diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
index 7d59fe876f..75ca7ea09a 100644
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@@ -3,8 +3,10 @@ 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_YAW_P 2.0
+param set MC_YAW_P 2.8
 param set MC_YAWRATE_P 0.35
 param set SYS_AUTOSTART 4010
 param set SYS_RESTART_TYPE 2
@@ -26,12 +28,22 @@ 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 1
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set MIS_TAKEOFF_ALT 5.0
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_HOLD_Z_DZ 0.1
+param set MPC_Z_VEL_MAX 2.0
+param set MPC_Z_VEL_P 0.4
 
 # changes for LPE
 param set COM_RC_IN_MODE 1
 param set LPE_BETA_MAX 10000
 
-rgbled start
+rgbledsim start
 tone_alarm start
 gyrosim start
 accelsim start
@@ -49,6 +61,7 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -57,6 +70,7 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
 mavlink boot_complete
 sdlog2 start -r 100 -e -t -a