diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 00aec3f8ae..0767f71447 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -54,6 +54,7 @@ MODULES		+= modules/mavlink_onboard
 #
 MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/att_pos_estimator_ekf
 
 #
 # Logging
@@ -78,7 +79,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
 	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
 	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
-	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
 	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
similarity index 100%
rename from apps/examples/kalman_demo/KalmanNav.cpp
rename to src/modules/att_pos_estimator_ekf/KalmanNav.cpp
diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
similarity index 100%
rename from apps/examples/kalman_demo/KalmanNav.hpp
rename to src/modules/att_pos_estimator_ekf/KalmanNav.hpp
diff --git a/apps/examples/kalman_demo/kalman_demo.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
similarity index 96%
rename from apps/examples/kalman_demo/kalman_demo.cpp
rename to src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 581b68b016..aebe3d1feb 100644
--- a/apps/examples/kalman_demo/kalman_demo.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -55,7 +55,7 @@ static int deamon_task;             /**< Handle of deamon task / thread */
 /**
  * Deamon management function.
  */
-extern "C" __EXPORT int kalman_demo_main(int argc, char *argv[]);
+extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
 
 /**
  * Mainloop of deamon.
@@ -85,7 +85,7 @@ usage(const char *reason)
  * The actual stack size should be set in the call
  * to task_create().
  */
-int kalman_demo_main(int argc, char *argv[])
+int att_pos_estimator_ekf_main(int argc, char *argv[])
 {
 
 	if (argc < 1)
diff --git a/apps/examples/kalman_demo/Makefile b/src/modules/att_pos_estimator_ekf/module.mk
similarity index 89%
rename from apps/examples/kalman_demo/Makefile
rename to src/modules/att_pos_estimator_ekf/module.mk
index 99c34d934e..abc6640182 100644
--- a/apps/examples/kalman_demo/Makefile
+++ b/src/modules/att_pos_estimator_ekf/module.mk
@@ -35,8 +35,11 @@
 # Basic example application
 #
 
-APPNAME		 = kalman_demo
-PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
+MODULE_COMMAND	= att_pos_estimator_ekf
 
-include $(APPDIR)/mk/app.mk
+# XXX this might be intended for the spawned deamon, validate
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
+
+SRCS		= kalman_main.cpp \
+		  KalmanNav.cpp \
+		  params.c
diff --git a/apps/examples/kalman_demo/params.c b/src/modules/att_pos_estimator_ekf/params.c
similarity index 100%
rename from apps/examples/kalman_demo/params.c
rename to src/modules/att_pos_estimator_ekf/params.c