diff --git a/boards/raspberrypi/pico/default.px4board b/boards/raspberrypi/pico/default.px4board
index a9e96e815f..a5727267a1 100644
--- a/boards/raspberrypi/pico/default.px4board
+++ b/boards/raspberrypi/pico/default.px4board
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -29,7 +30,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/raspberrypi/pico/nuttx-config/nsh/defconfig b/boards/raspberrypi/pico/nuttx-config/nsh/defconfig
index e0ab5d5c40..6889a062be 100644
--- a/boards/raspberrypi/pico/nuttx-config/nsh/defconfig
+++ b/boards/raspberrypi/pico/nuttx-config/nsh/defconfig
@@ -16,17 +16,14 @@ CONFIG_ARCH_CHIP="rp2040"
 CONFIG_ARCH_CHIP_RP2040=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_LOOPSPERMSEC=10450
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTSTR="PX4 RaspberryPi Pico"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
@@ -49,7 +46,10 @@ CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -84,7 +84,6 @@ CONFIG_RP2040_SPI0=y
 CONFIG_RP2040_SPI1=y
 CONFIG_RP2040_SPI=y
 CONFIG_RP2040_UART1=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
@@ -95,7 +94,6 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -114,6 +112,4 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
diff --git a/boards/raspberrypi/pico/nuttx-config/src/Make.defs b/boards/raspberrypi/pico/nuttx-config/src/Make.defs
new file mode 100644
index 0000000000..e69de29bb2