diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 441c3f1b22..6e7dabc63e 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -205,6 +205,8 @@ bool EKF2::multi_init(int imu, int mag)
 	    && (_global_position_pub.get_instance() == status_instance)) {
 
 		_instance = status_instance;
+
+		ScheduleNow();
 		return true;
 	}
 
@@ -1766,16 +1768,21 @@ int EKF2::task_spawn(int argc, char *argv[])
 
 								if ((actual_instance >= 0) && (_objects[actual_instance].load() == nullptr)) {
 									_objects[actual_instance].store(ekf2_inst);
-									ekf2_inst->ScheduleNow();
 									success = true;
 									multi_instances_allocated++;
 									ekf2_instance_created[imu][mag] = true;
 
+									if (actual_instance == 0) {
+										// force selector to run immediately if first instance started
+										_ekf2_selector.load()->ScheduleNow();
+									}
+
 									PX4_INFO("starting instance %d, IMU:%d (%d), MAG:%d (%d)", actual_instance,
 										 imu, vehicle_imu_sub.get().accel_device_id,
 										 mag, vehicle_mag_sub.get().device_id);
 
-									_ekf2_selector.load()->ScheduleNow();
+									// sleep briefly before starting more instances
+									px4_usleep(10000);
 
 								} else {
 									PX4_ERR("instance numbering problem instance: %d", actual_instance);