Fixed Joints are Detaching and Moving

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Hello, I'm working on a project with having a quadcopter model execute a flip and land on a ceiling surface.

A big problem we are running into is that any sizeable impact on the legs causes them to move and become detached from the model even though they are connected through a fixed joint.

This can be partially remedied by increasing the step iterations in the range of 750 but the problem only happens less often and we want the legs to be fully rigid to the model. At this point I'm thinking it might have something to do with the very low inertia of the legs but I've run out of ideas on what else could be going on or how to fix it

Any help would be appreciated!

C:\fakepath\ceiling.world C:\fakepath\model.sdf