diff --git a/Tools/Frame_params/Iris.param b/Tools/Frame_params/Iris.param
new file mode 100644
index 0000000000..c60c366f30
--- /dev/null
+++ b/Tools/Frame_params/Iris.param
@@ -0,0 +1,35 @@
+AMP_PER_VOLT,17
+BATT_MONITOR,4
+BATT_CURR_PIN,3
+BATT_VOLT_PIN,2
+COMPASS_ORIENT,8
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,5
+FLTMODE5,0
+FLTMODE6,3
+FRAME,2
+INS_PRODUCT_ID,5
+MOT_SPIN_ARMED,127
+RATE_PIT_D,0.008
+RATE_PIT_I,0.25
+RATE_PIT_P,0.17
+RATE_RLL_D,0.008
+RATE_RLL_I,0.25
+RATE_RLL_P,0.17
+RATE_YAW_D,0
+RATE_YAW_I,0.02
+RATE_YAW_IMAX,4800
+RATE_YAW_P,0.16
+RELAY_PIN,111
+RTL_LOIT_TIME,2000
+STB_PIT_P,3.8
+STB_RLL_P,3.8
+STB_YAW_P,2.5
+THR_MID,650
+THR_RATE_P,5
+VOLT_DIVIDER,10.1
+WPNAV_ACCEL,200
+WPNAV_LOIT_SPEED,1000
+WPNAV_SPEED,700