diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 063d510960..395e70b006 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -1,7 +1,6 @@
 <launch>
 
 <include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
-<!-- <include file="$(find mav_gazebo)/launch/ardrone_empty_world.launch" /> -->
 <include file="$(find px4)/launch/ardrone.launch" />
 
 </launch>
diff --git a/launch/iris.launch b/launch/iris.launch
index 7b5b132508..be33cb85f4 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -10,6 +10,7 @@
 	<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" />
+	<param name="vehicle_model" type="string" value="iris" />
 </group>
 
 </launch>