diff --git a/boards/modalai/fc-v1/init/rc.board_defaults b/boards/modalai/fc-v1/init/rc.board_defaults
index e8abaa09b3..49b6ced3c8 100644
--- a/boards/modalai/fc-v1/init/rc.board_defaults
+++ b/boards/modalai/fc-v1/init/rc.board_defaults
@@ -19,7 +19,8 @@
 #
 
 
-# TELEM2
+# TELEM2 is used to connect to VOXL via the MAV_1 mavlink channel
+# MAV_0 & TELEM1 are left alone for use with SIK radio links
 param set-default MAV_1_CONFIG 102
 param set-default MAV_1_MODE 2
 param set-default SER_TEL2_BAUD 921600
diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board
index 23873aefa3..8a2a24e447 100644
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@@ -6,7 +6,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
diff --git a/boards/modalai/fc-v2/init/rc.board_defaults b/boards/modalai/fc-v2/init/rc.board_defaults
index e68faa0f40..c452275b75 100644
--- a/boards/modalai/fc-v2/init/rc.board_defaults
+++ b/boards/modalai/fc-v2/init/rc.board_defaults
@@ -2,3 +2,11 @@
 #
 # board specific defaults
 #------------------------------------------------------------------------------
+
+# Like FCV1, MAV_1 mavlink channel is used to talk to VOXL via onboard mode
+# unlike FCV1, TELEM1 is used to connect to VOXL instead of TELEM2
+param set-default MAV_0_CONFIG 0
+param set-default MAV_1_CONFIG 101
+param set-default MAV_1_MODE 2
+param set-default MAV_1_RATE 0
+param set-default SER_TEL1_BAUD 921600
diff --git a/boards/modalai/fc-v2/init/rc.board_sensors b/boards/modalai/fc-v2/init/rc.board_sensors
index ddc13ad5ef..e252d2eb92 100644
--- a/boards/modalai/fc-v2/init/rc.board_sensors
+++ b/boards/modalai/fc-v2/init/rc.board_sensors
@@ -24,4 +24,4 @@ icm42688p -s -b 2 -R 12 start
 bmm150 -I start
 
 # Internal I2C baro
-bmp388 -I start
+icp201xx -I start