diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 014b0a8505..2e4829958e 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -67,8 +67,8 @@ MODULES 	+= modules/land_detector
 # Estimation modules (EKF / other filters)
 #
 # Too high RAM usage due to static allocations
-MODULES		+= modules/attitude_estimator_ekf
-# MODULES		+= modules/ekf_att_pos_estimator
+#MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/attitude_estimator_q
 MODULES		+= modules/position_estimator_inav