diff --git a/posix-configs/eagle/200qx/mainapp-calib.config b/posix-configs/eagle/200qx/mainapp-calib.config
deleted file mode 100644
index eba7890720..0000000000
--- a/posix-configs/eagle/200qx/mainapp-calib.config
+++ /dev/null
@@ -1,9 +0,0 @@
-uorb start
-muorb start
-param set MAV_BROADCAST 1
-mavlink start -u 14556
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink boot_complete
-commander start
diff --git a/posix-configs/eagle/200qx/mainapp-flight.config b/posix-configs/eagle/200qx/mainapp.config
similarity index 100%
rename from posix-configs/eagle/200qx/mainapp-flight.config
rename to posix-configs/eagle/200qx/mainapp.config
diff --git a/posix-configs/eagle/200qx/px4-flight-v2-board.config b/posix-configs/eagle/200qx/px4-flight-v2-board.config
deleted file mode 100644
index c201cee7fc..0000000000
--- a/posix-configs/eagle/200qx/px4-flight-v2-board.config
+++ /dev/null
@@ -1,80 +0,0 @@
-uorb start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
-param set SYS_AUTOSTART 4001
-param set SYS_AUTOCONFIG 1
-param set MAV_TYPE 2
-param set MC_YAW_P 7.0
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.0001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.0001
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
-param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
-param set SENS_BOARD_ROT 0
-param set MPU_GYR_LPF_ENUM 4
-param set MPU_ACC_LPF_ENUM 4
-param set MPU_SMPRATE_ENUM 2
-param set UART_ESC_MODEL 0
-param set UART_ESC_BAUDRAT 250000
-param set UART_ESC_PX4MOT1 2
-param set UART_ESC_PX4MOT2 4
-param set UART_ESC_PX4MOT3 1
-param set UART_ESC_PX4MOT4 3
-sleep 1
-commander start
-rc_receiver start -D /dev/tty-1
-sleep 1
-mpu9x50 start -D /dev/spi-1
-df_bmp280_wrapper start
-sensors start
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-land_detector start multicopter
-sleep 1
-uart_esc start -D /dev/tty-2
-list_devices
-list_files
-list_tasks
-list_topics
diff --git a/posix-configs/eagle/200qx/px4-flight-v1-board.config b/posix-configs/eagle/200qx/px4-v1-board.config
similarity index 75%
rename from posix-configs/eagle/200qx/px4-flight-v1-board.config
rename to posix-configs/eagle/200qx/px4-v1-board.config
index fa8ead0e46..1428b5197b 100644
--- a/posix-configs/eagle/200qx/px4-flight-v1-board.config
+++ b/posix-configs/eagle/200qx/px4-v1-board.config
@@ -1,10 +1,9 @@
 uorb start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
+qshell start
+param set CAL_GYRO0_ID 100
+param set CAL_ACC0_ID 100
+param set CAL_MAG0_ID 101
 param set SYS_AUTOSTART 4001
-param set SYS_AUTOCONFIG 1
 param set MAV_TYPE 2
 param set MC_YAW_P 7.0
 param set MC_YAWRATE_P 0.08
@@ -51,29 +50,25 @@ param set RC6_REV 1
 param set ATT_W_MAG 0.00
 param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 6
-param set MPU_GYR_LPF_ENUM 4
-param set MPU_ACC_LPF_ENUM 4
-param set MPU_SMPRATE_ENUM 2
+param set RC_RECEIVER_TYPE 1
 param set UART_ESC_MODEL 0
-param set UART_ESC_BAUDRAT 250000
-param set UART_ESC_PX4MOT1 2
-param set UART_ESC_PX4MOT2 4
-param set UART_ESC_PX4MOT3 1
-param set UART_ESC_PX4MOT4 3
+param set UART_ESC_BAUDRTE 250000
+param set UART_ESC_MOTOR1 2
+param set UART_ESC_MOTOR2 4
+param set UART_ESC_MOTOR3 1
+param set UART_ESC_MOTOR4 3
 sleep 1
-commander start
-rc_receiver start -D /dev/tty-1
-sleep 1
-mpu9x50 start -D /dev/spi-1
+df_mpu9250_wrapper start
 df_bmp280_wrapper start
 sensors start
-attitude_estimator_q start
-position_estimator_inav start
+commander start
+ekf2 start
+land_detector start multicopter
 mc_pos_control start
 mc_att_control start
-land_detector start multicopter
-sleep 1
 uart_esc start -D /dev/tty-2
+rc_receiver start -D /dev/tty-1
+sleep 1
 list_devices
 list_files
 list_tasks
diff --git a/posix-configs/eagle/200qx/px4-calib.config b/posix-configs/eagle/200qx/px4-v2-board.config
similarity index 77%
rename from posix-configs/eagle/200qx/px4-calib.config
rename to posix-configs/eagle/200qx/px4-v2-board.config
index 74685189de..2d6c33f6ce 100644
--- a/posix-configs/eagle/200qx/px4-calib.config
+++ b/posix-configs/eagle/200qx/px4-v2-board.config
@@ -1,18 +1,22 @@
 uorb start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
-param set RC_RECEIVER_TYPE 1
-rc_receiver start -D /dev/tty-1
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-sleep 1
+qshell start
+param set CAL_GYRO0_ID 100
+param set CAL_ACC0_ID 100
+param set CAL_MAG0_ID 101
 param set SYS_AUTOSTART 4001
-param set SYS_AUTOCONFIG 1
-param set MAV_TYPE 2​
+param set MAV_TYPE 2
+param set MC_YAW_P 7.0
+param set MC_YAWRATE_P 0.08
+param set MC_YAWRATE_I 0.0
+param set MC_YAWRATE_D 0
+param set MC_PITCH_P 7.0
+param set MC_PITCHRATE_P 0.08
+param set MC_PITCHRATE_I 0.0
+param set MC_PITCHRATE_D 0.0001
+param set MC_ROLL_P 7.0
+param set MC_ROLLRATE_P 0.08
+param set MC_ROLLRATE_I 0.0
+param set MC_ROLLRATE_D 0.0001
 param set RC_MAP_THROTTLE 1
 param set RC_MAP_ROLL 2
 param set RC_MAP_PITCH 3
@@ -43,29 +47,28 @@ param set RC6_MAX 1900
 param set RC6_MIN 1099
 param set RC6_TRIM 1099
 param set RC6_REV 1
-sensors start
-param set MC_YAW_P 7.0
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.0001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.0001
 param set ATT_W_MAG 0.00
 param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
-param set MPU_GYR_LPF_ENUM 4
-param set MPU_ACC_LPF_ENUM 4
-param set MPU_SMPRATE_ENUM 2
+param set RC_RECEIVER_TYPE 1
+param set UART_ESC_MODEL 0
+param set UART_ESC_BAUDRTE 250000
+param set UART_ESC_MOTOR1 2
+param set UART_ESC_MOTOR2 4
+param set UART_ESC_MOTOR3 1
+param set UART_ESC_MOTOR4 3
 sleep 1
-mpu9x50 start -D /dev/spi-1
+df_mpu9250_wrapper start
+df_bmp280_wrapper start
+sensors start
+commander start
+ekf2 start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
 uart_esc start -D /dev/tty-2
-csr_gps start -D /dev/tty-3
+rc_receiver start -D /dev/tty-1
+sleep 1
 list_devices
 list_files
 list_tasks