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<launch>
<include file="$(find px4)/launch/multicopter_w.launch" />
<group ns="px4_multicopter">
<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" />
</group>
</launch>
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