diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board
index 9469be850c..e53ae83c88 100644
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@@ -15,9 +15,9 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_NXP_FXAS21002C=y
 CONFIG_DRIVERS_IMU_NXP_FXOS8701CQ=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index 51f550c233..8873fe41e6 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -70,12 +70,14 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 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_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -84,7 +86,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -111,4 +112,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_MAVLINK_DIALECT="development"
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index fae18d3855..84a8a47d4c 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -72,12 +72,12 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index 137aca8bb1..1c84ecfbe1 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -38,6 +38,7 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_REPLAY=y
@@ -50,7 +51,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board
index ccb3bb3ce9..b72da494da 100644
--- a/boards/scumaker/pilotpi/default.px4board
+++ b/boards/scumaker/pilotpi/default.px4board
@@ -17,7 +17,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
-CONFIG_PCA9685_EXTERNAL_CRYSTAL_FREQ=25000000
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y