diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config
index b86c389dee..df9e4f9472 100644
--- a/posix-configs/bebop/px4.config
+++ b/posix-configs/bebop/px4.config
@@ -5,10 +5,14 @@ param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 df_ms5607_wrapper start
 df_mpu6050_wrapper start -R 8
-df_ak8963_wrapper start
+df_ak8963_wrapper start -R 4
 sensors start
+attitude_estimator_q start
+position_estimator_inav start
+commander start
 sleep 1
 mavlink start -u 14556 -r 1000000
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
 mavlink boot_complete