diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps
index 0c77ab9aa6d0..5273d6aec068 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps
@@ -1,9 +1,6 @@
 #!/bin/sh
 # Standard apps for a ackermann drive rover.
 
-# Start the attitude and position estimator.
-ekf2 start &
-
 # Start rover ackermann drive controller.
 rover_ackermann start
 
diff --git a/src/modules/rover_ackermann/RoverAckermann.cpp b/src/modules/rover_ackermann/RoverAckermann.cpp
index afc423852be6..5595451aa6e9 100644
--- a/src/modules/rover_ackermann/RoverAckermann.cpp
+++ b/src/modules/rover_ackermann/RoverAckermann.cpp
@@ -70,6 +70,7 @@ void RoverAckermann::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		exit_and_cleanup();
+		return;
 	}
 
 	// uORB subscriber updates
@@ -203,7 +204,7 @@ int RoverAckermann::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-Rover state machine.
+Rover ackermann module.
 )DESCR_STR");
 
 	PRINT_MODULE_USAGE_NAME("rover_ackermann", "controller");