diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board
index 76b4f4ac626..11e76d29c9e 100644
--- a/boards/diatone/mamba-f405-mk2/default.px4board
+++ b/boards/diatone/mamba-f405-mk2/default.px4board
@@ -23,6 +23,8 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -42,5 +44,3 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_VER=y
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
diff --git a/boards/holybro/kakutef7/default.px4board b/boards/holybro/kakutef7/default.px4board
index c1ec256ad77..716186400ec 100644
--- a/boards/holybro/kakutef7/default.px4board
+++ b/boards/holybro/kakutef7/default.px4board
@@ -33,6 +33,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_DMESG=y
diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board
index becef2d482f..a34d1ad7a49 100644
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@@ -14,10 +14,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-# CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -29,13 +25,11 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +48,6 @@ 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_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board
index 64e18c297ec..b8bc5cc7f42 100644
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
-CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -33,6 +32,7 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
diff --git a/boards/nxp/ucans32k146/default.px4board b/boards/nxp/ucans32k146/default.px4board
index 3eb4d97fb81..f9530438758 100644
--- a/boards/nxp/ucans32k146/default.px4board
+++ b/boards/nxp/ucans32k146/default.px4board
@@ -13,7 +13,6 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_UAVCANNODE_ARMING_STATUS=y
 CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
@@ -29,6 +28,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_DRIVERS_UWB_UWB_SR150=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
diff --git a/boards/px4/fmu-v5/test.px4board b/boards/px4/fmu-v5/test.px4board
index 63947fcf7a5..bf5ee3db6ce 100644
--- a/boards/px4/fmu-v5/test.px4board
+++ b/boards/px4/fmu-v5/test.px4board
@@ -1,10 +1,10 @@
-CONFIG_DRIVERS_ADC_ADS1115=n
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
-CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_BATT_SMBUS=n
-CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_OSD=n
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_BATT_SMBUS=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n