diff --git a/boards/nxp/rddrone-uavcan146/nuttx-config/include/board.h b/boards/nxp/rddrone-uavcan146/nuttx-config/include/board.h
index ee088f3b19..a8ae063049 100644
--- a/boards/nxp/rddrone-uavcan146/nuttx-config/include/board.h
+++ b/boards/nxp/rddrone-uavcan146/nuttx-config/include/board.h
@@ -113,15 +113,12 @@
 
 /* The RDDRONE-UAVCAN146 supports two buttons:
  *
- *   SW2  PTC12
- *   SW3  PTC13
+ *   SW3  PTC14
  */
 
-#define BUTTON_SW2         0
-#define BUTTON_SW3         1
-#define NUM_BUTTONS        2
+#define BUTTON_SW3         0
+#define NUM_BUTTONS        1
 
-#define BUTTON_SW2_BIT    (1 << BUTTON_SW2)
 #define BUTTON_SW3_BIT    (1 << BUTTON_SW3)
 
 /* Alternate function pin selections ****************************************/
@@ -152,4 +149,14 @@
 #define PIN_LPI2C0_SCL   PIN_LPI2C0_SCL_2   /* PTA3 */
 #define PIN_LPI2C0_SDA	 PIN_LPI2C0_SDA_2   /* PTA2 */
 
+/* CAN selections ***********************************************************/
+#define PIN_CAN0_TX      PIN_CAN0_TX_4      /* PTE5 */
+#define PIN_CAN0_RX      PIN_CAN0_RX_4      /* PTE4 */
+#define PIN_CAN0_ENABLE  (GPIO_OUTPUT | PIN_PORTE | PIN11 )
+#define CAN0_ENABLE_OUT  0
+#define PIN_CAN1_TX      PIN_CAN1_TX_1      /* PTA13 */
+#define PIN_CAN1_RX      PIN_CAN1_RX_1      /* PTA12 */
+#define PIN_CAN1_ENABLE  (GPIO_OUTPUT | PIN_PORTE | PIN10 )
+#define CAN1_ENABLE_OUT  0
+
 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
diff --git a/boards/nxp/rddrone-uavcan146/src/board_config.h b/boards/nxp/rddrone-uavcan146/src/board_config.h
index 44487ceaa3..fc1d7302f2 100644
--- a/boards/nxp/rddrone-uavcan146/src/board_config.h
+++ b/boards/nxp/rddrone-uavcan146/src/board_config.h
@@ -79,14 +79,12 @@ __BEGIN_DECLS
 #define GPIO_LED_G     (PIN_PTD16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO)
 #define GPIO_LED_B     (PIN_PTD0  | GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO)
 
-/* Buttons.  The RDDRONE-UAVCAN146 supports two buttons:
+/* Buttons.  The RDDRONE-UAVCAN146 supports one button:
  *
- *   SW2  PTC12
- *   SW3  PTC13
+ *   SW3  PTC14
  */
 
-#define GPIO_SW2       (PIN_PTC12 | PIN_INT_BOTH)
-#define GPIO_SW3       (PIN_PTC13 | PIN_INT_BOTH)
+#define GPIO_SW3       (PIN_PTC14 | PIN_INT_BOTH)
 
 /* SPI chip selects */
 
diff --git a/boards/nxp/rddrone-uavcan146/src/buttons.c b/boards/nxp/rddrone-uavcan146/src/buttons.c
index a6dc2a4cb1..da3f3188af 100644
--- a/boards/nxp/rddrone-uavcan146/src/buttons.c
+++ b/boards/nxp/rddrone-uavcan146/src/buttons.c
@@ -33,10 +33,9 @@
  *
  ****************************************************************************/
 
-/* The RDDRONE-UAVCAN146 supports two buttons:
+/* The RDDRONE-UAVCAN146 supports one button:
  *
- *   SW2  PTC12
- *   SW3  PTC13
+ *   SW3  PTC14
  */
 
 /****************************************************************************
@@ -77,7 +76,6 @@ void board_button_initialize(void)
 {
 	/* Configure the GPIO pins as interrupting inputs. */
 
-	s32k1xx_pinconfig(GPIO_SW2);
 	s32k1xx_pinconfig(GPIO_SW3);
 }
 
@@ -89,10 +87,6 @@ uint32_t board_buttons(void)
 {
 	uint32_t ret = 0;
 
-	if (s32k1xx_gpioread(GPIO_SW2)) {
-		ret |= BUTTON_SW2_BIT;
-	}
-
 	if (s32k1xx_gpioread(GPIO_SW3)) {
 		ret |= BUTTON_SW3_BIT;
 	}
@@ -130,10 +124,7 @@ int board_button_irq(int id, xcpt_t irqhandler, FAR void *arg)
 
 	/* Map the button id to the GPIO bit set. */
 
-	if (id == BUTTON_SW2) {
-		pinset = GPIO_SW2;
-
-	} else if (id == BUTTON_SW3) {
+	if (id == BUTTON_SW3) {
 		pinset = GPIO_SW3;
 
 	} else {
diff --git a/boards/nxp/rddrone-uavcan146/src/clockconfig.c b/boards/nxp/rddrone-uavcan146/src/clockconfig.c
index 6a0fb2490a..fbf74d9aff 100644
--- a/boards/nxp/rddrone-uavcan146/src/clockconfig.c
+++ b/boards/nxp/rddrone-uavcan146/src/clockconfig.c
@@ -164,7 +164,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
 		},
 		.lpoclk        =                                   /* Low Power Clock configuration. */
 		{
-			.rtc_source  = SIM_RTCCLK_SEL_SOSCDIV1_CLK,      /* RTCCLKSEL */
+			.rtc_source  = SIM_RTCCLK_SEL_LPO_32K,           /* RTCCLKSEL */
 			.lpo_source  = SIM_LPO_CLK_SEL_LPO_128K,         /* LPOCLKSEL */
 			.initialize  = true,                             /* Initialize */
 			.lpo32k      = true,                             /* LPO32KCLKEN */
diff --git a/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c b/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
index 20b2af8b43..fa7185842c 100644
--- a/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
@@ -312,7 +312,7 @@ static void hrt_tim_init(void)
 
 	/* Use FIXEDCLK src and enable the timer
 	 * Set calculate prescaler for HRT_TIMER_FREQ */
-	rSC |= (FTM_SC_TOIE | FTM_SC_CLKS_FIXED |
+	rSC |= (FTM_SC_TOIE | FTM_SC_CLKS_EXTCLK |
 		(LOG_2(HRT_TIMER_CLOCK / HRT_TIMER_FREQ) << FTM_SC_PS_SHIFT
 		 & FTM_SC_PS_MASK));