diff --git a/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid
index 3a32eceb0df..bae5b458fda 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid
+++ b/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid
@@ -10,4 +10,5 @@ sh /etc/init.d-posix/10016_iris
 if [ $AUTOCNF = yes ]
 then
 	param set COM_OBS_AVOID 1
+	param set MPC_XY_CRUISE 5.0
 fi
diff --git a/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post
new file mode 100644
index 00000000000..240f5d37404
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1015_iris_obs_avoid.post
@@ -0,0 +1,2 @@
+# shellcheck disable=SC2154
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 09b20e62df7..055e0af4f3e 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 09b20e62df749b027b4741d6c001f8b36da06288
+Subproject commit 055e0af4f3ecee70befc42708c4f3461441d28b6
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 524131c8d40..0d0af29a025 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -51,7 +51,7 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none shell iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
+set(models none shell iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})