diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index e387a5714b4..7bc706a87a9 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -9,7 +9,7 @@
     <arg name="Y" default="0"/>
 
 
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index f82359a35a6..d06f6b8a54b 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -7,7 +7,7 @@
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
@@ -40,4 +40,4 @@
 
 </launch>
 
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
\ No newline at end of file
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/single_vehcile_spawn.launch b/launch/single_vehcile_spawn.launch
index fcf7f07ff88..eb2968c4897 100644
--- a/launch/single_vehcile_spawn.launch
+++ b/launch/single_vehcile_spawn.launch
@@ -7,7 +7,7 @@
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
     <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
diff --git a/test/mavros_posix_tests_iris_opt_flow.test b/test/mavros_posix_tests_iris_opt_flow.test
index 305d64d4a02..f4361e12851 100644
--- a/test/mavros_posix_tests_iris_opt_flow.test
+++ b/test/mavros_posix_tests_iris_opt_flow.test
@@ -4,7 +4,7 @@
     <arg name="ns" default="/"/>
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
 
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="ns" value="$(arg ns)"/>
diff --git a/test/mavros_posix_tests_offboard_attctl.test b/test/mavros_posix_tests_offboard_attctl.test
index 49aa92d9183..890a36ad17a 100644
--- a/test/mavros_posix_tests_offboard_attctl.test
+++ b/test/mavros_posix_tests_offboard_attctl.test
@@ -4,7 +4,7 @@
     <arg name="ns" default="/"/>
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
 
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="ns" value="$(arg ns)"/>
diff --git a/test/mavros_posix_tests_offboard_posctl.test b/test/mavros_posix_tests_offboard_posctl.test
index 87d2ccfe604..38d5b065664 100644
--- a/test/mavros_posix_tests_offboard_posctl.test
+++ b/test/mavros_posix_tests_offboard_posctl.test
@@ -4,7 +4,7 @@
     <arg name="ns" default="/"/>
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
 
     <include file="$(find px4)/launch/mavros_posix_sitl.launch">
         <arg name="ns" value="$(arg ns)"/>