diff --git a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
index 58237da408..581e8fed4e 100644
--- a/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_ekf2_jmavsim_iris
@@ -28,6 +28,7 @@ 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 SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 58aaf1240b..04c90d2ac0 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -27,6 +27,7 @@ param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
index d266afa7de..3edf3a483e 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@@ -27,6 +27,7 @@ param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index 926a6eef70..841e88b691 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -29,6 +29,8 @@ param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.5
 param set SENS_BOARD_ROT 8
+param set SENS_DPRES_OFF 0.001
+param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 3.0
 param set MPC_TKO_SPEED 1.0
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index 0682ad7db2..a0da58aa33 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -29,6 +29,8 @@ param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX 1.0
 param set SENS_BOARD_ROT 8
+param set SENS_DPRES_OFF 0.001
+param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 rgbledsim start
 tone_alarm start
diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index c1d343c086..bf050c21b9 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -28,6 +28,7 @@ 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 SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
index 6078570188..e1fe0ba561 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
@@ -27,6 +27,7 @@ param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
 
 # changes for LPE
 param set COM_RC_IN_MODE 1
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 542fec1e30..c1ddf13c85 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
@@ -27,6 +27,7 @@ param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
 param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
index 619c693eda..ea17eb3557 100644
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@@ -28,6 +28,7 @@ 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 SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
index af2db4d57b..2f922fd4f4 100644
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -34,6 +34,7 @@ param set MPP_XY_VEL_MAX 2.0
 param set MPP_Z_VEL_P 0.3
 param set MPP_Z_P 2
 param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
 param set MP_ROLL_P 3
 param set MP_ROLLRATE_P 0.3
 param set MP_ROLLRATE_I 0.001