diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index fb72461a2b..14048b1461 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -260,6 +260,7 @@ then
 	#
 	if param compare SYS_AUTOSTART 0
 	then
+		ekf2 start
 	else
 		sh /etc/init.d/rc.autostart
 	fi