diff --git a/posix-configs/rpi2/mainapp.config b/posix-configs/rpi2/mainapp.config
index fabb7e5baf..bee08bfd70 100644
--- a/posix-configs/rpi2/mainapp.config
+++ b/posix-configs/rpi2/mainapp.config
@@ -8,7 +8,8 @@ df_lsm9ds1_wrapper start -R 4
 #df_hmc5883_wrapper start
 sensors start
 commander start
-ekf2 start
+attitude_estimator_q start
+position_estimator_inav start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start