diff --git a/boards/cubepilot/cubeorange/test.px4board b/boards/cubepilot/cubeorange/test.px4board
index d55a23bc88..f59326fedc 100644
--- a/boards/cubepilot/cubeorange/test.px4board
+++ b/boards/cubepilot/cubeorange/test.px4board
@@ -6,7 +6,6 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
diff --git a/boards/cubepilot/cubeorangeplus/test.px4board b/boards/cubepilot/cubeorangeplus/test.px4board
index 9945710637..f46378f6f5 100644
--- a/boards/cubepilot/cubeorangeplus/test.px4board
+++ b/boards/cubepilot/cubeorangeplus/test.px4board
@@ -6,6 +6,5 @@ CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board
index f6eae5c82f..8dcfe4c0d3 100644
--- a/boards/modalai/voxl2-slpi/default.px4board
+++ b/boards/modalai/voxl2-slpi/default.px4board
@@ -1,28 +1,26 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
-CONFIG_BOARD_ROOTFSDIR="/"
-CONFIG_MODULES_MUORB_SLPI=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_ORB_COMMUNICATOR=y
-CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_RC_CRSF_RC=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_PARAM_CLIENT=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MUORB_SLPI=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_ORB_COMMUNICATOR=y
diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board
index 8ba67ef454..ed1e0ed682 100644
--- a/boards/modalai/voxl2/default.px4board
+++ b/boards/modalai/voxl2/default.px4board
@@ -2,25 +2,23 @@ CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOTFSDIR="/data/px4"
-CONFIG_ORB_COMMUNICATOR=y
-CONFIG_PARAM_SERVER=y
-CONFIG_DRIVERS_QSHELL_POSIX=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_ACTUATORS_MODAL_IO=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_NAVIGATOR=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MUORB_APPS=y
-
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_ORB_COMMUNICATOR=y