diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmuv2_default.mk
index 47cd097486..ab1f19314e 100644
--- a/makefiles/config_px4fmuv2_default.mk
+++ b/makefiles/config_px4fmuv2_default.mk
@@ -10,6 +10,10 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 #
 # Board support modules
 #
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmuv2
 MODULES		+= drivers/rgbled
@@ -69,6 +73,32 @@ MODULES		+= modules/multirotor_pos_control
 #
 MODULES		+= modules/sdlog
 
+#
+# Libraries
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/mathlib
+MODULES		+= modules/mathlib/CMSIS
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+#MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
@@ -83,9 +113,5 @@ endef
 
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
-	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
-	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
-	$(call _B, uorb,                   ,                          4096,  uorb_main                  )
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )