diff --git a/launch/estimation_manager.launch b/launch/estimation_manager.launch
index 08f0c5a..65271b6 100644
--- a/launch/estimation_manager.launch
+++ b/launch/estimation_manager.launch
@@ -60,6 +60,8 @@
       <remap from="~imu_in" to="hw_api/imu" />
       <remap from="~hw_api_capabilities_in" to="hw_api/capabilities" />
       <remap from="~control_manager_diagnostics_in" to="control_manager/diagnostics" />
+      <remap from="~control_reference_in" to="control_manager/control_reference" />
+      <remap from="~controller_diagnostics_in" to="control_manager/controller_diagnostics" />
 
       <remap from="~profiler" to="profiler" />
       <remap from="~odom_main_out" to="~odom_main" />
diff --git a/src/transform_manager/transform_manager.cpp b/src/transform_manager/transform_manager.cpp
index c130ba6..87c81f2 100644
--- a/src/transform_manager/transform_manager.cpp
+++ b/src/transform_manager/transform_manager.cpp
@@ -453,7 +453,10 @@ void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg)
     pose_first_.header             = msg->header;
     pose_fixed_diff_.orientation.w = 1;
 
-    is_first_frame_id_set_ = true;
+    // we don't want vins_kickoff to be our first estimator
+    if (msg->header.frame_id != ch_->uav_name + "/vins_kickoff_origin") {
+      is_first_frame_id_set_ = true;
+    }
   }
 
   // publish static tf from fixed_origin to local_origin based on the first message