diff --git a/SKILL.md b/SKILL.md
index ab4eaf95..0a28e084 100644
--- a/SKILL.md
+++ b/SKILL.md
@@ -16,7 +16,7 @@ Settings are in `pyproject.toml`, layout in the tree, API reference in `docs/`.
   `array_namespace(...)`, do all math through it, coerce bound parameters with `to_xp`, and never
   import `numpy` into a computation path.
 - `crazyflow/control/mellinger/params.toml` deliberately holds values that differ from the true
-  physical constants in `crazyflow/drones/params.toml`, reproducing the real firmware. Do not
+  physical constants in `crazyflow/dynamics/*/params.toml`, reproducing the real firmware. Do not
   unify them.
 
 ## Testing
@@ -36,8 +36,8 @@ Use pixi, not uv. `pixi run <cmd>` resolves task names only, so arbitrary comman
   checked goes in a `pycon` fence with `>>>` prompts, which doctest picks up.
 - `tests/integration/test_examples.py` runs every script under `examples/`, so a new example is a
   new test.
-- `tests/conftest.py` forces JAX's persistent cache on at `/tmp/jax_cache`, shared across branches.
-  Delete it when failures make no sense.
+- `tests/conftest.py` forces JAX's persistent cache on at `/tmp/jax_cache-<uid>`, shared across
+  branches. Delete it when failures make no sense.
 - Request the `device` fixture rather than a GPU marker. It falls back to CPU silently, so
   `gpu-tests` asserts nothing about placement on a machine without CUDA.
 
@@ -46,10 +46,12 @@ Use pixi, not uv. `pixi run <cmd>` resolves task names only, so arbitrary comman
 Grepping the name of an existing model or drone finds every registration site, except when matching
 against all models in the simulation's `build_control_fns`.
 
-Define the function in `dynamics.py` and never in the package `__init__.py`, because `load_params`
-derives the model name from `fn.__module__.split(".")[-2]`. `parametrize` binds exactly the
-keyword-only parameters after the bare `*`, so anything before it is never bound. Every drone in
-`available_drones` needs a section in every `crazyflow/dynamics/*/params.toml`, even an empty one.
+Define the function in `dynamics.py` and never in the package `__init__.py`, because
+`load_fn_params` derives the model name from `fn.__module__.split(".")[-2]`. `parametrize`
+binds exactly the keyword-only parameters after the bare `*`, so anything before it is never bound.
+Every drone in `available_drones` needs a complete section in every model's
+`crazyflow/dynamics/*/params.toml`. The commented example at the top of each file lists the keys.
+Only `gravity_vec` is global, in `crazyflow/dynamics/params.toml`.
 
 Registration alone produces roughly 40 parametrized tests. These do not include derivatives tests.
 
@@ -60,9 +62,9 @@ Pure, batched, array-API functions with no dependency on `Sim`.
 - Import crazyflow before scipy. `crazyflow/__init__.py` sets `SCIPY_ARRAY_API=1` and imports scipy
   immediately, and scipy cannot be reconfigured once loaded. Transitive imports through acados or
   sklearn trigger this too.
-- Three different `load_params` exist. The two in `.core` filter to the target signature and
-  silently drop the rest, so hardware constants like `thrust_max` need
-  `crazyflow.drones.load_params`.
+- `dynamics` and `control` each have `load_params(name, drone)`, returning everything defined for
+  the drone, and `load_fn_params(fn, drone)`, which filters to the signature of `fn` and
+  drops the rest. Additional platform data is stored as a comment in the drone MJCF.
 - `parametrize` returns a `functools.partial` whose `keywords` dict is shared by every reference to
   it. Call `parametrize` again for an independent copy.
 - Leading batch dimensions, trailing feature axis. `quat` is scalar-last xyzw, `force` is `(..., 1)`
diff --git a/crazyflow/control/__init__.py b/crazyflow/control/__init__.py
index b1c3e84e..ebbe4080 100644
--- a/crazyflow/control/__init__.py
+++ b/crazyflow/control/__init__.py
@@ -14,7 +14,7 @@
 
 __all__ = []
 
-from crazyflow.control.core import Control, load_params, parametrize
+from crazyflow.control.core import Control, load_fn_params, load_params, parametrize
 from crazyflow.control.mellinger import attitude2force_torque as mellinger_attitude2force_torque
 from crazyflow.control.mellinger import body_rate2force_torque as mellinger_body_rate2force_torque
 from crazyflow.control.mellinger import state2attitude as mellinger_state2attitude
@@ -25,4 +25,4 @@
     "mellinger_body_rate2force_torque": mellinger_body_rate2force_torque,
 }
 
-__all__ = ["Control", "load_params", "parametrize"]
+__all__ = ["Control", "load_params", "load_fn_params", "parametrize"]
diff --git a/crazyflow/control/core.py b/crazyflow/control/core.py
index 6c18d67e..91247c14 100644
--- a/crazyflow/control/core.py
+++ b/crazyflow/control/core.py
@@ -22,6 +22,46 @@
 R = TypeVar("R")
 
 
+class Control(StrEnum):
+    """Control type of the simulated onboard controller."""
+
+    state = "state"
+    """State control takes [x, y, z, vx, vy, vz, ax, ay, az, qx, qy, qz, qw, wx, wy, wz].
+
+    Note:
+        Recommended frequency is >=20 Hz.
+
+    Warning:
+        Only the yaw of the attitude quaternion is used, as in the firmware. The so_rpy family
+        ignores the body rate setpoint.
+    """
+    attitude = "attitude"
+    """Attitude control takes [roll, pitch, yaw, collective thrust].
+
+    Note:
+        Recommended frequency is >=100 Hz.
+    """
+    body_rate = "body_rate"
+    """Body rate control takes [wx, wy, wz, collective thrust].
+
+    Note:
+        Recommended frequency is >=200 Hz.
+    """
+    force_torque = "force_torque"
+    """Force and torque control takes [fc, tx, ty, tz].
+
+    Note:
+        Recommended frequency is >=500 Hz.
+    """
+    rotor_vel = "rotor_vel"
+    """Rotor velocity control takes [w1, w2, w3, w4] in RPMs.
+
+    Note:
+        Recommended frequency is >=500 Hz.
+    """
+    default = attitude
+
+
 def parametrize(
     fn: Callable[P, R], drone: str, xp: ModuleType | None = None, device: str | None = None
 ) -> Callable[P, R]:
@@ -50,77 +90,57 @@ def parametrize(
     Returns:
         The parametrized controller function with all keyword argument only parameters filled in.
     """
-    return _parametrize(fn, drone, load_params, xp=xp, device=device)
+    return _parametrize(fn, drone, load_fn_params, xp=xp, device=device)
 
 
 def load_params(
-    fn: Callable, drone: str, xp: ModuleType | None = None, device: str | None = None
-) -> dict[str, Array]:
-    """Load the parameters a specific controller function accepts.
+    controller: str, drone: str, xp: ModuleType | None = None, device: str | None = None
+) -> dict[str, dict[str, Array]]:
+    """Load all parameters of a drone for a controller.
 
-    Merges the ``"core"`` section with the function's ``[drone.<fn_name>]`` section (function values
-    take precedence), then keeps only the parameters in ``fn``'s signature.
+    Returns the drone's table of ``crazyflow/control/<controller>/params.toml``: the ``core``
+    section shared by all functions of the controller, and one section per controller function.
 
     Args:
-        fn: The controller function for which to load parameters.
+        controller: Name of the controller package, e.g. ``"mellinger"``.
         drone: Name of the drone configuration, e.g. ``"cf2x_L250"``.
         xp: The array API module to use. If not provided, numpy is used.
         device: The device to use. If None, the device is inferred from the xp module.
 
-    Returns:
-        A flat dict mapping parameter names to arrays in the requested array namespace.
+    Raises:
+        KeyError: If ``controller`` has no ``params.toml`` or ``drone`` has no section in it.
     """
-    assert isinstance(fn, Callable), f"Expected a function, got {type(fn)}"
-    controller = fn.__module__.split(".")[-2]
     params_path = Path(__file__).parent / f"{controller}/params.toml"
     if not params_path.exists():
-        raise KeyError(f"`{controller}` not found. Available controllers: {tuple(Control)}")
+        raise KeyError(f"Controller `{controller}` not found")
     with open(params_path, "rb") as f:
         params = tomllib.load(f)
     if drone not in params:
         raise KeyError(f"Drone `{drone}` not found in {controller}/params.toml")
-    merged = params[drone].get("core", {}) | params[drone].get(fn.__name__, {})
-    return to_xp(filter_to_signature(merged, fn), xp=xp, device=device)
-
-
-class Control(StrEnum):
-    """Control type of the simulated onboard controller."""
-
-    state = "state"
-    """State control takes [x, y, z, vx, vy, vz, ax, ay, az, qx, qy, qz, qw, wx, wy, wz].
-
-    Note:
-        Recommended frequency is >=20 Hz.
+    return to_xp(params[drone], xp=xp, device=device)
 
-    Warning:
-        Only the yaw of the attitude quaternion is used, as in the firmware. The so_rpy family
-        ignores the body rate setpoint.
-    """
-    attitude = "attitude"
-    """Attitude control takes [roll, pitch, yaw, collective thrust].
 
-    Note:
-        Recommended frequency is >=100 Hz.
-    """
-    body_rate = "body_rate"
-    """Body rate control takes [wx, wy, wz, collective thrust].
+def load_fn_params(
+    fn: Callable, drone: str, xp: ModuleType | None = None, device: str | None = None
+) -> dict[str, Array]:
+    """Load the parameters a controller function accepts.
 
-    Note:
-        Recommended frequency is >=200 Hz.
-    """
-    force_torque = "force_torque"
-    """Force and torque control takes [fc, tx, ty, tz].
+    The controller is derived from the function's package. Merges the ``core`` section with the
+    function's section (function values take precedence), then keeps only the parameters in
+    ``fn``'s signature.
 
-    Note:
-        Recommended frequency is >=500 Hz.
-    """
-    rotor_vel = "rotor_vel"
-    """Rotor velocity control takes [w1, w2, w3, w4] in RPMs.
+    Args:
+        fn: The controller function for which to load parameters.
+        drone: Name of the drone configuration, e.g. ``"cf2x_L250"``.
+        xp: The array API module to use. If not provided, numpy is used.
+        device: The device to use. If None, the device is inferred from the xp module.
 
-    Note:
-        Recommended frequency is >=500 Hz.
+    Returns:
+        A flat dict mapping parameter names to arrays in the requested array namespace.
     """
-    default = attitude
+    assert callable(fn), f"Expected a function, got {type(fn)}"
+    params = load_params(fn.__module__.split(".")[-2], drone, xp=xp, device=device)
+    return filter_to_signature(params.get("core", {}) | params.get(fn.__name__, {}), fn)
 
 
 @jax.jit
diff --git a/crazyflow/control/mellinger/control.py b/crazyflow/control/mellinger/control.py
index 6e05d7b4..c92a90ad 100644
--- a/crazyflow/control/mellinger/control.py
+++ b/crazyflow/control/mellinger/control.py
@@ -20,7 +20,7 @@
 from flax.struct import dataclass, field
 from scipy.spatial.transform import Rotation as R
 
-from crazyflow.control.core import controllable, load_params
+from crazyflow.control.core import controllable, load_fn_params
 from crazyflow.control.transform import force2pwm, motor_force2rotor_vel, pwm2force
 from crazyflow.utils import CORE_NDIM_KEY, leaf_replace
 
@@ -513,7 +513,7 @@ def create(
         zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device)
         cmd = jnp.zeros((n_worlds, n_drones, 16), device=device).at[..., 12].set(1.0)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_params(state2attitude, drone, xp=jnp, device=device)
+        params = load_fn_params(state2attitude, drone, xp=jnp, device=device)
         return MellingerStateData(
             cmd=cmd,
             staged_cmd=cmd.copy(),
@@ -553,7 +553,7 @@ def create(
         zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device)
         zeros_4d = jnp.zeros((n_worlds, n_drones, 4), device=device)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_params(attitude2force_torque, drone, xp=jnp, device=device)
+        params = load_fn_params(attitude2force_torque, drone, xp=jnp, device=device)
         return MellingerAttitudeData(
             cmd=zeros_4d.copy(),
             staged_cmd=zeros_4d.copy(),
@@ -595,7 +595,7 @@ def create(
         zeros_3d = jnp.zeros((n_worlds, n_drones, 3), device=device)
         zeros_4d = jnp.zeros((n_worlds, n_drones, 4), device=device)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_params(body_rate2force_torque, drone, xp=jnp, device=device)
+        params = load_fn_params(body_rate2force_torque, drone, xp=jnp, device=device)
         return MellingerBodyRateData(
             cmd=zeros_4d.copy(),
             staged_cmd=zeros_4d.copy(),
@@ -629,7 +629,7 @@ def create(
     ) -> MellingerForceTorqueData:
         zeros_4d = jnp.zeros((n_worlds, n_drones, 4), device=device)
         steps = -jnp.ones((n_worlds, 1), dtype=jnp.int32, device=device)
-        params = load_params(force_torque2rotor_vel, drone, xp=jnp, device=device)
+        params = load_fn_params(force_torque2rotor_vel, drone, xp=jnp, device=device)
         return MellingerForceTorqueData(
             cmd=zeros_4d.copy(), staged_cmd=zeros_4d.copy(), steps=steps, freq=freq, params=params
         )
diff --git a/crazyflow/drones/__init__.py b/crazyflow/drones/__init__.py
index 5c686bb0..ace00398 100644
--- a/crazyflow/drones/__init__.py
+++ b/crazyflow/drones/__init__.py
@@ -1,17 +1,11 @@
 """Hardware descriptions for the supported drone platforms.
 
-This package bundles the physical assets that define each drone configuration: the MuJoCo MJCF scene
-files, their referenced meshes (``assets/``), and the physical parameters shared across all dynamics
-(``params.toml`` with mass, inertia, thrust and torque curves, …). These describe the *hardware* and
-are independent of the dynamics formulation used to simulate it (see [crazyflow.dynamics][]).
+This package bundles the MuJoCo MJCF scene files that define each drone configuration and their
+referenced meshes (``assets/``). For the physical params, see [crazyflow.dynamics.load_params][].
 
-Use ``available_drones`` to enumerate the supported configurations, and ``load_params`` to read all
-physical parameters of a drone.
+Use ``available_drones`` to enumerate the supported configurations.
 """
 
-import tomllib
-from pathlib import Path
-
 # Currently supported platforms:
 # * **cf2x_L250** — Crazyflie 2.x
 # * **cf2x_P250** — Crazyflie 2.x with plus propellers
@@ -19,19 +13,4 @@
 # * **cf21B_500** — Crazyflie 2.1 Brushless with 500 mAh battery
 available_drones: tuple[str, ...] = ("cf2x_L250", "cf2x_P250", "cf2x_T350", "cf21B_500")
 
-__all__ = ["available_drones", "load_params"]
-
-
-def load_params(drone: str) -> dict:
-    """Load all physical parameters of a drone from ``params.toml``.
-
-    Returns the raw values (lists/scalars) for the whole drone.
-
-    Args:
-        drone: Name of the drone configuration, e.g. ``"cf2x_L250"``.
-    """
-    with open(Path(__file__).parent / "params.toml", "rb") as f:
-        params = tomllib.load(f)
-    if drone not in params or drone not in available_drones:
-        raise KeyError(f"Drone `{drone}` not found in drones/params.toml")
-    return params[drone]
+__all__ = ["available_drones"]
diff --git a/crazyflow/drones/cf21B_500.xml b/crazyflow/drones/cf21B_500.xml
index c20932fe..ae02aab2 100644
--- a/crazyflow/drones/cf21B_500.xml
+++ b/crazyflow/drones/cf21B_500.xml
@@ -1,4 +1,13 @@
 <mujoco model="cf21B">
+  <!--
+  Platform data not used by the simulation, kept for estimators, firmware and tooling:
+  rotor_dyn_coef_simple = 15.416891997523813
+  thrust_dyn_coef = 15.09965949800411
+  vmotor2thrust = [-0.014058926705279723, 0.04265273261724981, 0.0018327760144017432, 0.0020576974784587178]  # Index is order
+  vmotor2torque = [-0.00016088354909542246, 0.0003960426420309137, -4.6274122414327404e-5, 1.8490661674309596e-5]  # TODO, Index is order
+  vmotor2rpm = [2938.3995608848436, 6001.834195381014]  # Index is order
+  prop_radius = 27.5e-3 # TODO check
+  -->
   <compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
 
   <asset>
diff --git a/crazyflow/drones/cf2x_L250.xml b/crazyflow/drones/cf2x_L250.xml
index 47396b04..104c2186 100644
--- a/crazyflow/drones/cf2x_L250.xml
+++ b/crazyflow/drones/cf2x_L250.xml
@@ -1,4 +1,13 @@
 <mujoco model="cf2x">
+  <!--
+  Platform data not used by the simulation, kept for estimators, firmware and tooling:
+  rotor_dyn_coef_simple = 6.886705423469015
+  thrust_dyn_coef = 6.8932095506763345
+  vmotor2thrust = [-0.014830744918356092, 0.04724465241828281, -0.01847364358025878, 0.005960923942142]  # Index is order
+  vmotor2torque = [-3.3261514624778425e-6, 8.109636684075977e-5, 5.751459172588052e-5, -1.898633582060136e-7]  # Index is order
+  vmotor2rpm = [2968.1791506049194, 6647.948592402306]  # Index is order
+  prop_radius = 23.55e-3 # TODO check
+  -->
   <compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
 
   <asset>
diff --git a/crazyflow/drones/cf2x_P250.xml b/crazyflow/drones/cf2x_P250.xml
index 6a7fa833..295c1f10 100644
--- a/crazyflow/drones/cf2x_P250.xml
+++ b/crazyflow/drones/cf2x_P250.xml
@@ -1,4 +1,13 @@
 <mujoco model="cf2x">
+  <!--
+  Platform data not used by the simulation, kept for estimators, firmware and tooling:
+  rotor_dyn_coef_simple = 7.709730027690284
+  thrust_dyn_coef = 7.9435775497736785
+  vmotor2thrust = [-0.02476537915958403, 0.06523793527519485, -0.026792504967750107, 0.006776789303971145]  # Index is order
+  vmotor2torque = [-2.8633106919309745e-5, 0.00011679386117520097, 5.105754520419129e-5, 0.0]  # Index is order
+  vmotor2rpm = [4657.542534331524, 7536.161830990926]  # Index is order
+  prop_radius = 23.4e-3 # TODO check
+  -->
   <compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
 
   <asset>
diff --git a/crazyflow/drones/cf2x_T350.xml b/crazyflow/drones/cf2x_T350.xml
index 13785057..0fd0ae4f 100644
--- a/crazyflow/drones/cf2x_T350.xml
+++ b/crazyflow/drones/cf2x_T350.xml
@@ -1,4 +1,13 @@
 <mujoco model="cf2x">
+  <!--
+  Platform data not used by the simulation, kept for estimators, firmware and tooling:
+  rotor_dyn_coef_simple = 11.352970450445243
+  thrust_dyn_coef = 11.12424272978587
+  vmotor2thrust = [0.006728127583707208, 0.01011557616217668, 0.010263198062061085, 0.0028358638322392503]  # Index is order
+  vmotor2torque = [-1.2906047901738756e-5, 0.0001436101487030899, 2.794753913624656e-5, 1.3104535533494383e-5]  # Index is order
+  vmotor2rpm = [2977.884883031915, 8101.0293594093055]  # Index is order
+  prop_radius = 25.4e-3 # TODO check
+  -->
   <compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />
 
   <asset>
diff --git a/crazyflow/drones/params.toml b/crazyflow/drones/params.toml
deleted file mode 100644
index a8119bdd..00000000
--- a/crazyflow/drones/params.toml
+++ /dev/null
@@ -1,152 +0,0 @@
-# This file contains all the **physical** parameters for all drones.
-
-[cf2x_L250]
-gravity_vec = [0.0, 0.0, -9.81]
-mass = 0.0319
-L = 0.03253
-J = [  # TODO
-    [16.8e-6, 0.0, 0.0],
-    [0.0, 16.8e-6, 0.0],
-    [0.0, 0.0, 29.8e-6]
-]
-rpm2thrust = [0.0, -5.382196214637237e-7, 2.4582929831265485e-10]
-rpm2torque = [0.0, 1.410454111996297e-9, 1.4592584373980652e-12] 
-thrust2torque = 0.007350862856566459
-rotor_dyn_coef = [ 7.355623702172756, 0.0, 0.0, 0.00024443862952110715,] # [ 7.355623702172756, 0.0, 0.0, 0.00024443862952110715,]
-rotor_dyn_coef_simple = 6.886705423469015
-thrust_dyn_coef = 6.8932095506763345
-mixing_matrix = [
-    [-1.0, -1.0,  1.0,  1.0],
-    [-1.0,  1.0,  1.0, -1.0],
-    [-1.0,  1.0, -1.0,  1.0]
-]
-drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
-    [-0.01471782, 0.0,         0.0         ],
-    [0.0,         -0.01471782, 0.0         ],
-    [0.0,         0.0,         -0.01277641 ]
-]
-# The following parameters are for the platform, but are maybe not actually used by the dynamics. However, 
-# we still keep them here in one place, since some other things (sim, estimator, firmware) might need them.
-pwm_min = 7000
-pwm_max = 65535
-thrust_min = 0.012817578393224994  # in N per motor
-thrust_max = 0.12  # in N per motor
-vmotor2thrust = [-0.014830744918356092, 0.04724465241828281, -0.01847364358025878, 0.005960923942142]  # Index is order
-vmotor2torque = [-3.3261514624778425e-6, 8.109636684075977e-5, 5.751459172588052e-5, -1.898633582060136e-7]  # Index is order
-vmotor2rpm = [2968.1791506049194, 6647.948592402306]  # Index is order
-prop_radius = 23.55e-3 # TODO check
-prop_inertia = 34.52e-9 # TODO seems off
-
-
-[cf2x_P250]
-gravity_vec = [0.0, 0.0, -9.81]
-mass = 0.0318
-L = 0.03253
-J = [  # TODO from L250
-    [16.8e-6, 0.0, 0.0],
-    [0.0, 16.8e-6, 0.0],
-    [0.0, 0.0, 29.8e-6]
-]
-rpm2thrust = [0.0, -3.6200226530383495e-7, 1.6060924304100328e-10] # Index is order
-rpm2torque = [0.0, -2.2665265829562245e-9, 1.1149485566919186e-12] # Index is order
-thrust2torque = 0.0069928948992470565
-rotor_dyn_coef = [ 5.172596691828673, 8.14774234381285e-5, 0.0, 0.0002095253491455741,]
-rotor_dyn_coef_simple = 7.709730027690284
-thrust_dyn_coef = 7.9435775497736785
-mixing_matrix = [
-    [-1.0, -1.0,  1.0,  1.0],
-    [-1.0,  1.0,  1.0, -1.0],
-    [-1.0,  1.0, -1.0,  1.0]
-]
-drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
-    [-0.01351483, 0.0,         0.0         ],
-    [0.0,         -0.01351483, 0.0         ],
-    [0.0,         0.0,         -0.01677452 ]
-]
-# The following parameters are for the platform, but are maybe not actually used by the dynamics. However, 
-# we still keep them here in one place, since some other things (sim, estimator, firmware) might need them.
-pwm_min = 7000
-pwm_max = 65535
-thrust_min = 0.012817578393224994  # in N per motor
-thrust_max = 0.12  # in N per motor
-vmotor2thrust = [-0.02476537915958403, 0.06523793527519485, -0.026792504967750107, 0.006776789303971145]  # Index is order
-vmotor2torque = [-2.8633106919309745e-5, 0.00011679386117520097, 5.105754520419129e-5, 0.0]  # Index is order
-vmotor2rpm = [4657.542534331524, 7536.161830990926]  # Index is order
-prop_radius = 23.4e-3 # TODO check
-prop_inertia = 26.97e-9
-
-
-[cf2x_T350]
-gravity_vec = [0.0, 0.0, -9.81]
-mass = 0.0379
-L = 0.03253
-J = [ 
-    [15.7e-6, 0.0, 0.0],
-    [0.0, 17.1e-6, 0.0],
-    [0.0, 0.0, 30.0e-6]
-]
-rpm2thrust = [0.0, -7.167227176573658e-7, 2.9401303690194613e-10] # Index is order
-rpm2torque = [0.0, 5.815894847811497e-10, 1.331813874166509e-12] # Index is order
-thrust2torque = 0.005355990836477486
-rotor_dyn_coef = [ 11.374753209400291, 0.0, 0.0, 0.00037867688499079635,]
-rotor_dyn_coef_simple = 11.352970450445243
-thrust_dyn_coef = 11.12424272978587
-mixing_matrix = [
-    [-1.0, -1.0,  1.0,  1.0],
-    [-1.0,  1.0,  1.0, -1.0],
-    [-1.0,  1.0, -1.0,  1.0]
-]
-drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
-    [-0.01556697, 0.0,         0.0         ],
-    [0.0,         -0.01556697, 0.0         ],
-    [0.0,         0.0,         -0.02191672 ]
-]
-# The following parameters are for the platform, but are maybe not actually used by the dynamics. However, 
-# we still keep them here in one place, since some other things (sim, estimator, firmware) might need them.
-pwm_min = 7000
-pwm_max = 65535
-thrust_min = 0.01922636758983749  # in N per motor
-thrust_max = 0.18  # in N per motor
-vmotor2thrust = [0.006728127583707208, 0.01011557616217668, 0.010263198062061085, 0.0028358638322392503]  # Index is order
-vmotor2torque = [-1.2906047901738756e-5, 0.0001436101487030899, 2.794753913624656e-5, 1.3104535533494383e-5]  # Index is order
-vmotor2rpm = [2977.884883031915, 8101.0293594093055]  # Index is order
-prop_radius = 25.4e-3 # TODO check
-prop_inertia = 38.93e-9 # TODO value from B500, currenty unknown
-
-
-[cf21B_500]
-gravity_vec = [0.0, 0.0, -9.81]
-mass = 0.04338
-L = 0.035355
-J = [
-    [25e-6, 0.0,   0.0],
-    [0.0,   28e-6, 0.0],
-    [0.0,   0.0,   49e-6]
-]
-rpm2thrust = [0.0, -3.133427287299859e-7, 4.407354891648379e-10] # TODO , Index is order
-rpm2torque = [0.0, 1.65886356219615e-9, 2.4693477924534137e-12] # TODO , Index is order
-thrust2torque = 0.00593893393599368
-rotor_dyn_coef = [ 13.996001897562685, 0.00011093207920685363, 5.933168530682111, 0.00031951312393561264,]
-rotor_dyn_coef_simple = 15.416891997523813
-thrust_dyn_coef = 15.09965949800411
-mixing_matrix = [
-    [-1.0, -1.0,  1.0,  1.0],
-    [-1.0,  1.0,  1.0, -1.0],
-    [-1.0,  1.0, -1.0,  1.0]
-]
-drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
-    [-0.02149163, 0.0,          0.0         ],
-    [0.0,         -0.02149163,  0.0         ],
-    [0.0,         0.0,          -0.02359736 ]
-]
-# The following parameters are for the platform, but are maybe not actually used by the dynamics. However, 
-# we still keep them here in one place, since some other things (sim, estimator, firmware) might need them.
-pwm_min = 7000
-pwm_max = 65535
-thrust_min = 0.02136263065537499  # in N per motor
-thrust_max = 0.2  # in N per motor
-vmotor2thrust = [-0.014058926705279723, 0.04265273261724981, 0.0018327760144017432, 0.0020576974784587178]  # Index is order
-vmotor2torque = [-0.00016088354909542246, 0.0003960426420309137, -4.6274122414327404e-5, 1.8490661674309596e-5]  # TODO, Index is order
-vmotor2rpm = [2938.3995608848436, 6001.834195381014]  # Index is order
-prop_radius = 27.5e-3 # TODO check
-prop_inertia = 38.93e-9
\ No newline at end of file
diff --git a/crazyflow/dynamics/__init__.py b/crazyflow/dynamics/__init__.py
index 3c450880..0e2ad1b9 100644
--- a/crazyflow/dynamics/__init__.py
+++ b/crazyflow/dynamics/__init__.py
@@ -14,13 +14,20 @@
 
 from typing import Callable
 
-from crazyflow.dynamics.core import Dynamics, load_params, parametrize
+from crazyflow.dynamics.core import Dynamics, load_fn_params, load_params, parametrize
 from crazyflow.dynamics.first_principles import dynamics as _first_principles_dynamics
 from crazyflow.dynamics.so_rpy import dynamics as _so_rpy_dynamics
 from crazyflow.dynamics.so_rpy_rotor import dynamics as _so_rpy_rotor_dynamics
 from crazyflow.dynamics.so_rpy_rotor_drag import dynamics as _so_rpy_rotor_drag_dynamics
 
-__all__ = ["parametrize", "load_params", "available_dynamics", "dynamics_features", "Dynamics"]
+__all__ = [
+    "parametrize",
+    "load_params",
+    "load_fn_params",
+    "available_dynamics",
+    "dynamics_features",
+    "Dynamics",
+]
 
 
 available_dynamics: dict[str, Callable] = {
diff --git a/crazyflow/dynamics/core.py b/crazyflow/dynamics/core.py
index e5999820..b93cc608 100644
--- a/crazyflow/dynamics/core.py
+++ b/crazyflow/dynamics/core.py
@@ -9,7 +9,6 @@
 
 import numpy as np
 
-from crazyflow.drones import load_params as load_physical_params
 from crazyflow.utils import filter_to_signature, to_xp
 from crazyflow.utils import parametrize as _parametrize
 
@@ -21,6 +20,16 @@
 R = TypeVar("R")
 
 
+class Dynamics(StrEnum):
+    """Dynamics mode for the simulation."""
+
+    first_principles = "first_principles"
+    so_rpy = "so_rpy"
+    so_rpy_rotor = "so_rpy_rotor"
+    so_rpy_rotor_drag = "so_rpy_rotor_drag"
+    default = first_principles
+
+
 def supports(rotor_dynamics: bool = True) -> Callable[[F], F]:
     """Decorator that declares which optional inputs a dynamics function supports.
 
@@ -72,61 +81,63 @@ def parametrize(
     Returns:
         The parametrized dynamics function with all keyword argument only parameters filled in.
     """
-    return _parametrize(fn, drone, load_params, xp=xp, device=device)
+    return _parametrize(fn, drone, load_fn_params, xp=xp, device=device)
 
 
 def load_params(
-    fn: Callable, drone: str, xp: ModuleType | None = None, device: str | None = None
+    dynamics: Dynamics | str, drone: str, xp: ModuleType | None = None, device: str | None = None
 ) -> dict:
-    """Load and merge physical and dynamics-specific parameters for a drone configuration.
-
-    Reads parameters from two TOML files:
-
-    * ``crazyflow/drones/params.toml`` — physical parameters shared across all dynamics (mass,
-      inertia, thrust curves, …).
-    * ``crazyflow/dynamics/<dynamics>/params.toml`` — dynamics-specific coefficients (e.g. fitted
-      RPY coefficients for ``so_rpy``).
+    """Load all parameters of a drone for a dynamics model.
 
-    The two dicts are merged (dynamics-specific values take precedence), and ``J_inv`` is computed
-    from ``J`` and added to the result.
+    Merges the global parameters in ``crazyflow/dynamics/params.toml`` with the drone's section in
+    ``crazyflow/dynamics/<dynamics>/params.toml`` and adds ``J_inv``.
 
     Args:
-        fn: The dynamics function for which to load parameters.
-        drone: Name of the drone configuration, e.g. ``"cf2x_L250"``. Must exist as a section in
-            both TOML files.
+        dynamics: The dynamics model, e.g. ``Dynamics.so_rpy`` or ``"so_rpy"``.
+        drone: Name of the drone configuration, e.g. ``"cf2x_L250"``.
         xp: Array API module used to convert parameter values. If ``None``, NumPy is used.
         device: The device to use for the arrays. If ``None``, the device is inferred from the xp
             module.
 
     Returns:
-        A flat dict mapping parameter names to arrays (or scalars) in the requested array namespace.
-        Always contains at least ``mass``, ``J``, ``J_inv``, ``gravity_vec``, and the
-        dynamics-specific coefficients for ``dynamics``.
+        A flat dict mapping parameter names to arrays in the requested array namespace.
 
     Raises:
-        KeyError: If ``drone`` is not found in either TOML file, or if ``dynamics`` does not
-            correspond to a known sub-package.
+        ValueError: If ``dynamics`` is not a known model.
+        KeyError: If ``drone`` has no section for ``dynamics``.
     """
-    assert isinstance(fn, Callable), f"Expected a function, got {type(fn)}"
-    dynamics = fn.__module__.split(".")[-2]
-    if dynamics not in Dynamics:
-        raise KeyError(f"Dynamics `{dynamics}` not found. Available dynamics: {tuple(Dynamics)}")
+    dynamics = Dynamics(dynamics)
+    with open(Path(__file__).parent / "params.toml", "rb") as f:
+        global_params = tomllib.load(f)
     with open(Path(__file__).parent / f"{dynamics}/params.toml", "rb") as f:
         dynamics_params = tomllib.load(f)
     if drone not in dynamics_params:
         raise KeyError(f"Drone `{drone}` not found in {dynamics}/params.toml")
-    params = load_physical_params(drone) | dynamics_params[drone]
+    params = global_params | dynamics_params[drone]
     # Make sure J_inv does not have a dtype fixed before conversion to xp arrays to avoid fixing it
     # to np.float64 when other frameworks might prefer a different dtype.
     params["J_inv"] = np.linalg.inv(params["J"]).tolist()
-    return to_xp(filter_to_signature(params, fn), xp=xp, device=device)
+    return to_xp(params, xp=xp, device=device)
 
 
-class Dynamics(StrEnum):
-    """Dynamics mode for the simulation."""
+def load_fn_params(
+    fn: Callable, drone: str, xp: ModuleType | None = None, device: str | None = None
+) -> dict:
+    """Load the parameters a dynamics function accepts.
 
-    first_principles = "first_principles"
-    so_rpy = "so_rpy"
-    so_rpy_rotor = "so_rpy_rotor"
-    so_rpy_rotor_drag = "so_rpy_rotor_drag"
-    default = first_principles
+    The dynamics model is derived from the function's package, so ``fn`` must be defined in
+    ``crazyflow/dynamics/<dynamics>/``. Only the keyword-only parameters of ``fn`` are kept.
+
+    Args:
+        fn: The dynamics function for which to load parameters.
+        drone: Name of the drone configuration, e.g. ``"cf2x_L250"``.
+        xp: Array API module used to convert parameter values. If ``None``, NumPy is used.
+        device: The device to use for the arrays. If ``None``, the device is inferred from the xp
+            module.
+
+    Returns:
+        A flat dict mapping parameter names to arrays in the requested array namespace.
+    """
+    assert callable(fn), f"Expected a function, got {type(fn)}"
+    dynamics = fn.__module__.split(".")[-2]
+    return filter_to_signature(load_params(dynamics, drone, xp=xp, device=device), fn)
diff --git a/crazyflow/dynamics/first_principles/dynamics.py b/crazyflow/dynamics/first_principles/dynamics.py
index fac11c7e..38b85f22 100644
--- a/crazyflow/dynamics/first_principles/dynamics.py
+++ b/crazyflow/dynamics/first_principles/dynamics.py
@@ -25,7 +25,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -342,7 +342,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),
diff --git a/crazyflow/dynamics/first_principles/params.toml b/crazyflow/dynamics/first_principles/params.toml
index f699bade..aa8c66ee 100644
--- a/crazyflow/dynamics/first_principles/params.toml
+++ b/crazyflow/dynamics/first_principles/params.toml
@@ -1,13 +1,131 @@
-# Since the first principles dynamics only rely on physical parameters, 
-# which are already defined in data/params.toml, this file is intentionally left empty.
+# Parameters of the first principles dynamics.
+#
+# [my_drone]
+# mass = 0.0                              # kg
+# J = [                                   # kg m^2, inertia matrix
+#     [1.0e-5, 0.0, 0.0],
+#     [0.0, 1.0e-5, 0.0],
+#     [0.0, 0.0, 2.0e-5]
+# ]
+# thrust_min = 0.0                        # N per motor
+# thrust_max = 0.0                        # N per motor
+# L = 0.0                                 # m, CoM to motor distance
+# prop_inertia = 0.0                      # kg m^2
+# rpm2thrust = [0.0, 0.0, 0.0]            # N, polynomial in RPM by index
+# rpm2torque = [0.0, 0.0, 0.0]            # Nm, polynomial in RPM by index
+# rotor_dyn_coef = [0.0, 0.0, 0.0, 0.0]   # The coefficients are [a,b,c,d], where a & b are the 
+                                          # linear & quadratic rise constants. c & d equally for fall.
+# mixing_matrix = [                       # motor locations relative to the CoM and turn directions 
+#     [-1.0, -1.0,  1.0,  1.0],
+#     [-1.0,  1.0,  1.0, -1.0],
+#     [-1.0,  1.0, -1.0,  1.0]
+# ]
+# drag_matrix = [                         # 1/s
+#     [0.0, 0.0, 0.0],
+#     [0.0, 0.0, 0.0],
+#     [0.0, 0.0, 0.0]
+# ]
+#
 
 [cf2x_L250]
+mass = 0.0319
+J = [  # TODO
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
+L = 0.03253
+prop_inertia = 34.52e-9 # TODO seems off
+rpm2thrust = [0.0, -5.382196214637237e-7, 2.4582929831265485e-10]
+rpm2torque = [0.0, 1.410454111996297e-9, 1.4592584373980652e-12] 
+rotor_dyn_coef = [ 7.355623702172756, 0.0, 0.0, 0.00024443862952110715,] # [ 7.355623702172756, 0.0, 0.0, 0.00024443862952110715,]
+mixing_matrix = [
+    [-1.0, -1.0,  1.0,  1.0],
+    [-1.0,  1.0,  1.0, -1.0],
+    [-1.0,  1.0, -1.0,  1.0]
+]
+drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
+    [-0.01471782, 0.0,         0.0         ],
+    [0.0,         -0.01471782, 0.0         ],
+    [0.0,         0.0,         -0.01277641 ]
+]
 
 
 [cf2x_P250]
+mass = 0.0318
+J = [  # TODO from L250
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
+L = 0.03253
+prop_inertia = 26.97e-9
+rpm2thrust = [0.0, -3.6200226530383495e-7, 1.6060924304100328e-10] # Index is order
+rpm2torque = [0.0, -2.2665265829562245e-9, 1.1149485566919186e-12] # Index is order
+rotor_dyn_coef = [ 5.172596691828673, 8.14774234381285e-5, 0.0, 0.0002095253491455741,]
+mixing_matrix = [
+    [-1.0, -1.0,  1.0,  1.0],
+    [-1.0,  1.0,  1.0, -1.0],
+    [-1.0,  1.0, -1.0,  1.0]
+]
+drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
+    [-0.01351483, 0.0,         0.0         ],
+    [0.0,         -0.01351483, 0.0         ],
+    [0.0,         0.0,         -0.01677452 ]
+]
 
 
 [cf2x_T350]
+mass = 0.0379
+J = [ 
+    [15.7e-6, 0.0, 0.0],
+    [0.0, 17.1e-6, 0.0],
+    [0.0, 0.0, 30.0e-6]
+]
+thrust_min = 0.01922636758983749  # in N per motor
+thrust_max = 0.18  # in N per motor
+L = 0.03253
+prop_inertia = 38.93e-9 # TODO value from B500, currenty unknown
+rpm2thrust = [0.0, -7.167227176573658e-7, 2.9401303690194613e-10] # Index is order
+rpm2torque = [0.0, 5.815894847811497e-10, 1.331813874166509e-12] # Index is order
+rotor_dyn_coef = [ 11.374753209400291, 0.0, 0.0, 0.00037867688499079635,]
+mixing_matrix = [
+    [-1.0, -1.0,  1.0,  1.0],
+    [-1.0,  1.0,  1.0, -1.0],
+    [-1.0,  1.0, -1.0,  1.0]
+]
+drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
+    [-0.01556697, 0.0,         0.0         ],
+    [0.0,         -0.01556697, 0.0         ],
+    [0.0,         0.0,         -0.02191672 ]
+]
 
 
-[cf21B_500]
\ No newline at end of file
+[cf21B_500]
+mass = 0.04338
+J = [
+    [25e-6, 0.0,   0.0],
+    [0.0,   28e-6, 0.0],
+    [0.0,   0.0,   49e-6]
+]
+thrust_min = 0.02136263065537499  # in N per motor
+thrust_max = 0.2  # in N per motor
+L = 0.035355
+prop_inertia = 38.93e-9
+rpm2thrust = [0.0, -3.133427287299859e-7, 4.407354891648379e-10] # TODO , Index is order
+rpm2torque = [0.0, 1.65886356219615e-9, 2.4693477924534137e-12] # TODO , Index is order
+rotor_dyn_coef = [ 13.996001897562685, 0.00011093207920685363, 5.933168530682111, 0.00031951312393561264,]
+mixing_matrix = [
+    [-1.0, -1.0,  1.0,  1.0],
+    [-1.0,  1.0,  1.0, -1.0],
+    [-1.0,  1.0, -1.0,  1.0]
+]
+drag_matrix = [  # This term is from the so_rpy_rotor_drag dynamics
+    [-0.02149163, 0.0,          0.0         ],
+    [0.0,         -0.02149163,  0.0         ],
+    [0.0,         0.0,          -0.02359736 ]
+]
diff --git a/crazyflow/dynamics/params.toml b/crazyflow/dynamics/params.toml
new file mode 100644
index 00000000..a185d242
--- /dev/null
+++ b/crazyflow/dynamics/params.toml
@@ -0,0 +1,3 @@
+# Global environment parameters.
+
+gravity_vec = [0.0, 0.0, -9.81]  # m/s^2
diff --git a/crazyflow/dynamics/so_rpy/dynamics.py b/crazyflow/dynamics/so_rpy/dynamics.py
index dfa8d70f..b031909f 100644
--- a/crazyflow/dynamics/so_rpy/dynamics.py
+++ b/crazyflow/dynamics/so_rpy/dynamics.py
@@ -24,7 +24,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -345,7 +345,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),
diff --git a/crazyflow/dynamics/so_rpy/params.toml b/crazyflow/dynamics/so_rpy/params.toml
index 2de1657b..1dee51b7 100644
--- a/crazyflow/dynamics/so_rpy/params.toml
+++ b/crazyflow/dynamics/so_rpy/params.toml
@@ -1,4 +1,33 @@
+# Parameters of the fitted so_rpy dynamics.
+#
+# [my_drone]
+# mass = 0.0                              # kg
+# J = [                                   # kg m^2. Only used to apply external torques, so an
+#     [1.0e-5, 0.0, 0.0],                 # estimate works, but the drone then reacts wrongly to
+#     [0.0, 1.0e-5, 0.0],                 # disturbance torques. Must be invertible.
+#     [0.0, 0.0, 2.0e-5]
+# ]
+# thrust_min = 0.0                        # N per motor
+# thrust_max = 0.0                        # N per motor
+# acc_coef = 0.0
+# cmd_f_coef = 0.0
+# rpy_coef = [0.0, 0.0, 0.0]
+# rpy_rates_coef = [0.0, 0.0, 0.0]
+# cmd_rpy_coef = [0.0, 0.0, 0.0]
+#
+# Identify the coefficients from flight data with the system identification pipeline (see
+# docs/user-guide/dynamics/system-identification.md). gravity_vec is global and lives in
+# crazyflow/dynamics/params.toml.
+
 [cf2x_L250]
+mass = 0.0319
+J = [
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.97605781
 rpy_coef = [-245.67, -245.67, -227.78]
@@ -7,6 +36,14 @@ cmd_rpy_coef = [196.18, 196.18, 390.27]
 
 
 [cf2x_P250]
+mass = 0.0318
+J = [
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.98275823
 rpy_coef = [-319.14, -319.14, -284.28]
@@ -15,6 +52,14 @@ cmd_rpy_coef = [263.30, 263.30, 502.58]
 
 
 [cf2x_T350]
+mass = 0.0379
+J = [ 
+    [15.7e-6, 0.0, 0.0],
+    [0.0, 17.1e-6, 0.0],
+    [0.0, 0.0, 30.0e-6]
+]
+thrust_min = 0.01922636758983749  # in N per motor
+thrust_max = 0.18  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 1.0089779349974615
 rpy_coef = [-371.41695523, -371.41695523, -261.99549945]
@@ -23,6 +68,14 @@ cmd_rpy_coef = [347.94260321, 347.94260321, 241.06977014]
 
 
 [cf21B_500]
+mass = 0.04338
+J = [
+    [25e-6, 0.0,   0.0],
+    [0.0,   28e-6, 0.0],
+    [0.0,   0.0,   49e-6]
+]
+thrust_min = 0.02136263065537499  # in N per motor
+thrust_max = 0.2  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.96836458
 rpy_coef = [-188.9910, -188.9910, -138.3109]
diff --git a/crazyflow/dynamics/so_rpy_rotor/dynamics.py b/crazyflow/dynamics/so_rpy_rotor/dynamics.py
index 80fb23da..4bb3ad68 100644
--- a/crazyflow/dynamics/so_rpy_rotor/dynamics.py
+++ b/crazyflow/dynamics/so_rpy_rotor/dynamics.py
@@ -26,7 +26,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -398,7 +398,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),
diff --git a/crazyflow/dynamics/so_rpy_rotor/params.toml b/crazyflow/dynamics/so_rpy_rotor/params.toml
index edb6a40c..5a4dabad 100644
--- a/crazyflow/dynamics/so_rpy_rotor/params.toml
+++ b/crazyflow/dynamics/so_rpy_rotor/params.toml
@@ -1,4 +1,34 @@
+# Parameters of the fitted so_rpy_rotor dynamics.
+#
+# [my_drone]
+# mass = 0.0                              # kg
+# J = [                                   # kg m^2. Only used to apply external torques, so an
+#     [1.0e-5, 0.0, 0.0],                 # estimate works, but the drone then reacts wrongly to
+#     [0.0, 1.0e-5, 0.0],                 # disturbance torques. Must be invertible.
+#     [0.0, 0.0, 2.0e-5]
+# ]
+# thrust_min = 0.0                        # N per motor
+# thrust_max = 0.0                        # N per motor
+# acc_coef = 0.0
+# cmd_f_coef = 0.0
+# rpy_coef = [0.0, 0.0, 0.0]
+# rpy_rates_coef = [0.0, 0.0, 0.0]
+# cmd_rpy_coef = [0.0, 0.0, 0.0]
+# thrust_time_coef = 0.0                  # s
+#
+# Identify the coefficients from flight data with the system identification pipeline (see
+# docs/user-guide/dynamics/system-identification.md). gravity_vec is global and lives in
+# crazyflow/dynamics/params.toml.
+
 [cf2x_L250]
+mass = 0.0319
+J = [
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.97732585
 thrust_time_coef = 0.0858607
@@ -8,6 +38,14 @@ cmd_rpy_coef = [196.18, 196.18, 390.27]
 
 
 [cf2x_P250]
+mass = 0.0318
+J = [
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.98323006
 thrust_time_coef = 0.0578952
@@ -17,6 +55,14 @@ cmd_rpy_coef = [263.30, 263.30, 502.58]
 
 
 [cf2x_T350]
+mass = 0.0379
+J = [ 
+    [15.7e-6, 0.0, 0.0],
+    [0.0, 17.1e-6, 0.0],
+    [0.0, 0.0, 30.0e-6]
+]
+thrust_min = 0.01922636758983749  # in N per motor
+thrust_max = 0.18  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 1.022561164673754
 thrust_time_coef = 0.5712805549388994  # High value, maybe not correct?
@@ -26,9 +72,17 @@ cmd_rpy_coef = [347.94260321, 347.94260321, 241.06977014]
 
 
 [cf21B_500]
+mass = 0.04338
+J = [
+    [25e-6, 0.0,   0.0],
+    [0.0,   28e-6, 0.0],
+    [0.0,   0.0,   49e-6]
+]
+thrust_min = 0.02136263065537499  # in N per motor
+thrust_max = 0.2  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.96841816
 thrust_time_coef = 0.02055366
 rpy_coef = [-188.9910, -188.9910, -138.3109]
 rpy_rates_coef = [-12.7803, -12.7803, -16.8485]
-cmd_rpy_coef = [138.0834, 138.0834, 198.5161]
\ No newline at end of file
+cmd_rpy_coef = [138.0834, 138.0834, 198.5161]
diff --git a/crazyflow/dynamics/so_rpy_rotor_drag/dynamics.py b/crazyflow/dynamics/so_rpy_rotor_drag/dynamics.py
index 6f02b5a5..103ba270 100644
--- a/crazyflow/dynamics/so_rpy_rotor_drag/dynamics.py
+++ b/crazyflow/dynamics/so_rpy_rotor_drag/dynamics.py
@@ -28,7 +28,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import crazyflow.dynamics.symbols as symbols
-from crazyflow.dynamics.core import load_params, supports
+from crazyflow.dynamics.core import load_fn_params, supports
 from crazyflow.dynamics.utils import rotation
 from crazyflow.utils import CORE_NDIM_KEY, to_xp
 
@@ -434,7 +434,7 @@ class Params:
     @staticmethod
     def create(drone: str, device: Device) -> Params:
         """Create the default parameters for the simulation."""
-        p = load_params(dynamics, drone)
+        p = load_fn_params(dynamics, drone)
         J = jnp.asarray(p["J"], device=device)
         return Params(
             mass=jnp.asarray([p["mass"]], device=device),
diff --git a/crazyflow/dynamics/so_rpy_rotor_drag/params.toml b/crazyflow/dynamics/so_rpy_rotor_drag/params.toml
index 3c37ef14..23fb8182 100644
--- a/crazyflow/dynamics/so_rpy_rotor_drag/params.toml
+++ b/crazyflow/dynamics/so_rpy_rotor_drag/params.toml
@@ -1,4 +1,39 @@
+# Parameters of the fitted so_rpy_rotor_drag dynamics.
+#
+# [my_drone]
+# mass = 0.0                              # kg
+# J = [                                   # kg m^2. Only used to apply external torques, so an
+#     [1.0e-5, 0.0, 0.0],                 # estimate works, but the drone then reacts wrongly to
+#     [0.0, 1.0e-5, 0.0],                 # disturbance torques. Must be invertible.
+#     [0.0, 0.0, 2.0e-5]
+# ]
+# thrust_min = 0.0                        # N per motor
+# thrust_max = 0.0                        # N per motor
+# acc_coef = 0.0
+# cmd_f_coef = 0.0
+# rpy_coef = [0.0, 0.0, 0.0]
+# rpy_rates_coef = [0.0, 0.0, 0.0]
+# cmd_rpy_coef = [0.0, 0.0, 0.0]
+# thrust_time_coef = 0.0                  # s
+# drag_matrix = [                         # 1/s
+#     [0.0, 0.0, 0.0],
+#     [0.0, 0.0, 0.0],
+#     [0.0, 0.0, 0.0]
+# ]
+#
+# Identify the coefficients from flight data with the system identification pipeline (see
+# docs/user-guide/dynamics/system-identification.md). gravity_vec is global and lives in
+# crazyflow/dynamics/params.toml.
+
 [cf2x_L250]
+mass = 0.0319
+J = [
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.98325003    
 thrust_time_coef = 0.12116392
@@ -13,6 +48,14 @@ cmd_rpy_coef = [196.18, 196.18, 390.27]
 
 
 [cf2x_P250]
+mass = 0.0318
+J = [
+    [16.8e-6, 0.0, 0.0],
+    [0.0, 16.8e-6, 0.0],
+    [0.0, 0.0, 29.8e-6]
+]
+thrust_min = 0.012817578393224994  # in N per motor
+thrust_max = 0.12  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.99085062
 thrust_time_coef = 0.11554009
@@ -27,6 +70,14 @@ cmd_rpy_coef = [263.30, 263.30, 502.58]
 
 
 [cf2x_T350]
+mass = 0.0379
+J = [ 
+    [15.7e-6, 0.0, 0.0],
+    [0.0, 17.1e-6, 0.0],
+    [0.0, 0.0, 30.0e-6]
+]
+thrust_min = 0.01922636758983749  # in N per motor
+thrust_max = 0.18  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 1.0226418398769022
 thrust_time_coef = 0.16711124468068936
@@ -41,6 +92,14 @@ cmd_rpy_coef = [347.94260321, 347.94260321, 241.06977014]
 
 
 [cf21B_500]
+mass = 0.04338
+J = [
+    [25e-6, 0.0,   0.0],
+    [0.0,   28e-6, 0.0],
+    [0.0,   0.0,   49e-6]
+]
+thrust_min = 0.02136263065537499  # in N per motor
+thrust_max = 0.2  # in N per motor
 acc_coef = 0.0
 cmd_f_coef = 0.98023254
 thrust_time_coef = 0.07993871
diff --git a/crazyflow/envs/drone_env.py b/crazyflow/envs/drone_env.py
index 12930a52..bf5754cf 100644
--- a/crazyflow/envs/drone_env.py
+++ b/crazyflow/envs/drone_env.py
@@ -12,19 +12,19 @@
 from numpy.typing import NDArray
 
 from crazyflow.control import Control
-from crazyflow.drones import load_params
-from crazyflow.dynamics import Dynamics
+from crazyflow.dynamics import Dynamics, load_params
 from crazyflow.sim import Sim
 from crazyflow.sim.data import SimData
 from crazyflow.sim.pipeline import append_fn
 from crazyflow.utils import leaf_replace
 
 
-def action_space(control_type: Control, drone: str) -> spaces.Box:
+def action_space(control_type: Control, dynamics: Dynamics, drone: str) -> spaces.Box:
     """Select the appropriate action space for a given control type.
 
     Args:
         control_type: The desired control mode.
+        dynamics: Dynamics of the environment.
         drone: Drone of the environment.
 
     Returns:
@@ -32,7 +32,7 @@ def action_space(control_type: Control, drone: str) -> spaces.Box:
     """
     match control_type:
         case Control.attitude:
-            params = load_params(drone)
+            params = load_params(dynamics, drone)
             thrust_min, thrust_max = params["thrust_min"] * 4, params["thrust_max"] * 4
             return spaces.Box(
                 np.array([-np.pi / 2, -np.pi / 2, -np.pi / 2, thrust_min], dtype=np.float32),
@@ -106,7 +106,7 @@ def __init__(
         self._marked_for_reset = jnp.zeros((self.sim.n_worlds), dtype=jnp.bool_, device=self.device)
 
         # Define action and observation spaces
-        self.single_action_space = action_space(self.sim.control, self.sim.drone)
+        self.single_action_space = action_space(self.sim.control, self.sim.dynamics, self.sim.drone)
         self.action_space = batch_space(self.single_action_space, self.sim.n_worlds)
         self.single_observation_space = spaces.Dict(
             {
diff --git a/crazyflow/sim/sim.py b/crazyflow/sim/sim.py
index 0baa5d86..35103c61 100644
--- a/crazyflow/sim/sim.py
+++ b/crazyflow/sim/sim.py
@@ -25,8 +25,8 @@
     control_state2attitude,
 )
 from crazyflow.control.transform import motor_force2rotor_vel
-from crazyflow.drones import load_params as load_drone_params
 from crazyflow.dynamics import Dynamics
+from crazyflow.dynamics import load_params as load_dynamics_params
 from crazyflow.dynamics.first_principles import sim_dynamics as first_principles_dynamics
 from crazyflow.dynamics.so_rpy import sim_dynamics as so_rpy_dynamics
 from crazyflow.dynamics.so_rpy_rotor import sim_dynamics as so_rpy_rotor_dynamics
@@ -710,8 +710,8 @@ def clip_floor_pos(data: SimData) -> SimData:
 
 def rotor_vel_limits(dynamics: Dynamics, drone: str) -> tuple[float, float]:
     """Limits of ``rotor_vel`` in RPM (first principles) or collective thrust in N (others)."""
-    params = load_drone_params(drone)
-    thrust_min, thrust_max = params["thrust_min"], params["thrust_max"]
+    params = load_dynamics_params(dynamics, drone)
+    thrust_min, thrust_max = float(params["thrust_min"]), float(params["thrust_max"])
     if dynamics == Dynamics.first_principles:
         rpm = motor_force2rotor_vel(np.asarray([thrust_min, thrust_max]), params["rpm2thrust"])
         return float(rpm[0]), float(rpm[1])
diff --git a/docs/user-guide/control/mellinger.md b/docs/user-guide/control/mellinger.md
index 0c61126b..0f31187d 100644
--- a/docs/user-guide/control/mellinger.md
+++ b/docs/user-guide/control/mellinger.md
@@ -121,10 +121,10 @@ torque.shape  # (3,)
 
 ```python
 import numpy as np
-from crazyflow.control import load_params
+from crazyflow.control import load_fn_params
 from crazyflow.control.mellinger import body_rate2force_torque
 
-params = load_params(body_rate2force_torque, "cf2x_L250")
+params = load_fn_params(body_rate2force_torque, "cf2x_L250")
 params["kR"], params["ki_m"] = np.zeros(3), np.zeros(3)  # pure body rate tracking
 
 quat = np.array([0.0, 0.0, 0.0, 1.0])
diff --git a/docs/user-guide/control/parametrize.md b/docs/user-guide/control/parametrize.md
index 006eadcd..2c9c6da2 100644
--- a/docs/user-guide/control/parametrize.md
+++ b/docs/user-guide/control/parametrize.md
@@ -81,13 +81,13 @@ rpyt, _ = ctrl(pos, quat, vel, cmd)
 
 ## Loading raw parameters
 
-Use [`load_params`][crazyflow.control.load_params] to inspect or override the values that `parametrize` would bind for a specific controller function:
+Use [`load_fn_params`][crazyflow.control.load_fn_params] to inspect or override the values that `parametrize` would bind for a specific controller function, or [`load_params`][crazyflow.control.load_params] for all sections of a controller:
 
 ```python
-from crazyflow.control import load_params
+from crazyflow.control import load_fn_params
 from crazyflow.control.mellinger import state2attitude
 
-params = load_params(state2attitude, "cf2x_L250")
+params = load_fn_params(state2attitude, "cf2x_L250")
 float(params["mass"])  # 0.029
 ```
 
diff --git a/docs/user-guide/dynamics/parametrize.md b/docs/user-guide/dynamics/parametrize.md
index 1b7a2ecf..2222e600 100644
--- a/docs/user-guide/dynamics/parametrize.md
+++ b/docs/user-guide/dynamics/parametrize.md
@@ -114,14 +114,17 @@ parametrized_dynamics = parametrize(dynamics, drone="cf2x_T350")
 
 ## Loading raw parameters
 
-If you need the parameter values directly, for example, to pass them to [`symbolic_dynamics`](symbolic.md), use [`load_params`][crazyflow.dynamics.load_params]:
+If you need the parameter values directly, for example, to pass them to [`symbolic_dynamics`](symbolic.md), use [`load_fn_params`][crazyflow.dynamics.load_fn_params] for exactly what a dynamics function accepts, or [`load_params`][crazyflow.dynamics.load_params] for everything a model defines for a drone:
 
 ```python { .python continuation }
-from crazyflow.dynamics import load_params
+from crazyflow.dynamics import Dynamics, load_fn_params, load_params
 
-params = load_params(dynamics, "cf2x_L250")
+params = load_fn_params(dynamics, "cf2x_L250")
 params["mass"]  # 0.0319
 params["J_inv"]  # array([...])
+
+params = load_params(Dynamics.first_principles, "cf2x_L250")
+params["thrust_max"]  # 0.12, used by the simulator but not by the dynamics function
 ```
 
 ---
diff --git a/examples/control/sampling.py b/examples/control/sampling.py
index f0a83d88..ec06f066 100644
--- a/examples/control/sampling.py
+++ b/examples/control/sampling.py
@@ -18,7 +18,7 @@
 
 from crazyflow.control import Control
 from crazyflow.control.transform import motor_force2rotor_vel
-from crazyflow.drones import load_params
+from crazyflow.dynamics import load_params
 from crazyflow.sim import Dynamics, Sim
 from crazyflow.sim.data import SimData
 from crazyflow.sim.visualize import draw_capsule, draw_line
@@ -226,7 +226,7 @@ def main() -> None:
     sim.max_visual_geom = 100_000  # To be able to show all rollouts
     sim.reset()
     start_pos = lissajous_reference(0.0)["pos"]
-    drone_params = load_params(DRONE)
+    drone_params = load_params(Dynamics.first_principles, DRONE)
     hover_thrust_value = np.asarray(drone_params["mass"] * 9.81, dtype=np.float32)
     hover_rotor_vel = motor_force2rotor_vel(
         np.full(4, hover_thrust_value / 4.0, dtype=np.float32), drone_params["rpm2thrust"]
@@ -253,6 +253,7 @@ def main() -> None:
     rollout_simulator.reset()
 
     thrust_estimate = hover_thrust_value  # Initial thrust estimate
+    thrust_time_coef = float(rollout_simulator.data.params.thrust_time_coef[0])
     hover_cmd = jax.device_put(
         jnp.array([0.0, 0.0, 0.0, hover_thrust_value], dtype=jnp.float32), controller_device
     )
@@ -304,9 +305,7 @@ def main() -> None:
         action, key, mean_controls, best_positions, sampled_positions = control(
             t, obs, key, mean_controls, controller_fn, controller_device
         )
-        thrust_estimate += (
-            drone_params["thrust_dyn_coef"] * (action[3] - thrust_estimate) / CTRL_FREQ
-        )
+        thrust_estimate += (action[3] - thrust_estimate) / thrust_time_coef / CTRL_FREQ
         sim.attitude_control(action[None, None])
         sim.step(sim.freq // CTRL_FREQ)
         position_history.append(np.asarray(sim.data.states.pos[0, 0]))
diff --git a/pyproject.toml b/pyproject.toml
index 1d25db8b..ffce46c7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -79,8 +79,8 @@ version = { attr = "crazyflow.__version__" }
 
 [tool.setuptools.package-data]
 crazyflow = ["scene.xml"]
-"crazyflow.drones" = ["*.xml", "params.toml", "assets/*/*.stl"]
-"crazyflow.dynamics" = ["*/params.toml"]
+"crazyflow.drones" = ["*.xml", "assets/*/*.stl"]
+"crazyflow.dynamics" = ["params.toml", "*/params.toml"]
 "crazyflow.control" = ["*/params.toml"]
 
 [tool.pytest.ini_options]
diff --git a/tests/integration/test_interfaces.py b/tests/integration/test_interfaces.py
index 7f63d508..71cfaadc 100644
--- a/tests/integration/test_interfaces.py
+++ b/tests/integration/test_interfaces.py
@@ -4,7 +4,7 @@
 import pytest
 from scipy.spatial.transform import Rotation as R
 
-from crazyflow.control import Control, load_params, parametrize
+from crazyflow.control import Control, load_fn_params, parametrize
 from crazyflow.control.mellinger import force_torque2rotor_vel, state2attitude
 from crazyflow.control.transform import motor_force2rotor_vel
 from crazyflow.sim import Dynamics, Sim
@@ -112,8 +112,8 @@ def test_body_rate_interface():
 @pytest.mark.integration
 def test_rotor_vel_interface():
     sim = Sim(dynamics=Dynamics.first_principles, control=Control.rotor_vel)
-    thrust_max = load_params(state2attitude, sim.drone)["thrust_max"]
-    rpm2thrust = load_params(force_torque2rotor_vel, sim.drone)["rpm2thrust"]
+    thrust_max = load_fn_params(state2attitude, sim.drone)["thrust_max"]
+    rpm2thrust = load_fn_params(force_torque2rotor_vel, sim.drone)["rpm2thrust"]
     max_rpm = motor_force2rotor_vel(np.array([thrust_max]), rpm2thrust)[0]
 
     sim.data = sim.data.replace(
diff --git a/tests/unit/control/test_core.py b/tests/unit/control/test_core.py
index 4b2f2dbd..180767cd 100644
--- a/tests/unit/control/test_core.py
+++ b/tests/unit/control/test_core.py
@@ -6,7 +6,7 @@
 import array_api_strict
 import pytest
 
-from crazyflow.control import load_params, parametrize
+from crazyflow.control import load_fn_params, load_params, parametrize
 from crazyflow.control.mellinger import (
     attitude2force_torque,
     body_rate2force_torque,
@@ -26,23 +26,27 @@
 @pytest.mark.unit
 @pytest.mark.parametrize("fn", _MELLINGER_FNS, ids=lambda fn: fn.__name__)
 @pytest.mark.parametrize("drone", available_drones)
-def test_load_params_keys(fn: Callable[..., Any], drone: str) -> None:
-    params = load_params(fn, drone)
+def test_load_fn_params_keys(fn: Callable[..., Any], drone: str) -> None:
+    params = load_fn_params(fn, drone)
     fn_params = inspect.signature(fn).parameters
     fn_kwargs = {k for k, v in fn_params.items() if v.kind == inspect.Parameter.KEYWORD_ONLY}
     assert fn_kwargs <= set(params.keys()), f"Missing keys: {fn_kwargs - set(params.keys())}"
 
 
 @pytest.mark.unit
-def test_load_params_unknown_drone() -> None:
+def test_unknown_drone() -> None:
     with pytest.raises(KeyError, match="nonexistent_drone"):
-        load_params(state2attitude, "nonexistent_drone")
+        load_params("mellinger", "nonexistent_drone")
+    with pytest.raises(KeyError, match="nonexistent_drone"):
+        load_fn_params(state2attitude, "nonexistent_drone")
+    with pytest.raises(KeyError, match="nonexistent_drone"):
+        parametrize(state2attitude, "nonexistent_drone")
 
 
 @pytest.mark.unit
-def test_parametrize_unknown_drone() -> None:
-    with pytest.raises(KeyError):
-        parametrize(state2attitude, "nonexistent_drone")
+def test_unknown_controller() -> None:
+    with pytest.raises(KeyError, match="nonexistent_controller"):
+        load_params("nonexistent_controller", "cf2x_L250")
 
 
 @pytest.mark.unit
diff --git a/tests/unit/control/test_mellinger.py b/tests/unit/control/test_mellinger.py
index 8d19a5ef..2c8833e0 100644
--- a/tests/unit/control/test_mellinger.py
+++ b/tests/unit/control/test_mellinger.py
@@ -6,7 +6,7 @@
 import pytest
 from scipy.spatial.transform import Rotation as R
 
-from crazyflow.control import load_params, parametrize
+from crazyflow.control import load_fn_params, parametrize
 from crazyflow.control.mellinger import (
     attitude2force_torque,
     body_rate2force_torque,
@@ -123,7 +123,7 @@ def test_state2attitude_integral_error_accumulation(drone: str) -> None:
     # A constant position error must cause the integral error to accumulate
     # linearly until it would exceed int_err_max (clipped by the controller).
     controller = parametrize(state2attitude, drone)
-    params = load_params(state2attitude, drone)
+    params = load_fn_params(state2attitude, drone)
     pos = np.zeros(3)
     quat = np.array([0.0, 0.0, 0.0, 1.0])
     vel = np.zeros(3)
@@ -243,7 +243,7 @@ def test_body_rate2force_torque_matches_attitude(drone: str):
 def test_body_rate2force_torque_leveling(drone: str):
     # The firmware levels a tilted drone even at the rate setpoint. Zero attitude gains disable it.
     controller = parametrize(body_rate2force_torque, drone)
-    params = load_params(body_rate2force_torque, drone)
+    params = load_fn_params(body_rate2force_torque, drone)
     quat = R.from_euler("xyz", [0.2, 0.0, 0.0]).as_quat()  # Rolled by 0.2 rad
     ang_vel = np.zeros(3)
     cmd = np.array([0.0, 0.0, 0.0, 0.5])
diff --git a/tests/unit/control/test_transform.py b/tests/unit/control/test_transform.py
index 6df2d5fe..6ea6b9d0 100644
--- a/tests/unit/control/test_transform.py
+++ b/tests/unit/control/test_transform.py
@@ -5,13 +5,13 @@
 import numpy as np
 import pytest
 
+from crazyflow.control import load_params
 from crazyflow.control.transform import force2pwm, motor_force2rotor_vel, pwm2force
-from crazyflow.drones import load_params
 
 
 @pytest.fixture(scope="module")
 def core_params() -> dict[str, Any]:
-    return {k: np.asarray(v) for k, v in load_params("cf2x_L250").items()}
+    return load_params("mellinger", "cf2x_L250")["core"]
 
 
 @pytest.mark.unit
diff --git a/tests/unit/dynamics/test_parametrization.py b/tests/unit/dynamics/test_parametrization.py
index e2f87c71..c4c436b9 100644
--- a/tests/unit/dynamics/test_parametrization.py
+++ b/tests/unit/dynamics/test_parametrization.py
@@ -7,7 +7,14 @@
 import pytest
 
 from crazyflow.drones import available_drones
-from crazyflow.dynamics import available_dynamics, load_params, parametrize
+from crazyflow.dynamics import (
+    Dynamics,
+    available_dynamics,
+    load_fn_params,
+    load_params,
+    parametrize,
+)
+from crazyflow.dynamics.so_rpy import dynamics as so_rpy
 
 
 @pytest.mark.unit
@@ -15,7 +22,32 @@
 @pytest.mark.parametrize("drone", available_drones)
 def test_dynamics_parameter_loading(dynamics_name: str, dynamics: Callable, drone: str) -> None:
     """Check that parameters can be loaded for all available dynamics and drones."""
-    load_params(dynamics, drone)
+    load_fn_params(dynamics, drone)
+
+
+@pytest.mark.unit
+@pytest.mark.parametrize("dynamics_name, dynamics", available_dynamics.items())
+@pytest.mark.parametrize("drone", available_drones)
+def test_model_parameter_loading(dynamics_name: str, dynamics: Callable, drone: str) -> None:
+    """Check that all parameters of a model can be loaded for all drones."""
+    params = load_params(dynamics_name, drone)
+    assert "mass" in params and "gravity_vec" in params
+
+
+@pytest.mark.unit
+def test_unknown_drone() -> None:
+    with pytest.raises(KeyError, match="nonexistent_drone"):
+        load_params(Dynamics.so_rpy, "nonexistent_drone")
+    with pytest.raises(KeyError, match="nonexistent_drone"):
+        load_fn_params(so_rpy, "nonexistent_drone")
+    with pytest.raises(KeyError, match="nonexistent_drone"):
+        parametrize(so_rpy, "nonexistent_drone")
+
+
+@pytest.mark.unit
+def test_unknown_dynamics() -> None:
+    with pytest.raises(ValueError, match="nonexistent_dynamics"):
+        load_params("nonexistent_dynamics", "cf2x_L250")
 
 
 @pytest.mark.unit