diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index 5a08cf8cc..a727e215e 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -251,6 +251,29 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
     }
 };
 
+static const filterPipeline *ekf13NavCFAttQueue = &(filterPipeline) {
+    .filter = &magFilter,
+    .next   = &(filterPipeline) {
+        .filter = &airFilter,
+        .next   = &(filterPipeline) {
+            .filter = &llaFilter,
+            .next   = &(filterPipeline) {
+                .filter = &baroFilter,
+                .next   = &(filterPipeline) {
+                    .filter = &ekf13Filter,
+                    .next   = &(filterPipeline) {
+                        .filter = &velocityFilter,
+                        .next   = &(filterPipeline) {
+                            .filter = &cfmFilter,
+                            .next   = NULL,
+                        }
+                    }
+                }
+            }
+        }
+    }
+};
+
 // Private functions
 
 static void settingsUpdatedCb(UAVObjEvent *objEv);
@@ -398,6 +421,9 @@ static void StateEstimationCb(void)
             case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
                 newFilterChain = ekf13Queue;
                 break;
+            case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF:
+                newFilterChain = ekf13NavCFAttQueue;
+                break;
             default:
                 newFilterChain = NULL;
             }
diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml
index 116b842cf..a99ad9c52 100644
--- a/shared/uavobjectdefinition/revosettings.xml
+++ b/shared/uavobjectdefinition/revosettings.xml
@@ -2,7 +2,7 @@
     <object name="RevoSettings" singleinstance="true" settings="true" category="State">
         <description>Settings for the revo to control the algorithm and what is updated</description>
         <field name="FusionAlgorithm" units="" type="enum" elements="1" 
-        options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13)" 
+        options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13),GPS Navigation (INS13+CF)" 
         defaultvalue="Basic (Complementary)"/>
 
         <!-- Low pass filter configuration to calculate offset of barometric altitude sensor.