diff --git a/Tools/autotest/default_params/gazebo-iris.parm b/Tools/autotest/default_params/gazebo-iris.parm
index f50e7160b0..85f1cb14ef 100644
--- a/Tools/autotest/default_params/gazebo-iris.parm
+++ b/Tools/autotest/default_params/gazebo-iris.parm
@@ -2,9 +2,35 @@ PLND_ENABLED    1
 PLND_TYPE       2
 POS_XY_P        2
 VEL_XY_P        0.6
+# Iris is X frame
+FRAME		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
+
+MOT_THST_EXPO 0.5
+MOT_THST_HOVER  0.36