diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
index 3f7d462aa1..1c3e7e4228 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
@@ -57,6 +57,7 @@ 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
 mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
 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
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
index 822189904d..d91f91cd35 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
@@ -61,6 +61,7 @@ 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
 mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
 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
diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
index 7707aea9d5..a74c21feae 100644
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@@ -59,6 +59,7 @@ 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
 mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
 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