diff --git a/ROMFS/px4fmu_common/init.d-posix/10016_iris b/ROMFS/px4fmu_common/init.d-posix/10016_iris
index 40e386de81..66eb028f27 100644
--- a/ROMFS/px4fmu_common/init.d-posix/10016_iris
+++ b/ROMFS/px4fmu_common/init.d-posix/10016_iris
@@ -24,3 +24,4 @@ then
 fi
 set MIXER quad_w
 
+vehicle_model_estimator start
diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index 6ddef271d3..3b2b4588a1 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -43,6 +43,7 @@ px4_add_board(
 		sensors
 		#sih
 		simulator
+		vehicle_model_estimator
 		vmount
 		vtol_att_control
 	SYSTEMCMDS