diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index beb9891d2e..914807889f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -13,6 +13,8 @@ then
 	# and uses the older EKF filter. However users can
 	# enable the new quaternion based complimentary
 	# filter by setting EKF_ATT_ENABLED = 0.
+	# Note that on FMUv1, the EKF att estimator is not
+	# available and the Q estimator runs instead.
 	if param compare EKF_ATT_ENABLED 1
 	then
 		attitude_estimator_ekf start
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 55b73ffde3..2e4829958e 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -67,11 +67,10 @@ MODULES 	+= modules/land_detector
 # Estimation modules (EKF / other filters)
 #
 # Too high RAM usage due to static allocations
-# MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/ekf_att_pos_estimator
-# Since attitude_estimator_ekf is disabled, this app won't be
-# worthwhile on its own
-# MODULES		+= modules/position_estimator_inav
+MODULES		+= modules/attitude_estimator_q
+MODULES		+= modules/position_estimator_inav
 
 #
 # Vehicle Control