diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
index e042336d1b..8a89b65326 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
+++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
@@ -9,11 +9,13 @@ sh /etc/init.d-posix/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
+	# EKF2
 	param set EKF2_AID_MASK 2
 	param set EKF2_EV_DELAY 5
 	param set EKF2_EVP_NOISE 0.05
 	param set EKF2_EVA_NOISE 0.05
 
+	# INAV
 	param set INAV_LIDAR_EST 1
 	param set INAV_W_XY_FLOW 1.0
 	param set INAV_W_XY_GPS_P 0.0
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
index 27bd0371cc..aa225de2ca 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
+++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
@@ -9,9 +9,11 @@ sh /etc/init.d-posix/1010_iris_opt_flow
 
 if [ $AUTOCNF = yes ]
 then
-	param set EKF2_AID_MASK 8
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
 	param set EKF2_EV_DELAY 5
 
-	# LPE: Vision + baro
+	# LPE: Vision + baro | AEQ: External heading set to use vision input
 	param set LPE_FUSION 132
+	param set ATT_EXT_HDG_M 1
 fi