diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 966c5cfb7b..e8c65905f1 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -90,15 +90,23 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
 	{ -0.000000, -1.000000, -1.00 },
 };
 
+const MultirotorMixer::Rotor _config_quad_plus_euroc[] = {
+	{  0.000000,  1.000000,  1.00 },
+	{ -0.000000, -1.000000,  1.00 },
+	{  1.000000,  0.000000, -1.00 },
+	{ -1.000000,  0.000000, -1.00 },
+};
+
 const MultirotorMixer::Rotor *_config_index[3] = {
 	&_config_x[0],
 	&_config_quad_plus[0],
+	&_config_quad_plus_euroc[0]
 };
 
 MultirotorMixer::MultirotorMixer():
 	_n(),
 	_rotor_count(4),
-	_rotors(_config_index[1]) //XXX +config hardcoded
+	_rotors(_config_index[2]) //XXX + eurocconfig hardcoded
 {
 	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback,this);
 	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands",10);