diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 02add40647a..d985929601b 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -41,6 +41,7 @@ param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_gazebo_plane b/posix-configs/SITL/init/rcS_gazebo_plane
index 19844e69bdf..b4f40ce2ddf 100644
--- a/posix-configs/SITL/init/rcS_gazebo_plane
+++ b/posix-configs/SITL/init/rcS_gazebo_plane
@@ -25,6 +25,9 @@ param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
 param set NAV_ACC_RAD 15.0
 param set FW_THR_IDLE 0.8
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_gazebo_solo b/posix-configs/SITL/init/rcS_gazebo_solo
index a075fdff304..008261b6ec8 100644
--- a/posix-configs/SITL/init/rcS_gazebo_solo
+++ b/posix-configs/SITL/init/rcS_gazebo_solo
@@ -38,6 +38,7 @@ param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index 71420634da2..a1f448bb581 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -44,6 +44,9 @@ param set RTL_LAND_DELAY 0
 param set COM_DISARM_LAND 5
 param set COM_DL_LOSS_EN 1
 param set MPC_ACC_HOR_MAX 2
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s 
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index ea37d6f431d..2ba72c5b8c0 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -35,6 +35,9 @@ param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
index 392ff03c94e..87c620c750c 100644
--- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
@@ -40,6 +40,7 @@ param set MPC_XY_VEL_P 0.15
 param set MPC_XY_VEL_I 0.2
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index 1e44f2b13aa..26db22d8f0b 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -41,6 +41,7 @@ param set MPC_Z_VEL_MAX 2.0
 param set MPC_Z_VEL_P 0.4
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 simulator start -s
 rgbledsim start
diff --git a/posix-configs/SITL/init/rcS_multiple_gazebo_iris b/posix-configs/SITL/init/rcS_multiple_gazebo_iris
index fbd5b5a6433..d1ee2acc1e3 100644
--- a/posix-configs/SITL/init/rcS_multiple_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_multiple_gazebo_iris
@@ -32,6 +32,9 @@ param set COM_RC_IN_MODE 1
 param set NAV_ACC_RAD 2.0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 10.0
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
 replay tryapplyparams
 rgbledsim start
 tone_alarm start
@@ -46,8 +49,7 @@ sensors start
 commander start
 land_detector start multicopter
 navigator start
-attitude_estimator_q start
-position_estimator_inav start
+ekf2 start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 quad_w.main.mix