diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index ea18e6463c..0323bc9b13 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -2,10 +2,10 @@ uorb start
 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_PITCHRATE_P 0.12
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
+param set MC_ROLLRATE_P 0.12
 param set MC_YAW_P 2.8
 param set MC_YAWRATE_P 0.35
 param set SYS_AUTOSTART 4010