diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index 3e37c0e908..e12ab83b48 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -335,7 +335,7 @@ void LR_MsgHandler_NTUN_Copter::process_message(uint8_t *msg)
 
 bool LR_MsgHandler::set_parameter(const char *name, float value)
 {
-    const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_USE", 
+    const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_TYPE", "EK2_ENABLE",
                                    "COMPASS_ORIENT", "COMPASS_ORIENT2",
                                    "COMPASS_ORIENT3"};
     for (uint8_t i=0; i < ARRAY_SIZE(ignore_parms); i++) {
diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index e7e68ac9bb..19753fb852 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -85,7 +85,8 @@ LR_MsgHandler_PARM *parameter_handler;
 /*
   messages which we will be generating, so should be discarded
  */
-static const char *generated_names[] = { "EKF1", "EKF2", "EKF3", "EKF4", "EKF5", 
+static const char *generated_names[] = { "EKF1", "EKF2", "EKF3", "EKF4", "EKF5",
+                                         "NKF1", "NKF2", "NKF3", "NKF4", "NKF5",
                                          "AHR2", "POS", "CHEK", NULL };
 
 /*
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index 4ac13e6fb4..18a0b8e180 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -182,6 +182,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
 
 void ReplayVehicle::setup(void) 
 {
+    load_parameters();
+    
     // we pass zero log structures, as we will be outputting the log
     // structures we need manually, to prevent FMT duplicates
     dataflash.Init(log_structure, 0);
@@ -192,7 +194,8 @@ void ReplayVehicle::setup(void)
     ahrs.set_wind_estimation(true);
     ahrs.set_correct_centrifugal(true);
     ahrs.set_ekf_use(true);
-
+    EKF2.set_enable(true);
+                        
     printf("Starting disarmed\n");
     hal.util->set_soft_armed(false);
 
@@ -587,6 +590,7 @@ void Replay::setup()
     }
 
     _vehicle.setup();
+
     set_ins_update_rate(log_info.update_rate);
 
     feenableexcept(FE_INVALID | FE_OVERFLOW);