diff --git a/posix-configs/SITL/init/rc.fixed_wing b/posix-configs/SITL/init/rc.fixed_wing
index e1a5883d0af..7cdad2f9dc5 100644
--- a/posix-configs/SITL/init/rc.fixed_wing
+++ b/posix-configs/SITL/init/rc.fixed_wing
@@ -21,6 +21,7 @@ param set CAL_MAG0_XOFF 0.01
 param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
+param set COM_RC_IN_MODE 2
 rgbled start
 tone_alarm start
 gyrosim start
@@ -30,6 +31,7 @@ adcsim start
 gpssim start
 measairspeedsim start
 pwm_out_sim mode_pwm
+sleep 1
 sensors start
 commander start
 land_detector start fixedwing
diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index 8e35bed56f3..b3400967215 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -26,6 +26,7 @@ param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
+param set COM_RC_IN_MODE 2
 rgbled start
 tone_alarm start
 gyrosim start
@@ -34,6 +35,7 @@ barosim start
 adcsim start
 gpssim start
 pwm_out_sim mode_pwm
+sleep 1
 sensors start
 commander start
 land_detector start multicopter
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
index 21257c66333..ffef5109891 100644
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -40,6 +40,7 @@ param set MP_ROLLRATE_I 0.001
 param set MP_ROLLRATE_D 0.001
 param set MP_PITCH_P 4
 param set MP_PITCHRATE_P 0.3
+param set COM_RC_IN_MODE 2
 rgbled start
 tone_alarm start
 gyrosim start
@@ -48,6 +49,7 @@ barosim start
 adcsim start
 gpssim start
 pwm_out_sim mode_pwm
+sleep 1
 sensors start
 commander start
 land_detector start multicopter