diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 5aef3ffc7f..5d4b370e27 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -37,7 +37,10 @@ set(config_module_list
 	#modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/mc_pos_control
+	modules/mc_att_control
 	modules/navigator
+	modules/commander
 	modules/vtol_att_control
 	modules/controllib
 	modules/ekf2
@@ -51,7 +54,6 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
-	lib/ecl/EKF/tests/base
 	)
 
 set(config_extra_builtin_cmds
diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index 71d53bec34..2f240d7fed 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -45,8 +45,7 @@ sensors start
 commander start
 land_detector start multicopter
 navigator start
-attitude_estimator_q start
-position_estimator_inav start
+ekf_att_pos_estimator start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 75db628be7..ebdc09c46c 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -32,13 +32,13 @@
 #############################################################################
 set(MODULE_CFLAGS)
 if (${OS} STREQUAL "nuttx")
-	list(APPEND MODULE_CFLAGS -Wframe-larger-than=30000)
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=60000)
 endif()
 px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
 	COMPILE_FLAGS ${MODULE_CFLAGS}
-	STACK 30000
+	STACK 60000
 	SRCS
 		ekf2_main.cpp
 	DEPENDS
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index d89aebcb0e..0e0390d3a0 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -68,7 +68,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/airspeed.h>
 
-#include <ecl/EKF/estimator_base.h>
+#include <ecl/EKF/ekf.h>
 
 
 extern "C" __EXPORT int ekf2_main(int argc, char *argv[]);
@@ -128,7 +128,7 @@ private:
 
 Ekf2::Ekf2()
 {
-	_ekf = new EstimatorBase();
+	_ekf = new Ekf();
 }
 
 Ekf2::~Ekf2()
@@ -225,6 +225,8 @@ void Ekf2::task_main()
 		if (airspeed_updated) {
 			_ekf->setAirspeedData(airspeed.timestamp, &airspeed.indicated_airspeed_m_s);
 		}
+
+		_ekf->update();
 	}
 }