How to dynamically update model parameters

Hello, Thank you all for the support! I am running a simulation of quadrotors on Gazebo. I am trying to update the physical parameters dynamically. For example, I'd like to change the mass of the quadrotor without terminating the simulation and relaunching the whole thing. I am implementing a Gazebo plugin, and it seems to change the mass in the simulation (on the left column where it displays the model properties). However, it's only the number that changed, it doesn't take any physical affect in the animation. Much appreciation if you can point me to a direction on solving this issue!