diff --git a/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp b/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp
index 70a3c7f..a1b5337 100644
--- a/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp
+++ b/include/mrs_multirotor_simulator/uav_system/multirotor_model.hpp
@@ -373,6 +373,8 @@ void MultirotorModel::operator()(const MultirotorModel::InternalState& x, Multir
 void MultirotorModel::setParams(const MultirotorModel::ModelParams& params) {
 
   params_ = params;
+
+  initializeState();
 }
 
 //}