diff --git a/boards/px4/fmu-v5/debug.px4board b/boards/px4/fmu-v5/debug.px4board
index c4969fc01a..865ea3e0d5 100644
--- a/boards/px4/fmu-v5/debug.px4board
+++ b/boards/px4/fmu-v5/debug.px4board
@@ -1,4 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_MAGNETOMETER=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=n
@@ -34,6 +36,17 @@ CONFIG_MODULES_VMOUNT=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
-CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
 CONFIG_DRIVERS_TEST_PPM=y
diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board
index c80b77b0fb..75215ad420 100644
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -23,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
diff --git a/boards/px4/fmu-v5/optimized.px4board b/boards/px4/fmu-v5/optimized.px4board
index 7d4d4913a7..08adfe32cb 100644
--- a/boards/px4/fmu-v5/optimized.px4board
+++ b/boards/px4/fmu-v5/optimized.px4board
@@ -1,6 +1,8 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_MAGNETOMETER=n
 CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_DRIVERS_HEATER=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=n
 CONFIG_DRIVERS_OSD=n
@@ -33,8 +35,6 @@ CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-error=array-bounds"
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_FULL_OPTIMIZATION=y
 CONFIG_BOARD_TESTING=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y