diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index d2057d4b034..c89714c02c3 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -1,5 +1,8 @@
 uorb start
 param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.05
+param set MC_ROLLRATE_P 0.05
 dataman start
 mavlink start -u 14556 -r 60000
 simulator start -s
@@ -7,6 +10,15 @@ param set CAL_GYRO0_ID 2293760
 param set CAL_ACC0_ID 1310720
 param set CAL_ACC1_ID 1376256
 param set CAL_MAG0_ID 196608
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
 rgbled start
 tone_alarm start
 gyrosim start
@@ -14,34 +26,10 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
+hil mode_pwm
 commander start
 sensors start
 ekf_att_pos_estimator start
 mc_pos_control start
 mc_att_control start
-hil mode_pwm
-param set MAV_TYPE 2
-param set RC1_MAX 2015
-param set RC1_MIN 996
-param set RC1_TRIM 1502
-param set RC1_REV -1
-param set RC2_MAX 2016
-param set RC2_MIN 995
-param set RC2_TRIM 1500
-param set RC3_MAX 2003
-param set RC3_MIN 992
-param set RC3_TRIM 992
-param set RC4_MAX 2011
-param set RC4_MIN 997
-param set RC4_TRIM 1504
-param set RC4_REV -1
-param set RC6_MAX 2016
-param set RC6_MIN 992
-param set RC6_TRIM 1504
-param set RC_CHAN_CNT 8
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 7
-param set RC_MAP_RETURN_SW 8
-param set MC_PITCHRATE_P 0.05
-param set MC_ROLLRATE_P 0.05
 mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix