diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index e96feeb5954..347d11bb02d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -26,3 +26,8 @@ fw_pos_control_l1 start
 # Start Land Detector
 #
 land_detector start fixedwing
+
+#
+# Start Wind and Airspeed Scale Estimator
+#
+wind_estimator start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index 6abef9e8e62..328321a59c1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -51,3 +51,8 @@ fw_pos_control_l1 start
 # Multicopter for now until we have something for VTOL
 #
 land_detector start vtol
+
+#
+# Start Wind and Airspeed Scale Estimator
+#
+wind_estimator start
diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane
index de15cdfa913..920803f2882 100644
--- a/posix-configs/SITL/init/ekf2/plane
+++ b/posix-configs/SITL/init/ekf2/plane
@@ -69,6 +69,7 @@ ekf2 start
 fw_pos_control_l1 start
 fw_att_control start
 land_detector start fixedwing
+wind_estimator start
 mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
 mavlink start -x -u 14556 -r 2000000
 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
index 4a3ee2b4296..d13a6d23795 100644
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -79,6 +79,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
+wind_estimator start
 mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
 mavlink start -x -u 14556 -r 2000000 -f
 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
index 1202328e90b..6c841e6fa49 100644
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -60,6 +60,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
+wind_estimator start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol_sim.main.mix
 mavlink start -x -u 14556 -r 2000000
 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540
diff --git a/posix-configs/SITL/init/ekf2/tiltrotor b/posix-configs/SITL/init/ekf2/tiltrotor
index d57b8b8e7d2..c12a1ab49e3 100644
--- a/posix-configs/SITL/init/ekf2/tiltrotor
+++ b/posix-configs/SITL/init/ekf2/tiltrotor
@@ -81,6 +81,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
+wind_estimator start
 mixer load /dev/pwm_output0 ROMFS/sitl/mixers/tiltrotor_sitl.main.mix
 mavlink start -x -u 14556 -r 2000000 -f
 mavlink start -x -u 14557 -r 2000000 -m onboard -o 14540 -f