ardupilot/Tools/autotest/default_params/gazebo-iris.parm

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# Iris is X frame
FRAME_CLASS 1
FRAME_TYPE 1
# IRLOCK FEATURE
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CH8_OPT 39
PLND_ENABLED 1
PLND_TYPE 3
# SONAR FOR IRLOCK
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SIM_SONAR_SCALE 10
RNGFND_TYPE 1
RNGFND_SCALING 10
RNGFND_PIN 0
RNGFND_MAX_CM 5000