diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake
index 0407eb5969..728fa6f366 100644
--- a/cmake/configs/qurt_eagle_default.cmake
+++ b/cmake/configs/qurt_eagle_default.cmake
@@ -37,6 +37,7 @@ set(config_module_list
 	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
+	modules/ekf2
 
 	#
 	# Vehicle Control
diff --git a/posix-configs/eagle/flight/px4.config b/posix-configs/eagle/flight/px4.config
index 8f6424ea22..fbfaaec54a 100644
--- a/posix-configs/eagle/flight/px4.config
+++ b/posix-configs/eagle/flight/px4.config
@@ -8,8 +8,7 @@ df_bmp280_wrapper start
 df_hmc5883_wrapper start
 sensors start
 commander start
-attitude_estimator_q start
-position_estimator_inav start
+ekf2 start
 land_detector start multicopter
 mc_pos_control start
 mc_att_control start