diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index 495388be5b..faf3bf6daf 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -3,17 +3,14 @@
 <include file="$(find px4)/launch/multicopter_x.launch" />
 
 <group ns="px4_multicopter">
-	<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_ROLLRATE_D" type="double" value="0.0" />
-	<param name="MC_PITCHRATE_P" type="double" value="0.05" />
-	<param name="MC_PITCHRATE_D" type="double" value="0.0" />
-	<param name="MC_YAW_FF" type="double" value="0" />
-	<param name="MC_YAW_P" type="double" value="5.0" />
-	<param name="MC_YAWRATE_P" type="double" value="0.5" />
-	<param name="MC_MAN_R_MAX" type="double" value="10.0" />
-	<param name="MC_MAN_P_MAX" type="double" value="10.0" />
+	<param name="MPC_XY_P" type="double" value="1.0" />
+	<param name="MPC_XY_FF" type="double" value="0.0" />
+	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
+	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
+	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
+	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
 </group>
 
+  <node pkg="rosbag" type="record" name="record" output="screen" args="-a -O multicopter"/>
+
 </launch>
diff --git a/launch/iris.launch b/launch/iris.launch
index 44a0ae0341..7b5b132508 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -3,18 +3,13 @@
 <include file="$(find px4)/launch/multicopter_w.launch" />
 
 <group ns="px4_multicopter">
-	<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_ROLLRATE_D" type="double" value="0.0" />
-	<param name="MC_PITCHRATE_P" type="double" value="0.05" />
-	<param name="MC_PITCHRATE_D" type="double" value="0.0" />
-	<param name="MC_YAW_FF" type="double" value="0" />
-	<param name="MC_YAW_P" type="double" value="3.0" />
-	<param name="MC_YAWRATE_P" type="double" value="0.5" />
-	<param name="MC_MAN_R_MAX" type="double" value="10.0" />
-	<param name="MC_MAN_P_MAX" type="double" value="10.0" />
 	<param name="mixer" type="string" value="i" />
+	<param name="MPC_XY_P" type="double" value="1.0" />
+	<param name="MPC_XY_FF" type="double" value="0.0" />
+	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
+	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
+	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
+	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
 </group>
 
 </launch>