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 8a89b65326..4093c74aa7 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
+++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
@@ -11,7 +11,6 @@ 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
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
index 7806a8f2d0..868f402651 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
+++ b/ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
@@ -1,4 +1,3 @@
 
 # shellcheck disable=SC2154
-mavlink stream -r 10 -s DISTANCE_SENSOR -u $udp_gcs_port_local
 mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
index aa225de2ca..8f0cd8c458 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
+++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #
 
-sh /etc/init.d-posix/1010_iris_opt_flow
+sh /etc/init.d-posix/10016_iris
 
 if [ $AUTOCNF = yes ]
 then
@@ -13,7 +13,16 @@ then
 	param set EKF2_AID_MASK 24
 	param set EKF2_EV_DELAY 5
 
-	# LPE: Vision + baro | AEQ: External heading set to use vision input
+	# INAV: trust more on the vision input
+	param set INAV_W_XY_VIS_P 9.0
+	param set INAV_W_Z_VIS_P 7.0
+	param set INAV_W_XY_GPS_P 0.0
+	param set INAV_W_XY_GPS_V 0.0
+	param set INAV_W_Z_GPS_P 0.0
+
+	# LPE: Vision + baro
 	param set LPE_FUSION 132
+
+	# AEQ: External heading set to use vision input
 	param set ATT_EXT_HDG_M 1
 fi
diff --git a/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post
new file mode 100644
index 0000000000..868f402651
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post
@@ -0,0 +1,3 @@
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local