diff --git a/ROMFS/px4fmu_common/init.d/16_3dr_iris b/ROMFS/px4fmu_common/init.d/16_3dr_iris
index b6c5fbdea4..d47ecb3932 100644
--- a/ROMFS/px4fmu_common/init.d/16_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/16_3dr_iris
@@ -53,7 +53,7 @@ else
 	mavlink start -d /dev/ttyS0
 	usleep 5000
 	fmu mode_pwm
-	param set BAT_V_SCALING 0.004593
+	param set BAT_V_SCALING 0.0098
 	set EXIT_ON_END yes
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 2828a108bf..f17b650bc2 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -27,6 +27,22 @@ else
 	set BOARD fmuv2
 fi
 
+# Start airspeed sensors
+if meas_airspeed start
+then
+	echo "using MEAS airspeed sensor"
+else
+	if ets_airspeed start
+	then
+		echo "using ETS airspeed sensor (bus 3)"
+	else
+		if ets_airspeed start -b 1
+		then
+			echo "Using ETS airspeed sensor (bus 1)"
+		fi
+	fi
+fi
+
 #
 # Start the sensor collection task.
 # IMPORTANT: this also loads param offsets
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index d6d135f9f8..3d5bce134c 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -734,9 +734,10 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
 				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
 				if (altitude_error > 10.0f) {
 
+					/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
 					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
 								    _airspeed.indicated_airspeed_m_s, eas2tas,
-								    true, math::radians(global_triplet.current.param1),
+								    true, math::max(math::radians(global_triplet.current.param1), math::radians(10.0f)),
 								    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
 								    math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));