diff --git a/ROMFS/tap_common/init.d/rc.mc_apps b/ROMFS/tap_common/init.d/rc.mc_apps
index 399f4398ac..607dffd5b0 100644
--- a/ROMFS/tap_common/init.d/rc.mc_apps
+++ b/ROMFS/tap_common/init.d/rc.mc_apps
@@ -5,29 +5,7 @@
 #
 
 
-#---------------------------------------
-# Estimator group selction
-#
-# INAV
-if param compare SYS_MC_EST_GROUP 0
-then
-	attitude_estimator_q start
-	position_estimator_inav start
-fi
-
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------
+ekf2 start
 
 mc_att_control start
 
diff --git a/ROMFS/tap_common/init.d/rc.vtol_apps b/ROMFS/tap_common/init.d/rc.vtol_apps
index c3d54fd299..0ae3f28950 100644
--- a/ROMFS/tap_common/init.d/rc.vtol_apps
+++ b/ROMFS/tap_common/init.d/rc.vtol_apps
@@ -9,27 +9,7 @@
 #---------------------------------------
 # Estimator group selction
 #
-# INAV
-if param compare SYS_MC_EST_GROUP 0
-then
-	attitude_estimator_q start
-	position_estimator_inav start
-fi
-
-# LPE
-if param compare SYS_MC_EST_GROUP 1
-then
-	attitude_estimator_q start
-	local_position_estimator start
-fi
-
-# EKF
-if param compare SYS_MC_EST_GROUP 2
-then
-	ekf2 start
-fi
-#---------------------------------------
-
+ekf2 start
 
 vtol_att_control start
 mc_att_control start