diff --git a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
index 0e456c738e..77526b4afd 100644
--- a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
-set(config_uavcan_num_ifaces 1)
+set(config_uavcan_num_ifaces 2)
 
 set(config_module_list
 	#
@@ -79,7 +79,10 @@ set(config_module_list
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
 	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
 	modules/ekf2
+	modules/position_estimator_inav
 
 	#
 	# Vehicle Control
@@ -166,6 +169,10 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
+set(config_io_board
+	px4io-v2
+	)
+
 set(config_extra_libs
 	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
 	uavcan