diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index 56030dd1f4..f43bbf4709 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -6,14 +6,14 @@
 </include>
 
 <group ns="$(arg ns)">
-	<param name="MPC_XY_P" type="double" value="1.0" />
-	<param name="MPC_XY_FF" type="double" value="0.1" />
-	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
-	<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="MPC_Z_VEL_P" type="double" value="0.3" />
-	<param name="MPC_Z_P" type="double" value="2" />
+	<param name="MPP_XY_P" type="double" value="1.0" />
+	<param name="MPP_XY_FF" type="double" value="0.1" />
+	<param name="MPP_XY_VEL_P" type="double" value="0.01" />
+	<param name="MPP_XY_VEL_I" type="double" value="0.0" />
+	<param name="MPP_XY_VEL_D" type="double" value="0.01" />
+	<param name="MPP_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="MPP_Z_VEL_P" type="double" value="0.3" />
+	<param name="MPP_Z_P" type="double" value="2" />
 	<param name="vehicle_model" type="string" value="ardrone" />
 </group>
 
diff --git a/launch/iris.launch b/launch/iris.launch
index bf5b099b64..5231e3215b 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -7,14 +7,14 @@
 
 <group ns="$(arg ns)">
 	<param name="mixer" type="string" value="i" />
-	<param name="MPC_XY_P" type="double" value="1.0" />
-	<param name="MPC_XY_FF" type="double" value="0.0" />
-	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
-	<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="MPC_Z_VEL_P" type="double" value="0.3" />
-	<param name="MPC_Z_P" type="double" value="2" />
+	<param name="MPP_XY_P" type="double" value="1.0" />
+	<param name="MPP_XY_FF" type="double" value="0.0" />
+	<param name="MPP_XY_VEL_P" type="double" value="0.01" />
+	<param name="MPP_XY_VEL_I" type="double" value="0.0" />
+	<param name="MPP_XY_VEL_D" type="double" value="0.01" />
+	<param name="MPP_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="MPP_Z_VEL_P" type="double" value="0.3" />
+	<param name="MPP_Z_P" type="double" value="2" />
 	<param name="vehicle_model" type="string" value="iris" />
 </group>