diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index e135c48f3d..926a6eef70 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -47,8 +47,7 @@ sensors start
 commander start
 land_detector start multicopter
 navigator start
-attitude_estimator_q start
-position_estimator_inav start
+ekf2 start
 vtol_att_control start
 mc_pos_control start
 mc_att_control start