diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index ce33b34691..7754ddbbde 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -188,21 +188,36 @@ pipeline {
             label 'px4_fmu-v2'
           }
           steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v2_test'
-                sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                //sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
-                // ensure buzzer is disabled for the next test
-                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
+            sh 'export'
+            sh 'find /dev/serial'
+            unstash 'px4_fmu-v2_test'
+            // flash board and watch bootup
+            sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
+            sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            // status commands
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
+            // ensure buzzer is disabled for the next test
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
           }
           options {
             timeout(time: 20, unit: 'MINUTES')
@@ -220,7 +235,10 @@ pipeline {
             // flash board and watch bootup
             sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -237,11 +255,14 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
             // run tests
             sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+            // ensure buzzer is disabled for the next test
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
           }
           options {
             timeout(time: 20, unit: 'MINUTES')
@@ -259,7 +280,10 @@ pipeline {
             // flash board and watch bootup
             sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -276,6 +300,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
@@ -300,7 +325,10 @@ pipeline {
             // flash board and watch bootup
             sh 'platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -317,6 +345,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
@@ -341,7 +370,10 @@ pipeline {
             // flash board and watch bootup
             sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -358,6 +390,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
@@ -382,7 +415,10 @@ pipeline {
             // flash board and watch bootup
             sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -399,6 +435,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
@@ -423,7 +460,10 @@ pipeline {
             // flash board and watch bootup
             sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -440,6 +480,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
@@ -464,7 +505,10 @@ pipeline {
             // flash board and watch bootup
             sh './platforms/nuttx/Debug/jlink_gdb_upload.sh  build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -481,6 +525,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
@@ -504,9 +549,33 @@ pipeline {
                 sh 'export'
                 sh 'find /dev/serial'
                 unstash 'px4_fmu-v5_stackcheck'
+                // flash board and watch bootup
                 sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
                 sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                // status commands
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
+                // run tests
                 // sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`' // TODO: currently unusably slow
+                // ensure buzzer is disabled for the next test
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
               } catch (Exception err) {
                   // always report passed for now
                   currentBuild.result = 'SUCCESS'
@@ -529,6 +598,10 @@ pipeline {
             // flash board and watch bootup
             sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
             sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+            // configure
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
             // status commands
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
@@ -545,6 +618,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
diff --git a/src/systemcmds/top/CMakeLists.txt b/src/systemcmds/top/CMakeLists.txt
index 3b1b6c9539..4e51d44139 100644
--- a/src/systemcmds/top/CMakeLists.txt
+++ b/src/systemcmds/top/CMakeLists.txt
@@ -33,7 +33,7 @@
 px4_add_module(
 	MODULE systemcmds__top
 	MAIN top
-	STACK_MAIN 1900
+	STACK_MAIN 2000
 	PRIORITY "SCHED_PRIORITY_MAX"
 	COMPILE_FLAGS
 	SRCS