diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 76c19a17cd..e0be74519c 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -39,8 +39,6 @@ param set MPC_HOLD_MAX_Z 2.0
 param set MPC_HOLD_XY_DZ 0.1
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
-param set MPC_XY_VEL_P 0.15
-param set MPC_XY_VEL_I 0.2
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
 simulator start -s