diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index 37206cbdac..eb3fc220f6 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -83,8 +83,9 @@ CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
+CONFIG_USER_I2C_LAUNCHER=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index b94e5f78e6..93acc0fbd2 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -12,9 +12,11 @@ param set-default MAV_2_RATE 100000
 param set-default MAV_2_REMOTE_PRT 14550
 param set-default MAV_2_UDP_PRT 14550
 
+# By disabling all 3 INA modules, we use the
+# i2c_launcher instead.
 param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
+param set-default SENS_EN_INA226 0
 
 if ver hwtypecmp V6X009010 V6X010010
 then
diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
index 8762d267fd..6a47d72f0e 100644
--- a/boards/px4/fmu-v6x/init/rc.board_sensors
+++ b/boards/px4/fmu-v6x/init/rc.board_sensors
@@ -3,6 +3,7 @@
 # PX4 FMUv6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
+set INA_CONFIGURED no
 
 if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
 then
@@ -25,6 +26,8 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA228 1
@@ -35,6 +38,8 @@ then
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 if param compare SENS_EN_INA238 1
@@ -45,6 +50,8 @@ then
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
+
+	set INA_CONFIGURED yes
 fi
 
 #Start Auterion Power Module selector for Skynode boards
@@ -52,11 +59,14 @@ if ver hwtypecmp V6X009010 V6X010010
 then
 	pm_selector_auterion start
 else
-	# INA226, INA228, INA238 auto-start
-	i2c_launcher start -b 1
-	if [ $HAVE_PM2 = yes ]
+	if [ $INA_CONFIGURED = no ]
 	then
-		i2c_launcher start -b 2
+		# INA226, INA228, INA238 auto-start
+		i2c_launcher start -b 1
+		if [ $HAVE_PM2 = yes ]
+		then
+			i2c_launcher start -b 2
+		fi
 	fi
 fi
 
@@ -151,4 +161,5 @@ fi
 # Baro on I2C3
 ms5611 -X start
 
+unset INA_CONFIGURED
 unset HAVE_PM2
diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
index e5f02a46a7..87c8a46f04 100644
--- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
@@ -207,7 +207,6 @@ CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -287,6 +286,7 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_SYSTEM_SYSTEM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600