diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 7114c054bf..3619e17d03 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -126,6 +126,15 @@ then
 	set AUTOCNF yes
 fi
 
+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
diff --git a/test/mavsdk_tests/configs/sitl.json b/test/mavsdk_tests/configs/sitl.json
index c2af766f2e..d0180ee60c 100644
--- a/test/mavsdk_tests/configs/sitl.json
+++ b/test/mavsdk_tests/configs/sitl.json
@@ -14,7 +14,11 @@
             "model": "iris",
             "vehicle": "iris",
             "test_filter": "[offboard_attitude]",
-            "timeout_min": 10
+            "timeout_min": 10,
+            "env": {
+                "PX4_PARAM_EKF2_EN": 0,
+                "PX4_PARAM_ATT_EN": 1
+            }
         },
         {
             "model": "standard_vtol",