The mission in Iraq is not about regime change or upholding democracy but extending the "long, strong arm of Australia" to those in need, Prime Minister Tony Abbott says.
Mr Abbott has paid a surprise visit to defence force personnel involved in humanitarian air drops into Iraq.
He visited Al Minhad air base in the United Arab Emirates on his way back from London, where he was briefed on the crisis in Iraq.
The visit came as Australian military was preparing a RAAF Hercules, which later successfully delivered 10 pallets of supplies to Yazidi civilians trapped by encircling Islamic State forces on Mount Sinjar.
"You are putting forward the long, strong arm of Australia to help and protect those people who are at the mercy of the elements, who are at the mercy of the murderous hoards of the Islamic State movement," Mr Abbott said.
"I want to say that your professionalism, your commitment and your courage is wholly admirable."
The supplies, parachuted on pallets, included high-energy biscuits and bottled water.
Defence Minister David Johnston said he was proud of the crew who conducted the first mission.
But he did not believe there would be any need for Australian troops to assist in escorting refugees out of northern Iraq.
Treasurer Joe Hockey said Australia would play its part to stop potential genocide in Iraq.
"It is always the case that evil has its way when good people do nothing," Mr Hockey told ABC radio.
"And we have to stop ... the systemic slaughter of innocent people, wherever it may be in the world."
Iraqi Christians and Yazidis will be eligible for visas as part of the government's annual special humanitarian program intake of 4000.
Immigration Minister Scott Morrison and his department are monitoring the crisis and considering options to assist victims.
Opposition Leader Bill Shorten, who congratulated the RAAF on the mission, said he had been assured by the government that it was purely a humanitarian mission.
If there were troops, they would only be for protecting those involved in the humanitarian mission, he said.
Mr Shorten said Labor supported giving sanctuary to Christians and Yazidis from Iraq, but believed the government's total intake should be more generous.
The United States has sent in a small number of special forces troops to Mount Sinjar to assess the situation.
There are about 130 US troops in Erbil, the capital of Iraq's autonomous Kurdish region, who are part of the assessment mission.
But US President Barack Obama has ruled out sending in combat troops.
A series of air strikes from drones and jets on key targets began on Friday.
The Abbott government faces calls within its ranks to take a harder line on Islamist extremists.
Liberal senator Cory Bernardi said there should be zero tolerance to "nutcases" demanding Sharia law and inciting people to violence.
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