diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index a90af30d99c..7ff596953ec 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -32,6 +32,7 @@ CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
diff --git a/boards/px4/fmu-v5x/test.px4board b/boards/px4/fmu-v5x/test.px4board
index 0a44cb3cf8e..43a769e508e 100644
--- a/boards/px4/fmu-v5x/test.px4board
+++ b/boards/px4/fmu-v5x/test.px4board
@@ -1,4 +1,5 @@
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_POWER_MONITOR_INA228=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board
index 12a4ce4c170..0bbbc0130d8 100644
--- a/boards/px4/fmu-v6u/default.px4board
+++ b/boards/px4/fmu-v6u/default.px4board
@@ -41,7 +41,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -57,7 +56,6 @@ CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -90,14 +88,12 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
diff --git a/boards/px4/fmu-v6u/test.px4board b/boards/px4/fmu-v6u/test.px4board
index 4f65b2e60c8..ca194ed44d6 100644
--- a/boards/px4/fmu-v6u/test.px4board
+++ b/boards/px4/fmu-v6u/test.px4board
@@ -1,5 +1,6 @@
 CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
@@ -9,9 +10,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index 304f4257756..576153ea7b6 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -32,6 +32,7 @@ CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
@@ -39,7 +40,6 @@ CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
diff --git a/boards/px4/fmu-v6x/test.px4board b/boards/px4/fmu-v6x/test.px4board
index 80d0e066a8f..61e946d9b2d 100644
--- a/boards/px4/fmu-v6x/test.px4board
+++ b/boards/px4/fmu-v6x/test.px4board
@@ -2,6 +2,7 @@ CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_MAGNETOMETER=n
 CONFIG_COMMON_OPTICAL_FLOW=n
+CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
@@ -11,8 +12,6 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
-CONFIG_DRIVERS_TELEMETRY=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
diff --git a/src/drivers/imu/bosch/bmi088_i2c/Kconfig b/src/drivers/imu/bosch/bmi088_i2c/Kconfig
new file mode 100644
index 00000000000..b4e48f2da9e
--- /dev/null
+++ b/src/drivers/imu/bosch/bmi088_i2c/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_IMU_BOSCH_BMI088_I2C
+	bool "bosch bmi088_i2c"
+	default n
+	---help---
+		Enable support for bosch bmi088_i2c
diff --git a/src/drivers/power_monitor/ina228/Kconfig b/src/drivers/power_monitor/ina228/Kconfig
new file mode 100644
index 00000000000..cf5596a1ef8
--- /dev/null
+++ b/src/drivers/power_monitor/ina228/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_POWER_MONITOR_INA228
+	bool "ina228"
+	default n
+	---help---
+		Enable support for ina228