diff --git a/config/models/quadrotor_foursided_px4_motor_aligned_charlotte.txt b/config/models/quadrotor_foursided_px4_motor_aligned_charlotte.txt
new file mode 100644
index 0000000..878b7a0
--- /dev/null
+++ b/config/models/quadrotor_foursided_px4_motor_aligned_charlotte.txt
@@ -0,0 +1,9 @@
+# X Y Z Type Pitch Yaw signal_id
+0.212132  0.212132  0 0 0.0 0              2 
+0.212132  0.212132  0 0 0.0 1.57079632679  2
+0.212132  -0.212132 0 0 0.0 0              0
+0.212132  -0.212132 0 0 0.0 -1.57079632679 0
+-0.212132 -0.212132 0 0 0.0 -1.57079632679 3
+-0.212132 -0.212132 0 0 0.0 -3.14159265359 3
+-0.212132 0.212132  0 0 0.0 1.57079632679  1
+-0.212132 0.212132  0 0 0.0 3.14159265359  1