diff --git a/src/modules/position_estimator_inav/CMakeLists.txt b/src/modules/position_estimator_inav/CMakeLists.txt
index 60429f5d22..2f14727509 100644
--- a/src/modules/position_estimator_inav/CMakeLists.txt
+++ b/src/modules/position_estimator_inav/CMakeLists.txt
@@ -30,18 +30,21 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(MODULE_CFLAGS )
 if(${OS} STREQUAL "nuttx")
 	list(APPEND MODULE_CFLAGS -Wframe-larger-than=4000)
 endif()
+
 px4_add_module(
 	MODULE modules__position_estimator_inav
 	MAIN position_estimator_inav
 	STACK 1200
 	COMPILE_FLAGS ${MODULE_CFLAGS}
 	SRCS
-		position_estimator_inav_main.c
-		position_estimator_inav_params.c
-		inertial_filter.c
+		position_estimator_inav_main.cpp
+		position_estimator_inav_params.cpp
+		inertial_filter.cpp
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.cpp
similarity index 100%
rename from src/modules/position_estimator_inav/inertial_filter.c
rename to src/modules/position_estimator_inav/inertial_filter.cpp
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
similarity index 99%
rename from src/modules/position_estimator_inav/position_estimator_inav_main.c
rename to src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index d8f29f1082..7316da727f 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -95,7 +95,7 @@ static const hrt_abstime lidar_valid_timeout = 1000000;	// estimate lidar distan
 static const unsigned updates_counter_len = 1000000;
 static const float max_flow = 1.0f;	// max flow value that can be used, rad/s
 
-__EXPORT int position_estimator_inav_main(int argc, char *argv[]);
+extern "C" __EXPORT int position_estimator_inav_main(int argc, char *argv[]);
 
 int position_estimator_inav_thread_main(int argc, char *argv[]);
 
@@ -390,9 +390,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	/* first parameters update */
 	inav_parameters_update(&pos_inav_param_handles, &params);
 
-	px4_pollfd_struct_t fds_init[1] = {
-		{ .fd = sensor_combined_sub, .events = POLLIN },
-	};
+	px4_pollfd_struct_t fds_init[1];
+	fds_init[0].fd = sensor_combined_sub;
+	fds_init[0].events = POLLIN;
 
 	/* wait for initial baro value */
 	bool wait_baro = true;
@@ -434,9 +434,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	}
 
 	/* main loop */
-	px4_pollfd_struct_t fds[1] = {
-		{ .fd = vehicle_attitude_sub, .events = POLLIN },
-	};
+	px4_pollfd_struct_t fds[1];
+	fds[0].fd = vehicle_attitude_sub;
+	fds[0].events = POLLIN;
 
 	while (!thread_should_exit) {
 		int ret = px4_poll(fds, 1, 20); // wait maximal 20 ms = 50 Hz minimum rate
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp
similarity index 100%
rename from src/modules/position_estimator_inav/position_estimator_inav_params.c
rename to src/modules/position_estimator_inav/position_estimator_inav_params.cpp