diff --git a/boards/holybro/kakuteh7mini/init/rc.board_defaults b/boards/holybro/kakuteh7mini/init/rc.board_defaults
index e1c52182b5..45a123ca25 100644
--- a/boards/holybro/kakuteh7mini/init/rc.board_defaults
+++ b/boards/holybro/kakuteh7mini/init/rc.board_defaults
@@ -22,13 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
+# use EKF2
+param set-default SYS_MC_EST_GROUP 2
+# and set it without mag
 param set-default SYS_HAS_MAG 0
+# and enable gravity fusion
+param set-default EKF2_IMU_CONTROL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
diff --git a/boards/holybro/kakuteh7v2/init/rc.board_defaults b/boards/holybro/kakuteh7v2/init/rc.board_defaults
index 3e02f07f5c..b64618c839 100644
--- a/boards/holybro/kakuteh7v2/init/rc.board_defaults
+++ b/boards/holybro/kakuteh7v2/init/rc.board_defaults
@@ -22,13 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
+# use EKF2
+param set-default SYS_MC_EST_GROUP 2
+# and set it without mag
 param set-default SYS_HAS_MAG 0
+# and enable gravity fusion
+param set-default EKF2_IMU_CONTROL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090