_max>1900</servo_max>
+        <type>COMMAND</type>
+        <cmd_topic>/gimbal/cmd_pitch</cmd_topic>
+        <p_gain>2</p_gain>
+      </control>
+
+      <!-- yaw range is -160 to +160 deg -->
+      <control channel="10">
+        <jointName>gimbal::yaw_joint</jointName>
+        <multiplier>-5.5850536</multiplier>
         <offset>-0.5</offset>
         <servo_min>1100</servo_min>
         <servo_max>1900</servo_max>
         <type>COMMAND</type>
-        <cmd_topic>/gimbal/cmd_tilt</cmd_topic>
-        <p_gain>3</p_gain>
+        <cmd_topic>/gimbal/cmd_yaw</cmd_topic>
+        <p_gain>2</p_gain>
       </control>
 
     </plugin>
@@ -314,8 +328,15 @@
     <plugin
       filename="gz-sim-joint-position-controller-system"
       name="gz::sim::systems::JointPositionController">
-      <joint_name>gimbal::tilt_joint</joint_name>
-      <topic>/gimbal/cmd_tilt</topic>
+      <joint_name>gimbal::pitch_joint</joint_name>
+      <topic>/gimbal/cmd_pitch</topic>
+      <p_gain>2</p_gain>
+    </plugin>
+    <plugin
+      filename="gz-sim-joint-position-controller-system"
+      name="gz::sim::systems::JointPositionController">
+      <joint_name>gimbal::yaw_joint</joint_name>
+      <topic>/gimbal/cmd_yaw</topic>
       <p_gain>2</p_gain>
     </plugin>
 
diff --git a/worlds/iris_runway.sdf b/worlds/iris_runway.sdf
index 8f87d99e..259ac716 100755
--- a/worlds/iris_runway.sdf
+++ b/worlds/iris_runway.sdf
@@ -116,7 +116,7 @@
     </include>
 
     <include>
-      <uri>model://iris_with_ardupilot</uri>
+      <uri>model://iris_with_gimbal</uri>
       <pose degrees="true">0 0 0.195 0 0 90</pose>
     </include>
 
diff --git a/worlds/iris_warehouse.sdf b/worlds/iris_warehouse.sdf
index 80010aca..a93cc61c 100644
--- a/worlds/iris_warehouse.sdf
+++ b/worlds/iris_warehouse.sdf
@@ -250,7 +250,7 @@
 
     <include>
         <pose>-6 0 0.25 0 0 0</pose>
-        <uri>model://iris_with_ardupilot</uri>
+        <uri>model://iris_with_gimbal</uri>
     </include>
 
     <include>