diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index ab0e045afcc..a80931b016a 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -54,7 +54,8 @@ sensors start
 commander start
 land_detector start multicopter
 navigator start
-ekf2 start
+attitude_estimator_q start
+local_position_estimator start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix