diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config
index 3445dd6d47..ff2ecceb5e 100644
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -2,9 +2,8 @@ uorb start
 param load
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
-sleep 1
 param set MAV_TYPE 2
-param set SYS_MC_EST_GROUP 0
+param set SYS_MC_EST_GROUP 2
 df_lsm9ds1_wrapper start -R 4
 #df_mpu9250_wrapper start -R 10
 #df_hmc5883_wrapper start
@@ -13,13 +12,11 @@ gps start -d /dev/spidev0.0 -i spi -p ubx
 sensors start
 commander start
 navigator start
-attitude_estimator_q start
-position_estimator_inav start
+ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start
 mavlink start -u 14556 -r 1000000
-sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50
 mavlink start -d /dev/ttyUSB0
diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config
index 8c66205247..972a2dcd3d 100644
--- a/posix-configs/rpi/px4_fw.config
+++ b/posix-configs/rpi/px4_fw.config
@@ -3,6 +3,7 @@ param load
 param set MAV_BROADCAST 1
 #param set SYS_AUTOSTART 2104
 param set MAV_TYPE 1
+param set SYS_MC_EST_GROUP 2
 df_lsm9ds1_wrapper start -R 4
 df_ms5611_wrapper start
 #navio_rgbled start