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Quadcopter simulation unstable in Gazebo

Hi, I am working with ROS kinetic,Gazebo 7. Trying for simple arming and takeoff of quadcopter in gazebo simulation. When starting the simulation the quad doesn't stay stable. C:\fakepath\gazebo_1.gif

And when tried to arm the quad using /mavros/cmd/arming the props gets detached from frame.C:\fakepath\gazebo_1-2.gif

The SDF file for the quadcopter isC:\fakepath\iris.sdf

Please provide with the solution for a stable takeoff and landing.

Quadcopter simulation unstable in Gazebo

Hi, I am working with ROS kinetic,Gazebo 7. Trying for simple arming and takeoff of quadcopter in gazebo simulation. When starting the simulation the quad doesn't stay stable. C:\fakepath\gazebo_1.gif

And when tried to arm the quad using /mavros/cmd/arming the props gets detached from frame.C:\fakepath\gazebo_1-2.gif

The SDF file for the quadcopter isC:\fakepath\iris.sdf

Please provide with the solution for a stable takeoff and landing.

Update:After making some changes to the model the quad stays stable upon spawning.But as I provide the takeoff command it becomes unstable and crashes. Any particular reason for this behavior? I am using PX4 flight stack with gazebo simulation and plugins available with Iris model for controlling the drone.