diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index 1661d61c4f8..6d8b575ac8d 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -3,8 +3,10 @@ simulator start -s
 param load
 param set MAV_TYPE 2
 param set MC_PITCHRATE_P 0.15
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
 param set MC_ROLLRATE_P 0.15
-param set MC_YAW_P 2.0
+param set MC_YAW_P 2.8
 param set MC_YAWRATE_P 0.35
 param set SYS_AUTOSTART 4010
 param set SYS_RESTART_TYPE 2