diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index aa89bdd4e9..495388be5b 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -2,4 +2,18 @@
 
 <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" />
+</group>
+
 </launch>
diff --git a/launch/iris.launch b/launch/iris.launch
index d9d08fae0c..81a137173a 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -2,4 +2,18 @@
 
 <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" />
+</group>
+
 </launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 79c3c36d97..96ff3ad99c 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -7,19 +7,6 @@
 	<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_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="mixer" type="string" value="x" />
 </group>
 
 </launch>