diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 191e70e188..a02f8bacd0 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -8,46 +8,50 @@ set(config_module_list
 	#
 	# Board support modules
 	#
+	drivers/airspeed
+	drivers/blinkm
+	drivers/bmi160
+	drivers/bmp280
+	drivers/boards/px4fmu-v2
+	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/l3gd20
+	drivers/led
+	drivers/lis3mdl
+	drivers/ll40ls
+	drivers/lsm303d
+	drivers/mb12xx
+	drivers/meas_airspeed
+	drivers/mkblctrl
+	drivers/mpu6000
+	drivers/mpu9250
+	drivers/ms5611
+	drivers/oreoled
+	drivers/pwm_input
+	drivers/pwm_out_sim
+	drivers/px4flow
+	drivers/px4fmu
+	drivers/px4io
+	drivers/rgbled
+	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/px4fmu-v2
-	drivers/rgbled
-	drivers/mpu6000
-	drivers/mpu9250
-	drivers/lsm303d
-	drivers/l3gd20
-	drivers/hmc5883
-	drivers/ms5611
-	#drivers/mb12xx
-	#drivers/srf02
-	drivers/sf0x
-	drivers/ll40ls
+	drivers/tap_esc
 	drivers/trone
-	drivers/gps
-	drivers/pwm_out_sim
-	#drivers/hott
-	#drivers/hott/hott_telemetry
-	#drivers/hott/hott_sensors
-	#drivers/blinkm
-	drivers/airspeed
-	drivers/ets_airspeed
-	drivers/meas_airspeed
-	drivers/frsky_telemetry
+	drivers/vmount
 	modules/sensors
-	#drivers/mkblctrl
-	drivers/px4flow
-	#drivers/oreoled
-	#drivers/vmount
-	drivers/pwm_input
-	drivers/camera_trigger
-	drivers/bst
-	drivers/snapdragon_rc_pwm
-	drivers/lis3mdl
 
 	#
 	# System commands
@@ -72,40 +76,41 @@ set(config_module_list
 	#
 	# Testing
 	#
-	#drivers/sf0x/sf0x_tests
-	#drivers/test_ppm
+	drivers/sf0x/sf0x_tests
+	drivers/test_ppm
 	#lib/rc/rc_tests
-	#modules/commander/commander_tests
-	#modules/controllib_test
-	#modules/mavlink/mavlink_tests
-	#modules/unit_test
-	#modules/uORB/uORB_tests
-	#systemcmds/tests
+	modules/commander/commander_tests
+	modules/controllib_test
+	modules/mavlink/mavlink_tests
+	modules/mc_pos_control/mc_pos_control_tests
+	modules/unit_test
+	modules/uORB/uORB_tests
+	systemcmds/tests
 
 	#
 	# General system control
 	#
 	modules/commander
-	modules/load_mon
-	modules/navigator
-	modules/mavlink
 	modules/gpio_led
-	modules/uavcan
 	modules/land_detector
+	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
 	#
-	modules/fw_pos_control_l1
 	modules/fw_att_control
+	modules/fw_pos_control_l1
 	modules/mc_att_control
 	modules/mc_pos_control
 	modules/vtol_att_control
@@ -119,28 +124,28 @@ set(config_module_list
 	#
 	# Library modules
 	#
+	modules/dataman
 	modules/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
-	modules/dataman
 
 	#
 	# Libraries
 	#
 	lib/controllib
-	lib/mathlib
-	lib/mathlib/math/filter
+	lib/conversion
+	lib/DriverFramework/framework
 	lib/ecl
 	lib/external_lgpl
 	lib/geo
 	lib/geo_lookup
-	lib/conversion
 	lib/launchdetection
-	lib/terrain_estimation
+	lib/mathlib
+	lib/mathlib/math/filter
 	lib/runway_takeoff
 	lib/tailsitter_recovery
-	lib/DriverFramework/framework
+	lib/terrain_estimation
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
@@ -150,12 +155,12 @@ set(config_module_list
 	#
 	# OBC challenge
 	#
-	#modules/bottle_drop
+	modules/bottle_drop
 
 	#
 	# Rover apps
 	#
-	#examples/rover_steering_control
+	examples/rover_steering_control
 
 	#
 	# Demo apps
@@ -163,7 +168,7 @@ set(config_module_list
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
+	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -179,6 +184,9 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
+
+	# EKF
+	examples/ekf_att_pos_estimator
 )
 
 set(config_extra_builtin_cmds