diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board
index 716186400e..bcaedd9cf2 100644
--- a/boards/holybro/kakutef7/default.px4board
+++ b/boards/holybro/kakutef7/default.px4board
@@ -17,11 +17,19 @@ CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_EXTERNAL_VISION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_MAGNETOMETER is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -33,6 +41,9 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
+# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_TOP=y
diff --git a/boards/holybro/kakutef7/init/rc.board_defaults b/boards/holybro/kakutef7/init/rc.board_defaults
index 01fd668a3d..7a3bc92e84 100644
--- a/boards/holybro/kakutef7/init/rc.board_defaults
+++ b/boards/holybro/kakutef7/init/rc.board_defaults
@@ -12,13 +12,11 @@ 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_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
-
 param set-default SYS_HAS_MAG 0
 
+# 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