diff --git a/clover/launch/mavros.launch b/clover/launch/mavros.launch
index 9c255a27..6db96b6e 100644
--- a/clover/launch/mavros.launch
+++ b/clover/launch/mavros.launch
@@ -8,7 +8,7 @@
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
     <arg name="usb_device" default="/dev/px4fmu"/>
     <arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
-    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)"/>
+    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
     <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->