diff --git a/Tools/autotest/default_params/gazebo-iris.parm b/Tools/autotest/default_params/gazebo-iris.parm
index 912983f697..e1fef85ae1 100644
--- a/Tools/autotest/default_params/gazebo-iris.parm
+++ b/Tools/autotest/default_params/gazebo-iris.parm
@@ -1,67 +1,13 @@
+# Iris is X frame
+FRAME_CLASS	1
+FRAME_TYPE	1
+# IRLOCK FEATURE
+CH8_OPT 39
 PLND_ENABLED    1
 PLND_TYPE       3
 POS_XY_P        2
 VEL_XY_P        0.6
-# Iris is X frame
-FRAME_CLASS	1
-FRAME_TYPE	1
-
-COMPASS_OFS_X   5
-COMPASS_OFS_Y   13
-COMPASS_OFS_Z   -18
-COMPASS_OFS2_X   5
-COMPASS_OFS2_Y   13
-COMPASS_OFS2_Z   -18
-
-# we need small INS_ACC offsets so INS is recognised as being calibrated
-INS_ACCOFFS_X   0.001
-INS_ACCOFFS_Y   0.001
-INS_ACCOFFS_Z   0.001
-INS_ACCSCAL_X   1.001
-INS_ACCSCAL_Y   1.001
-INS_ACCSCAL_Z   1.001
-INS_ACC2OFFS_X   0.001
-INS_ACC2OFFS_Y   0.001
-INS_ACC2OFFS_Z   0.001
-INS_ACC2SCAL_X   1.001
-INS_ACC2SCAL_Y   1.001
-INS_ACC2SCAL_Z   1.001
-INS_ACC3OFFS_X   0.000
-INS_ACC3OFFS_Y   0.000
-INS_ACC3OFFS_Z   0.000
-INS_ACC3SCAL_X   1.000
-INS_ACC3SCAL_Y   1.000
-INS_ACC3SCAL_Z   1.000
-
-RC1_MAX         2000.000000
-RC1_MIN         1000.000000
-RC1_TRIM        1500.000000
-RC2_MAX         2000.000000
-RC2_MIN         1000.000000
-RC2_TRIM        1500.000000
-RC3_MAX         2000.000000
-RC3_MIN         1000.000000
-RC3_TRIM        1500.000000
-RC4_MAX         2000.000000
-RC4_MIN         1000.000000
-RC4_TRIM        1500.000000
-RC5_MAX         2000.000000
-RC5_MIN         1000.000000
-RC5_TRIM        1500.000000
-RC6_MAX         2000.000000
-RC6_MIN         1000.000000
-RC6_TRIM        1500.000000
-RC7_MAX         2000.000000
-RC7_MIN         1000.000000
-RC7_TRIM        1500.000000
-RC8_MAX         2000.000000
-RC8_MIN         1000.000000
-RC8_TRIM        1500.000000
-
-MOT_THST_EXPO 0.5
-MOT_THST_HOVER  0.36
-CH8_OPT 39
-
+# SONAR FOR IRLOCK
 SIM_SONAR_SCALE 10
 RNGFND_TYPE 1
 RNGFND_SCALING 10
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index e28c7d8dfe..83218d57da 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -343,7 +343,8 @@ _options = {
             },
             "gazebo-iris": {
                 "waf_target": "bin/arducopter",
-                "default_params_filename": "default_params/gazebo-iris.parm",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "default_params/gazebo-iris.parm"],
             },
             # HELICOPTER
             "heli": {