diff --git a/launch/takeoff_noCtrl.launch b/launch/takeoff_noCtrl.launch
deleted file mode 100644
index f899656..0000000
--- a/launch/takeoff_noCtrl.launch
+++ /dev/null
@@ -1,44 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="model" default="headless_spiri_with_tether"/>
-  <arg name='test' default="none"/>
-  
-	<group ns="sim">
-  	<rosparam file="$(find oscillation_ctrl)/config/gazebo_config.yaml" />
-	</group>
-  <group ns="status">
-		<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
-  	<param name="test_type" value="$(arg test)"/>
-  </group>
-
-	<node
-		pkg="oscillation_ctrl"
-		type="LinkState.py"
-		name="LinkStates"
-		launch-prefix="xterm -e"
-	/>
-	<node
-		pkg="oscillation_ctrl"
-		type="offb_node"
-		name="offb_node"
-		launch-prefix="xterm -e"
-	/>
-
-
-	<node
-		pkg="oscillation_ctrl"
-		type="wpoint_tracker.py"
-		name="waypoints_server"
-	/>
-
-	<group if="$(eval test != 'none')">
-		<node
-			pkg="oscillation_ctrl"
-			type="perform_test.py"
-			name="test_node"
-			launch-prefix="xterm -e"
-		/>
-	</group>
-	<!-- PX4 LAUNCH -->
-	<include file="$(find px4)/launch/$(arg model).launch"/>
-</launch>