diff --git a/posix-configs/SITL/init/ekf2/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus
index 3490edbe08..7330d93283 100644
--- a/posix-configs/SITL/init/ekf2/hippocampus
+++ b/posix-configs/SITL/init/ekf2/hippocampus
@@ -19,18 +19,19 @@ gyrosim start
 accelsim start
 barosim start
 adcsim start
+gpssim start
 
 sleep 1
 
 sensors start
 commander start
-
-attitude_estimator_q start
+ekf2 start
 
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
 mavlink stream -r 50 -s ATT_POS_MOCAP -u 14556
 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+
 logger start -r 100 -e
 mavlink boot_complete