diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
index b5a551109f..9e9c8ad5ff 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
@@ -75,23 +75,23 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 
 	/* parameters */
 	_params_handles({
-			.roll_p		= px4::ParameterFloat("MC_ROLL_P", PARAM_MC_ROLL_P_DEFAULT),
-			.roll_rate_p	= px4::ParameterFloat("MC_ROLLRATE_P", PARAM_MC_ROLLRATE_P_DEFAULT),
-			.roll_rate_i	= px4::ParameterFloat("MC_ROLLRATE_I", PARAM_MC_ROLLRATE_I_DEFAULT),
-			.roll_rate_d	= px4::ParameterFloat("MC_ROLLRATE_D", PARAM_MC_ROLLRATE_D_DEFAULT),
-			.pitch_p	= px4::ParameterFloat("MC_PITCH_P", PARAM_MC_PITCH_P_DEFAULT),
-			.pitch_rate_p	= px4::ParameterFloat("MC_PITCHRATE_P", PARAM_MC_PITCHRATE_P_DEFAULT),
-			.pitch_rate_i	= px4::ParameterFloat("MC_PITCHRATE_I", PARAM_MC_PITCHRATE_I_DEFAULT),
-			.pitch_rate_d	= px4::ParameterFloat("MC_PITCHRATE_D", PARAM_MC_PITCHRATE_D_DEFAULT),
-			.yaw_p		= px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT),
-			.yaw_rate_p	= px4::ParameterFloat("MC_YAWRATE_P", PARAM_MC_YAWRATE_P_DEFAULT),
-			.yaw_rate_i	= px4::ParameterFloat("MC_YAWRATE_I", PARAM_MC_YAWRATE_I_DEFAULT),
-			.yaw_rate_d	= px4::ParameterFloat("MC_YAWRATE_D", PARAM_MC_YAWRATE_D_DEFAULT),
-			.yaw_ff		= px4::ParameterFloat("MC_YAW_FF", PARAM_MC_YAW_FF_DEFAULT),
-			.yaw_rate_max	= px4::ParameterFloat("MC_YAWRATE_MAX", PARAM_MC_YAWRATE_MAX_DEFAULT),
-			.acro_roll_max	= px4::ParameterFloat("MC_ACRO_R_MAX", PARAM_MC_ACRO_R_MAX_DEFAULT),
-			.acro_pitch_max	= px4::ParameterFloat("MC_ACRO_P_MAX", PARAM_MC_ACRO_P_MAX_DEFAULT),
-			.acro_yaw_max	= px4::ParameterFloat("MC_ACRO_Y_MAX", PARAM_MC_ACRO_Y_MAX_DEFAULT)
+			.roll_p		= px4::ParameterFloat("MP_ROLL_P", PARAM_MP_ROLL_P_DEFAULT),
+			.roll_rate_p	= px4::ParameterFloat("MP_ROLLRATE_P", PARAM_MP_ROLLRATE_P_DEFAULT),
+			.roll_rate_i	= px4::ParameterFloat("MP_ROLLRATE_I", PARAM_MP_ROLLRATE_I_DEFAULT),
+			.roll_rate_d	= px4::ParameterFloat("MP_ROLLRATE_D", PARAM_MP_ROLLRATE_D_DEFAULT),
+			.pitch_p	= px4::ParameterFloat("MP_PITCH_P", PARAM_MP_PITCH_P_DEFAULT),
+			.pitch_rate_p	= px4::ParameterFloat("MP_PITCHRATE_P", PARAM_MP_PITCHRATE_P_DEFAULT),
+			.pitch_rate_i	= px4::ParameterFloat("MP_PITCHRATE_I", PARAM_MP_PITCHRATE_I_DEFAULT),
+			.pitch_rate_d	= px4::ParameterFloat("MP_PITCHRATE_D", PARAM_MP_PITCHRATE_D_DEFAULT),
+			.yaw_p		= px4::ParameterFloat("MP_YAW_P", PARAM_MP_YAW_P_DEFAULT),
+			.yaw_rate_p	= px4::ParameterFloat("MP_YAWRATE_P", PARAM_MP_YAWRATE_P_DEFAULT),
+			.yaw_rate_i	= px4::ParameterFloat("MP_YAWRATE_I", PARAM_MP_YAWRATE_I_DEFAULT),
+			.yaw_rate_d	= px4::ParameterFloat("MP_YAWRATE_D", PARAM_MP_YAWRATE_D_DEFAULT),
+			.yaw_ff		= px4::ParameterFloat("MP_YAW_FF", PARAM_MP_YAW_FF_DEFAULT),
+			.yaw_rate_max	= px4::ParameterFloat("MP_YAWRATE_MAX", PARAM_MP_YAWRATE_MAX_DEFAULT),
+			.acro_roll_max	= px4::ParameterFloat("MP_ACRO_R_MAX", PARAM_MP_ACRO_R_MAX_DEFAULT),
+			.acro_pitch_max	= px4::ParameterFloat("MP_ACRO_P_MAX", PARAM_MP_ACRO_P_MAX_DEFAULT),
+			.acro_yaw_max	= px4::ParameterFloat("MP_ACRO_Y_MAX", PARAM_MP_ACRO_Y_MAX_DEFAULT)
 	}),
 
 	/* performance counters */
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.c b/src/modules/mc_att_control_multiplatform/mc_att_control_params.c
index 395ae83b02..9c6ac5dc73 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control_params.c
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.c
@@ -52,7 +52,7 @@
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
+PX4_PARAM_DEFINE_FLOAT(MP_ROLL_P);
 
 /**
  * Roll rate P gain
@@ -62,7 +62,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
+PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_P);
 
 /**
  * Roll rate I gain
@@ -72,7 +72,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
+PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_I);
 
 /**
  * Roll rate D gain
@@ -82,7 +82,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
+PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_D);
 
 /**
  * Pitch P gain
@@ -93,7 +93,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
+PX4_PARAM_DEFINE_FLOAT(MP_PITCH_P);
 
 /**
  * Pitch rate P gain
@@ -103,7 +103,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
+PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_P);
 
 /**
  * Pitch rate I gain
@@ -113,7 +113,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
+PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_I);
 
 /**
  * Pitch rate D gain
@@ -123,7 +123,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
+PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_D);
 
 /**
  * Yaw P gain
@@ -134,7 +134,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
+PX4_PARAM_DEFINE_FLOAT(MP_YAW_P);
 
 /**
  * Yaw rate P gain
@@ -144,7 +144,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
+PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_P);
 
 /**
  * Yaw rate I gain
@@ -154,7 +154,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
+PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_I);
 
 /**
  * Yaw rate D gain
@@ -164,7 +164,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
+PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_D);
 
 /**
  * Yaw feed forward
@@ -175,7 +175,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
  * @max 1.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
+PX4_PARAM_DEFINE_FLOAT(MP_YAW_FF);
 
 /**
  * Max yaw rate
@@ -187,7 +187,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
+PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_MAX);
 
 /**
  * Max acro roll rate
@@ -197,7 +197,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
+PX4_PARAM_DEFINE_FLOAT(MP_ACRO_R_MAX);
 
 /**
  * Max acro pitch rate
@@ -207,7 +207,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
  * @max 360.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
+PX4_PARAM_DEFINE_FLOAT(MP_ACRO_P_MAX);
 
 /**
  * Max acro yaw rate
@@ -216,4 +216,4 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);
+PX4_PARAM_DEFINE_FLOAT(MP_ACRO_Y_MAX);
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
index ff962dbf1f..c3b71715bb 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.h
@@ -33,7 +33,7 @@
  ****************************************************************************/
 
 /**
- * @file mc_att_control_params.h
+ * @file MP_att_control_params.h
  * Parameters for multicopter attitude controller.
  *
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
@@ -43,20 +43,20 @@
  */
 #pragma once
 
-#define PARAM_MC_ROLL_P_DEFAULT 6.0f
-#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
-#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
-#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
-#define PARAM_MC_PITCH_P_DEFAULT 6.0f
-#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
-#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
-#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
-#define PARAM_MC_YAW_P_DEFAULT 2.0f
-#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
-#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
-#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
-#define PARAM_MC_YAW_FF_DEFAULT 0.5f
-#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
-#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
-#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
-#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f
+#define PARAM_MP_ROLL_P_DEFAULT 6.0f
+#define PARAM_MP_ROLLRATE_P_DEFAULT 0.1f
+#define PARAM_MP_ROLLRATE_I_DEFAULT 0.0f
+#define PARAM_MP_ROLLRATE_D_DEFAULT 0.002f
+#define PARAM_MP_PITCH_P_DEFAULT 6.0f
+#define PARAM_MP_PITCHRATE_P_DEFAULT 0.1f
+#define PARAM_MP_PITCHRATE_I_DEFAULT 0.0f
+#define PARAM_MP_PITCHRATE_D_DEFAULT 0.002f
+#define PARAM_MP_YAW_P_DEFAULT 2.0f
+#define PARAM_MP_YAWRATE_P_DEFAULT 0.3f
+#define PARAM_MP_YAWRATE_I_DEFAULT 0.0f
+#define PARAM_MP_YAWRATE_D_DEFAULT 0.0f
+#define PARAM_MP_YAW_FF_DEFAULT 0.5f
+#define PARAM_MP_YAWRATE_MAX_DEFAULT 120.0f
+#define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f
+#define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f
+#define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f