diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index dd27b3f4c2..650c7212f4 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -33,6 +33,8 @@ param set MC_PITCH_P 5
 param set MC_ROLL_P 5
 param set MPC_Z_VEL_P 0.8
 param set MPC_Z_VEL_I 0.15
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
 simulator start -s
 rgbledsim start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index ab0e045afc..3f13970349 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -40,6 +40,8 @@ param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_MAX 2.0
 param set MPC_Z_VEL_P 0.4
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
 simulator start -s
 rgbledsim start
 tone_alarm start