diff --git a/posix-configs/bebop/px4.config b/posix-configs/bebop/px4.config
index 0b85e0d7fc30eebc008e0fffa9c4bbf7309663f4..631c99e7a53347866e76c3050714e6a07fb68768 100644
--- a/posix-configs/bebop/px4.config
+++ b/posix-configs/bebop/px4.config
@@ -23,8 +23,10 @@ df_ak8963_wrapper start -R 32
 gps start -d /dev/ttyPA1
 sensors start
 commander start
-attitude_estimator_q start
-position_estimator_inav start
+ekf2 start
+dataman start
+navigator start
+land_detector start multicopter
 mc_pos_control start
 mc_att_control start
 sleep 1
@@ -34,3 +36,4 @@ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50
 df_bebop_bus_wrapper start
 mavlink boot_complete
+sdlog2 start -e -b 20 -t