diff --git a/config/mavros_config.yaml b/config/mavros_config.yaml
index d3af526..78a03e2 100644
--- a/config/mavros_config.yaml
+++ b/config/mavros_config.yaml
@@ -1,9 +1,33 @@
 /**:
   ros__parameters:
-    fcu_url: "udp://:14540@127.0.0.1:14557" # Autopilot address for connection
+    # fcu_url: "udp://:14540@127.0.0.1:14557" # Autopilot address for connection
     gcs_url: "" # URL for the GCS
-    tgt_system: 1 # Target system ID
+    # tgt_system: 1 # Target system ID
     tgt_component: 1 # Target component ID
     log_output: "screen" # Logging output type
     fcu_protocol: "v2.0" # Protocol version for the FCU
     respawn_mavros: "false" # Respawn mavros node if it dies
+
+drone0:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:14540@127.0.0.1:14557" # Autopilot address for connection
+      tgt_system: 1 # Target system ID
+
+drone1:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:14541@127.0.0.1:14558" # Autopilot address for connection
+      tgt_system: 2 # Target system ID
+
+drone2:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:14542@127.0.0.1:14559" # Autopilot address for connection
+      tgt_system: 3 # Target system ID
+
+drone3:
+  mavros/mavros_node:
+    ros__parameters:
+      fcu_url: "udp://:14543@127.0.0.1:14560" # Autopilot address for connection
+      tgt_system: 4 # Target system ID