diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index f30733694e..e3515a927e 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -67,9 +67,12 @@ MODULES 	+= modules/land_detector
 #
 # Estimation modules (EKF / other filters)
 #
-MODULES		+= modules/attitude_estimator_ekf
+# Too high RAM usage due to static allocations
+# MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/position_estimator_inav
+# Since attitude_estimator_ekf is disabled, this app won't be
+# worthwhile on its own
+# MODULES		+= modules/position_estimator_inav
 
 #
 # Vehicle Control