diff --git a/boards/px4/fmu-v5/rover.px4board b/boards/px4/fmu-v5/rover.px4board
index b5f586406e..2c9e2d20d3 100644
--- a/boards/px4/fmu-v5/rover.px4board
+++ b/boards/px4/fmu-v5/rover.px4board
@@ -16,7 +16,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
diff --git a/boards/px4/fmu-v5/stackcheck.px4board b/boards/px4/fmu-v5/stackcheck.px4board
index f598bbb5d9..e8bcadebd7 100644
--- a/boards/px4/fmu-v5/stackcheck.px4board
+++ b/boards/px4/fmu-v5/stackcheck.px4board
@@ -45,4 +45,3 @@ CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
diff --git a/boards/px4/fmu-v5x/rover.px4board b/boards/px4/fmu-v5x/rover.px4board
index bc4c7d5d3f..42f8ec21ce 100644
--- a/boards/px4/fmu-v5x/rover.px4board
+++ b/boards/px4/fmu-v5x/rover.px4board
@@ -13,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
diff --git a/boards/px4/fmu-v6c/rover.px4board b/boards/px4/fmu-v6c/rover.px4board
index 53c70cc09f..9eed13c665 100644
--- a/boards/px4/fmu-v6c/rover.px4board
+++ b/boards/px4/fmu-v6c/rover.px4board
@@ -12,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
diff --git a/boards/px4/fmu-v6u/rover.px4board b/boards/px4/fmu-v6u/rover.px4board
index 53c70cc09f..9eed13c665 100644
--- a/boards/px4/fmu-v6u/rover.px4board
+++ b/boards/px4/fmu-v6u/rover.px4board
@@ -12,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
diff --git a/boards/px4/fmu-v6x/multicopter.px4board b/boards/px4/fmu-v6x/multicopter.px4board
index 683220e0d7..9f540f567d 100644
--- a/boards/px4/fmu-v6x/multicopter.px4board
+++ b/boards/px4/fmu-v6x/multicopter.px4board
@@ -7,7 +7,6 @@ CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_COMMON_RC=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
diff --git a/boards/px4/fmu-v6x/rover.px4board b/boards/px4/fmu-v6x/rover.px4board
index 53c70cc09f..9eed13c665 100644
--- a/boards/px4/fmu-v6x/rover.px4board
+++ b/boards/px4/fmu-v6x/rover.px4board
@@ -12,7 +12,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board
index 9fdee39f1e..f9fea7df79 100644
--- a/boards/px4/fmu-v6xrt/rover.px4board
+++ b/boards/px4/fmu-v6xrt/rover.px4board
@@ -13,7 +13,6 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index 1584f93ef6..5636d855e5 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -15,7 +15,6 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_VERBOSE_STATUS=y
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
diff --git a/src/modules/ekf2/Kconfig b/src/modules/ekf2/Kconfig
index 93f96a656c..04bcfc104c 100644
--- a/src/modules/ekf2/Kconfig
+++ b/src/modules/ekf2/Kconfig
@@ -34,7 +34,7 @@ depends on MODULES_EKF2
 menuconfig EKF2_AUX_GLOBAL_POSITION
 depends on MODULES_EKF2
 	bool "aux global position fusion support"
-	default n
+	default y
 	---help---
 		EKF2 auxiliary global position fusion support.