diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil
index 7614ac0feb..3517a5bd82 100644
--- a/ROMFS/px4fmu_common/init.d/rc.hil
+++ b/ROMFS/px4fmu_common/init.d/rc.hil
@@ -54,13 +54,13 @@ sh /etc/init.d/rc.sensors
 #
 # Start the attitude estimator (depends on orb)
 #
-kalman_demo start
+att_pos_estimator_ekf start
  
 #
 # Load mixer and start controllers (depends on px4io)
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
-control_demo start
+fixedwing_backside start
 
 echo "[HIL] setup done, running"
 
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 197c2e36cc..97d7fdd757 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -262,7 +262,7 @@ void KalmanNav::update()
 		       lat, lon, alt);
 	}
 
-	// prediciton step
+	// prediction step
 	// using sensors timestamp so we can account for packet lag
 	float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
 	//printf("dt: %15.10f\n", double(dt));
diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c
index 4d21b342b3..4af5edeade 100644
--- a/src/modules/att_pos_estimator_ekf/params.c
+++ b/src/modules/att_pos_estimator_ekf/params.c
@@ -36,10 +36,10 @@
 /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
 PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
 PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
+PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f);
+PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f);
 PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
 PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
 PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);