diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index b409651e27..1a6f0b7aa1 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -1,66 +1,76 @@
 include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
+#set(config_uavcan_num_ifaces 2)
+
 set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/airspeed
+	#drivers/blinkm
+	#drivers/bmi160
+	#drivers/bmp280
+	drivers/boards
+	#drivers/bst
+	drivers/camera_trigger
 	drivers/device
+	#drivers/ets_airspeed
+	drivers/frsky_telemetry
+	drivers/gps
+	drivers/hmc5883
+	#drivers/hott
+	#drivers/hott/hott_sensors
+	#drivers/hott/hott_telemetry
+	#drivers/iridiumsbd
+	#drivers/irlock
+	#drivers/ist8310
+	drivers/l3gd20
+	drivers/led
+	drivers/lis3mdl
+	drivers/ll40ls
+	drivers/lsm303d
+	#drivers/mb12xx
+	#drivers/mkblctrl
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/ms4525_airspeed
+	drivers/ms5525_airspeed
+	drivers/ms5611
+	#drivers/oreoled
+	#drivers/protocol_splitter
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/px4io
+	drivers/rgbled
+	drivers/sdp3x_airspeed
+	drivers/sf0x
+	drivers/sf1xx
+	#drivers/snapdragon_rc_pwm
+	#drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
 	drivers/stm32/tone_alarm
-	drivers/led
-	drivers/px4fmu
-	drivers/px4io
-	drivers/boards
-	drivers/rgbled
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
-	drivers/ms5611
-	#drivers/mb12xx
-	#drivers/srf02
-	drivers/sf0x
-	drivers/sf1xx
-	drivers/ll40ls
+	#drivers/tap_esc
 	drivers/teraranger
-	drivers/gps
-	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
-	#drivers/blinkm
-	drivers/airspeed
-	#drivers/ets_airspeed
-	drivers/ms4525_airspeed
-	drivers/ms5525_airspeed
-	drivers/sdp3x_airspeed
-	drivers/frsky_telemetry
-	modules/sensors
-	#drivers/mkblctrl
-	drivers/px4flow
-	#drivers/oreoled
-	drivers/vmount
-	drivers/pwm_input
-	drivers/camera_trigger
-	#drivers/bst
-	#drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
-	#drivers/iridiumsbd
 	#drivers/ulanding
+	drivers/vmount
+	modules/sensors
 
 	#
 	# System commands
 	#
-	#systemcmds/bl_update
+	systemcmds/bl_update
 	#systemcmds/config
 	#systemcmds/dumpfile
 	#systemcmds/esc_calib
 	systemcmds/hardfault_log
+	#systemcmds/led_control
 	systemcmds/mixer
 	#systemcmds/motor_ramp
+	#systemcmds/motor_test
 	systemcmds/mtd
 	#systemcmds/nshterm
 	systemcmds/param
@@ -77,33 +87,34 @@ set(config_module_list
 	#
 	#drivers/sf0x/sf0x_tests
 	#drivers/test_ppm
+	#lib/controllib/controllib_test
 	#lib/rc/rc_tests
 	#modules/commander/commander_tests
-	#lib/controllib/controllib_test
 	#modules/mavlink/mavlink_tests
+	#modules/mc_pos_control/mc_pos_control_tests
 	#modules/uORB/uORB_tests
 	#systemcmds/tests
 
 	#
 	# General system control
 	#
+	modules/camera_feedback
 	modules/commander
 	modules/events
-	modules/load_mon
-	modules/navigator
-	modules/mavlink
 	#modules/gpio_led
-	#modules/uavcan
 	modules/land_detector
-	modules/camera_feedback
+	modules/load_mon
+	modules/mavlink
+	modules/navigator
+	#modules/uavcan
 
 	#
 	# Estimation modules
 	#
 	#modules/attitude_estimator_q
-	#modules/position_estimator_inav
-	#modules/local_position_estimator
 	modules/ekf2
+	#modules/local_position_estimator
+	#modules/position_estimator_inav
 
 	#
 	# Vehicle Control
@@ -125,10 +136,10 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/systemlib/param
-	modules/systemlib
-	modules/uORB
 	modules/dataman
+	modules/systemlib
+	modules/systemlib/param
+	modules/uORB
 
 	#
 	# Libraries
@@ -148,10 +159,12 @@ set(config_module_list
 	lib/tailsitter_recovery
 	#lib/terrain_estimation
 	lib/version
-	platforms/nuttx
 
-	# had to add for cmake, not sure why wasn't in original config
+	#
+	# Platform
+	#
 	platforms/common
+	platforms/nuttx
 	platforms/nuttx/px4_layer
 
 	#
@@ -164,10 +177,15 @@ set(config_module_list
 	#
 	#examples/rover_steering_control
 
+	#
+	# Segway
+	#
+	#examples/segway
+
 	#
 	# Demo apps
 	#
-	#examples/math_demo
+
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
 	#examples/px4_simple_app
@@ -186,4 +204,7 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	#examples/ekf_att_pos_estimator
 )
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index a96668d6c9..26cd043818 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -27,6 +27,7 @@ set(config_module_list
 	drivers/hott
 	drivers/hott/hott_sensors
 	drivers/hott/hott_telemetry
+	drivers/irlock
 	drivers/iridiumsbd
 	drivers/l3gd20
 	drivers/led
@@ -41,6 +42,7 @@ set(config_module_list
 	drivers/ms5525_airspeed
 	drivers/ms5611
 	drivers/oreoled
+	drivers/protocol_splitter
 	drivers/pwm_input
 	drivers/pwm_out_sim
 	drivers/px4flow
@@ -57,6 +59,7 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/tap_esc
 	drivers/teraranger
+	drivers/ulanding
 	drivers/vmount
 	modules/sensors
 
@@ -88,9 +91,9 @@ set(config_module_list
 	#
 	drivers/sf0x/sf0x_tests
 	drivers/test_ppm
+	lib/controllib/controllib_test
 	#lib/rc/rc_tests
 	modules/commander/commander_tests
-	lib/controllib/controllib_test
 	modules/mavlink/mavlink_tests
 	modules/mc_pos_control/mc_pos_control_tests
 	modules/uORB/uORB_tests
@@ -99,6 +102,7 @@ set(config_module_list
 	#
 	# General system control
 	#
+	modules/camera_feedback
 	modules/commander
 	modules/events
 	modules/gpio_led
@@ -107,7 +111,6 @@ set(config_module_list
 	modules/mavlink
 	modules/navigator
 	modules/uavcan
-	modules/camera_feedback
 
 	#
 	# Estimation modules
@@ -138,8 +141,8 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/systemlib/param
 	modules/systemlib
+	modules/systemlib/param
 	modules/uORB
 
 	#