diff --git a/launch/gazebo_multicopter.launch b/launch/gazebo_multicopter.launch
index 9c0e96e049..febf7bdc07 100644
--- a/launch/gazebo_multicopter.launch
+++ b/launch/gazebo_multicopter.launch
@@ -1,13 +1,6 @@
 <launch>
-<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" />
 
-<group ns="px4_multicopter">
-	<node pkg="joy" name="joy_node" type="joy_node"/>
-	<node pkg="px4" name="manual_input" type="manual_input"/>
-	<node pkg="px4" name="commander" type="commander"/>
-	<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
-	<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
-	<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
-</group>
+<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" />
+<include file="$(find px4)/launch/multicopter.launch" />
 
 </launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 96ff3ad99c..2ccd1338b8 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -7,6 +7,11 @@
 	<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
 	<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
 	<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
+
+	<param name="MC_ROLL_P" type="double" value="6.0" />
+	<param name="MC_PITCH_P" type="double" value="6.0" />
+	<param name="MC_ROLLRATE_P" type="double" value="0.05" />
+	<param name="MC_PITCHRATE_P" type="double" value="0.05" />
 </group>
 
 </launch>