diff --git a/launch/hippocampus.launch b/launch/hippocampus.launch
index 8b60e64406..56e5720c4e 100644
--- a/launch/hippocampus.launch
+++ b/launch/hippocampus.launch
@@ -14,9 +14,9 @@
     <arg name="Y" default="0"/>
 
 
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="hippocampus"/>
-    <arg name="world" default="$(find px4)/Tools/sitl_gazebo/worlds/underwater.world"/>
+    <arg name="world" default="$(find px4)/Tools/sitl_gazebo/worlds/hippocampus.world"/>
     <arg name="sdf" default="$(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
 
     <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus
similarity index 100%
rename from posix-configs/SITL/init/lpe/hippocampus
rename to posix-configs/SITL/init/ekf2/hippocampus
diff --git a/src/firmware/posix/sitl_target.cmake b/src/firmware/posix/sitl_target.cmake
index 2e5bd0ae5b..0c7f02237a 100644
--- a/src/firmware/posix/sitl_target.cmake
+++ b/src/firmware/posix/sitl_target.cmake
@@ -80,7 +80,7 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo replay)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow iris_rplidar standard_vtol plane solo tailsitter typhoon_h480 rover)
+set(models none iris iris_opt_flow iris_rplidar standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})