diff --git a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig
index 84f167f7200..d76333ac474 100644
--- a/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig
+++ b/boards/px4/fmu-v6x/nuttx-config/bootloader/defconfig
@@ -15,7 +15,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H753II=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
@@ -44,7 +44,6 @@ CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_WRITABLE=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
@@ -53,15 +52,12 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
-CONFIG_MAX_WDOGPARMS=2
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_NFILE_STREAMS=3
-CONFIG_NPTHREAD_KEYS=4
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PREALLOC_WDOGS=50
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -87,7 +83,6 @@ CONFIG_STM32H7_USART3=y
 CONFIG_SYSTEMTICK_HOOK=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TIME_EXTENDED=y
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGSTP=y
diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
index 50a48a47681..5dadef6c55a 100644
--- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
@@ -27,11 +27,10 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H753II=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARCH_USE_MPU=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
@@ -88,11 +87,9 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MAX_TASKS=64
-CONFIG_MAX_WDOGPARMS=2
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
 CONFIG_MM_REGIONS=3
@@ -145,7 +142,6 @@ CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PREALLOC_WDOGS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
@@ -199,7 +195,6 @@ CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PHYADDR=0
 CONFIG_STM32H7_PHYSR=31
 CONFIG_STM32H7_PHYSR_100MBPS=0x8
 CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
@@ -245,7 +240,6 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TIME_EXTENDED=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
diff --git a/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld b/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld
index 28e44e4ebeb..cbdae520504 100644
--- a/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld
+++ b/boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld
@@ -158,11 +158,6 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
 
-		/*
-		 * This is a hack to make the newlib libm __errno() call
-		 * use the NuttX get_errno_ptr() function.
-		 */
-		__errno = get_errno_ptr;
 	} > flash
 
 	/*
diff --git a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld
index 011553e3301..e0e6f6b20e2 100644
--- a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld
+++ b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld
@@ -156,11 +156,6 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);
 
-		/*
-		 * This is a hack to make the newlib libm __errno() call
-		 * use the NuttX get_errno_ptr() function.
-		 */
-		__errno = get_errno_ptr;
 	} > flash
 
 	/*
diff --git a/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig
index db873114c33..4e3b658dbbc 100644
--- a/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig
@@ -89,11 +89,9 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MAX_TASKS=64
-CONFIG_MAX_WDOGPARMS=2
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
 CONFIG_MM_REGIONS=3
@@ -146,7 +144,6 @@ CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PREALLOC_WDOGS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
diff --git a/boards/px4/fmu-v6x/src/bootloader_main.c b/boards/px4/fmu-v6x/src/bootloader_main.c
index ba458389b8d..5d09e24c58b 100644
--- a/boards/px4/fmu-v6x/src/bootloader_main.c
+++ b/boards/px4/fmu-v6x/src/bootloader_main.c
@@ -45,7 +45,7 @@
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
-#include "up_internal.h"
+#include "arm_internal.h"
 
 extern int sercon_main(int c, char **argv);
 
diff --git a/boards/px4/fmu-v6x/src/can.c b/boards/px4/fmu-v6x/src/can.c
index f275c308651..3834074f370 100644
--- a/boards/px4/fmu-v6x/src/can.c
+++ b/boards/px4/fmu-v6x/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "up_arch.h"
+#include "arm_arch.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v6x/src/init.c b/boards/px4/fmu-v6x/src/init.c
index dcb37ee3998..45f2d21c053 100644
--- a/boards/px4/fmu-v6x/src/init.c
+++ b/boards/px4/fmu-v6x/src/init.c
@@ -63,7 +63,7 @@
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
-#include "up_internal.h"
+#include "arm_internal.h"
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
@@ -81,7 +81,7 @@
 /* Configuration ************************************************************/
 
 /*
- * Ideally we'd be able to get these from up_internal.h,
+ * Ideally we'd be able to get these from arm_internal.h,
  * but since we want to be able to disable the NuttX use
  * of leds for system indication at will and there is no
  * separate switch, we need to build independent of the
diff --git a/boards/px4/fmu-v6x/src/led.c b/boards/px4/fmu-v6x/src/led.c
index 33ae1ce0459..bff4b098640 100644
--- a/boards/px4/fmu-v6x/src/led.c
+++ b/boards/px4/fmu-v6x/src/led.c
@@ -49,7 +49,7 @@
 #include <arch/board/board.h>
 
 /*
- * Ideally we'd be able to get these from up_internal.h,
+ * Ideally we'd be able to get these from arm_internal.h,
  * but since we want to be able to disable the NuttX use
  * of leds for system indication at will and there is no
  * separate switch, we need to build independent of the
diff --git a/boards/px4/fmu-v6x/src/usb.c b/boards/px4/fmu-v6x/src/usb.c
index d1d99221442..9d5915c0e6d 100644
--- a/boards/px4/fmu-v6x/src/usb.c
+++ b/boards/px4/fmu-v6x/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <up_arch.h>
+#include <arm_arch.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>