diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
index 17408e9ac8..b40113f5da 100644
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@@ -141,6 +141,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_default:
+      short: ark_can-flow-mr_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_default
     ark_can-flow-mr_canbootloader:
       short: ark_can-flow-mr_canbootloader
       buildType: MinSizeRel
diff --git a/boards/ark/can-flow-mr/default.px4board b/boards/ark/can-flow-mr/default.px4board
new file mode 100644
index 0000000000..6474b8cdb7
--- /dev/null
+++ b/boards/ark/can-flow-mr/default.px4board
@@ -0,0 +1,30 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
diff --git a/boards/ark/can-flow-mr/init/rc.board_sensors b/boards/ark/can-flow-mr/init/rc.board_sensors
index 2d476fcefb..131d5d58a8 100644
--- a/boards/ark/can-flow-mr/init/rc.board_sensors
+++ b/boards/ark/can-flow-mr/init/rc.board_sensors
@@ -8,9 +8,8 @@ param set-default SENS_FLOW_RATE 150
 param set-default SENS_IMU_CLPNOTI 0
 
 param set-default SENS_AFBR_S_RATE 25
-param set-default SENS_AFBR_L_RATE 10
-param set-default SENS_AFBR_THRESH 8
-param set-default SENS_AFBR_HYSTER 2
+param set-default SENS_AFBR_L_RATE 5
+param set-default SENS_AFBR_MODE 1
 
 # Internal SPI
 paa3905 -s start -Y 180