diff --git a/rotors_gazebo/worlds/basic_crazyflie.world b/rotors_gazebo/worlds/basic_crazyflie.world
index 741a810..968ec38 100644
--- a/rotors_gazebo/worlds/basic_crazyflie.world
+++ b/rotors_gazebo/worlds/basic_crazyflie.world
@@ -28,13 +28,13 @@
       <ode>
         <solver>
           <type>quick</type>
-          <iters>10</iters>
+          <iters>1000</iters>
           <sor>1.3</sor>
         </solver>
         <constraints>
           <cfm>0</cfm>
           <erp>0.2</erp>
-          <contact_max_correcting_vel>1000</contact_max_correcting_vel>
+          <contact_max_correcting_vel>100</contact_max_correcting_vel>
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>