diff --git a/ROMFS/px4fmu_common/init.d-posix/rc.replay b/ROMFS/px4fmu_common/init.d-posix/rc.replay
index b378f826f8..cfbd53eb77 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay
@@ -12,6 +12,8 @@ EOF
 uorb start
 param set SDLOG_DIRS_MAX 7
 
+# apply all params before ekf starts, as some params cannot be changed after startup
+replay tryapplyparams
 ekf2 start -r
 logger start -f -t -b 1000 -p vehicle_attitude
 sleep 0.2