diff --git a/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550 b/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550
index 41593fa6c0..a7ffffaeec 100644
--- a/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550
+++ b/ROMFS/px4fmu_common/init.d/666_fmu_quad_x550
@@ -82,6 +82,10 @@ gps start
 # Start the attitude estimator
 #
 attitude_estimator_ekf start
+#
+# Start the position estimator
+#
+position_estimator_inav start
  
 echo "[init] starting PWM output"
 fmu mode_pwm
@@ -93,6 +97,11 @@ pwm -u 400 -m 0xff
 #
 multirotor_att_control start
 
+#
+# Start position control
+#
+multirotor_pos_control start
+
 #
 # Start logging
 #