diff --git a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
index 289eb4098a..1eeab2fa96 100644
--- a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
@@ -79,11 +79,7 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
-	modules/attitude_estimator_q
 	modules/ekf2
-	modules/position_estimator_inav
 
 	#
 	# Vehicle Control