diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index 0e81e7eda2..197cd05ec6 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -57,6 +57,7 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
+mc_autotune_attitude_control start
 
 #
 # Start Multicopter Position Controller.
diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index d8aadc6fad..a96ea5098c 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -40,6 +40,7 @@ px4_add_board(
 		logger
 		mavlink
 		mc_att_control
+		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control