diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index b50fe0af35f9c142e20dc31b8a3def1a23d3929a..088e2cf06b36a05ddda14b5ff738e83150a761e9 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -22,7 +22,8 @@ param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set COM_DL_LOSS_EN 1
-param set NAV_ACC_RAD 8.0
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 12.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set MC_ROLLRATE_P 0.25
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
index 17a8a6f52bae889e1ccbd698aebf60e6a0249813..4c64f260173c40777b674ef59a7668cce7e0cf2e 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@@ -22,7 +22,8 @@ param set SENS_BOARD_ROT 8
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set COM_DL_LOSS_EN 1
-param set NAV_ACC_RAD 8.0
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 12.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
 param set MC_ROLLRATE_P 0.25