diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 55b73ffde3..014b0a8505 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -67,11 +67,10 @@ 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
-# Since attitude_estimator_ekf is disabled, this app won't be
-# worthwhile on its own
-# MODULES		+= modules/position_estimator_inav
+MODULES		+= modules/attitude_estimator_ekf
+# MODULES		+= modules/ekf_att_pos_estimator
+MODULES		+= modules/attitude_estimator_q
+MODULES		+= modules/position_estimator_inav
 
 #
 # Vehicle Control