diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index f44287955d3c..3057cac5f073 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -334,7 +334,11 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			break;
 
 		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
-			handle_message_hil_state_quaternion(msg);
+			/* Do not handle hil_state_quaternion,
+			   but let ekf2 to take care of position
+			   estimation.
+			*/
+			//handle_message_hil_state_quaternion(msg);
 			break;
 
 		case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
diff --git a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
index 2b8916277a4e..45c0ac7b4b47 100644
--- a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
+++ b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
@@ -372,7 +372,11 @@ void SimulatorMavlink::handle_message(const mavlink_message_t *msg)
 		break;
 
 	case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
-		handle_message_hil_state_quaternion(msg);
+		/* Do not handle hil_state_quaternion,
+		   but let ekf2 to take care of position
+		   estimation.
+		*/
+		//handle_message_hil_state_quaternion(msg);
 		break;
 
 	case MAVLINK_MSG_ID_RAW_RPM: