diff --git a/Kconfig b/Kconfig
index e8bb6b982a..d291399dd8 100644
--- a/Kconfig
+++ b/Kconfig
@@ -7,112 +7,122 @@ comment "Vendor: $(VENDOR)"
 comment "Model: $(MODEL)"
 comment "Label: $(LABEL)"
 
-choice
-    prompt "Platform"
-    default PLATFORM_NUTTX
-    config PLATFORM_NUTTX
-        bool "nuttx"
-    config PLATFORM_POSIX
-        bool "posix"
-    config PLATFORM_QURT
-        bool "qurt"
-endchoice
+menu "Toolchain"
+    choice
+        prompt "Platform"
+        default PLATFORM_NUTTX
+        config PLATFORM_NUTTX
+            bool "nuttx"
+        config PLATFORM_POSIX
+            bool "posix"
+        config PLATFORM_QURT
+            bool "qurt"
+    endchoice
 
-config BOARD_PLATFORM
-    string
-    default "nuttx" if PLATFORM_NUTTX
-    default "posix" if PLATFORM_POSIX
-    default "qurt" if PLATFORM_QURT
+    config BOARD_PLATFORM
+        string
+        default "nuttx" if PLATFORM_NUTTX
+        default "posix" if PLATFORM_POSIX
+        default "qurt" if PLATFORM_QURT
 
-choice
-    prompt "Toolchain"
-    default TOOLCHAIN_ARM_NONE_EABI
-    config TOOLCHAIN_ARM_NONE_EABI
-        bool "arm-none-eabi"
-    config TOOLCHAIN_RISV64
-        bool "riscv64-unknown-elf"
-    help
-        cmake toolchain
-endchoice
+    choice
+        prompt "Toolchain"
+        default TOOLCHAIN_ARM_NONE_EABI
+        config TOOLCHAIN_ARM_NONE_EABI
+            bool "arm-none-eabi"
+        config TOOLCHAIN_RISV64
+            bool "riscv64-unknown-elf"
+        help
+            cmake toolchain
+    endchoice
 
-config BOARD_TOOLCHAIN
-    string
-    default "arm-none-eabi" if TOOLCHAIN_ARM_NONE_EABI
-    default "riscv64-unknown-elf" if TOOLCHAIN_RISV64
+    config BOARD_TOOLCHAIN
+        string
+        default "arm-none-eabi" if TOOLCHAIN_ARM_NONE_EABI
+        default "riscv64-unknown-elf" if TOOLCHAIN_RISV64
 
-choice
-    prompt "Architecture"
-    config ARCHITECTURE_CORTEX_M3
-        bool "cortex-m3"
-    config ARCHITECTURE_CORTEX_M4
-        bool "cortex-m4"
-    config ARCHITECTURE_CORTEX_M7
-        bool "cortex-m7"
-    config ARCHITECTURE_CORTEX_A8
-        bool "cortex-a8"
-    config ARCHITECTURE_CORTEX_A53
-        bool "cortex-a53"
-    help
-        name of the CPU CMake is building for (used by the toolchain)
-endchoice
+    choice
+        prompt "Architecture"
+        config ARCHITECTURE_CORTEX_M3
+            bool "cortex-m3"
+        config ARCHITECTURE_CORTEX_M4
+            bool "cortex-m4"
+        config ARCHITECTURE_CORTEX_M7
+            bool "cortex-m7"
+        config ARCHITECTURE_CORTEX_A8
+            bool "cortex-a8"
+        config ARCHITECTURE_CORTEX_A53
+            bool "cortex-a53"
+        help
+            name of the CPU CMake is building for (used by the toolchain)
+    endchoice
 
-config BOARD_ARCHITECTURE
-    string
-    default "cortex-m3" if ARCHITECTURE_CORTEX_M3
-    default "cortex-m4" if ARCHITECTURE_CORTEX_M4
-    default "cortex-m7" if ARCHITECTURE_CORTEX_M7
-    default "cortex-a8" if ARCHITECTURE_CORTEX_A8
-    default "cortex-a53" if ARCHITECTURE_CORTEX_A53
+    config BOARD_ARCHITECTURE
+        string
+        default "cortex-m3" if ARCHITECTURE_CORTEX_M3
+        default "cortex-m4" if ARCHITECTURE_CORTEX_M4
+        default "cortex-m7" if ARCHITECTURE_CORTEX_M7
+        default "cortex-a8" if ARCHITECTURE_CORTEX_A8
+        default "cortex-a53" if ARCHITECTURE_CORTEX_A53
 
-config BOARD_ROMFSROOT
-    string "ROMFSROOT"
-    default "px4fmu_common"
-    help
-        relative path to the ROMFS root directory
+    config BOARD_ROMFSROOT
+        string "ROMFSROOT"
+        default "px4fmu_common"
+        help
+            relative path to the ROMFS root directory
 
-config BOARD_BUILD_BOOTLOADER
-    bool "Enable bootloader"
-    help
-        flag to enable building and including the bootloader config
+    config BOARD_BUILD_BOOTLOADER
+        bool "Enable bootloader"
+        help
+            flag to enable building and including the bootloader config
 
-config BOARD_IO
-    string "IO board name"
-    help
-        name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
+    config BOARD_IO
+        string "IO board name"
+        help
+            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
 
-config BOARD_CONSTRAINED_FLASH
-    bool "Contrained flash"
-    help
-        flag to enable constrained flash options (eg limit init script status text)
+    config BOARD_CONSTRAINED_FLASH
+        bool "Contrained flash"
+        help
+            flag to enable constrained flash options (eg limit init script status text)
 
-if BOARD_CONSTRAINED_FLASH
+    if BOARD_CONSTRAINED_FLASH
 
-    config BOARD_NO_HELP
-    bool "No help"
-    help
-        optional condition flag to disable help text on constrained flash systems
+        config BOARD_NO_HELP
+        bool "No help"
+        help
+            optional condition flag to disable help text on constrained flash systems
 
-endif #BOARD_CONSTRAINED_FLASH
+    endif #BOARD_CONSTRAINED_FLASH
 
-config BOARD_CONSTRAINED_MEMORY
-    bool "Contrained memory"
-    help
-        flag to enable constrained memory options (eg limit maximum number of uORB publications)
+    config BOARD_CONSTRAINED_MEMORY
+        bool "Contrained memory"
+        help
+            flag to enable constrained memory options (eg limit maximum number of uORB publications)
 
-config BOARD_EXTERNAL_METADATA
-    bool "External metadata"
-    help
-        flag to exclude metadata to reduce flash
+    config BOARD_EXTERNAL_METADATA
+        bool "External metadata"
+        help
+            flag to exclude metadata to reduce flash
+
+    config BOARD_LINKER_PREFIX
+        string "linker prefix"
+        help
+            optional to prefix on the Linker script.
+
+    config BOARD_COMPILE_DEFINITIONS
+        string "add custom compile definitions"
+        help
+            add custom compile defitions to this specific target
+endmenu #Toolchain
 
 config BOARD_TESTING
     bool "Testing"
+    select SYSTEMCMDS_MICROBENCH
+    select SYSTEMCMDS_TESTS
     help
         flag to enable automatic inclusion of PX4 testing modules
 
-config BOARD_LINKER_PREFIX
-    bool "PX4 board linker prefix"
-    help
-        optional to prefix on the Linker script.
 
 config BOARD_ETHERNET
     bool "Ethernet"
diff --git a/Tools/kconfig/diffconfig.py b/Tools/kconfig/diffconfig.py
index cee11613d6..27e94f7402 100755
--- a/Tools/kconfig/diffconfig.py
+++ b/Tools/kconfig/diffconfig.py
@@ -74,33 +74,10 @@ def print_config(op, config, value, new_value):
         else:
             print(" %s %s -> %s" % (config, value, new_value))
 
-def main():
+def main(merge, configa_filename, configb_filename):
     global merge_style
 
-    # parse command line args
-    if ("-h" in sys.argv or "--help" in sys.argv):
-        usage()
-
-    merge_style = 0
-    if "-m" in sys.argv:
-        merge_style = 1
-        sys.argv.remove("-m")
-
-    argc = len(sys.argv)
-    if not (argc==1 or argc == 3):
-        print("Error: incorrect number of arguments or unrecognized option")
-        usage()
-
-    if argc == 1:
-        # if no filenames given, assume .config and .config.old
-        build_dir=""
-        if "KBUILD_OUTPUT" in os.environ:
-            build_dir = os.environ["KBUILD_OUTPUT"]+"/"
-        configa_filename = build_dir + ".config.old"
-        configb_filename = build_dir + ".config"
-    else:
-        configa_filename = sys.argv[1]
-        configb_filename = sys.argv[2]
+    merge_style = merge
 
     try:
         a = readconfig(open(configa_filename))
@@ -138,4 +115,31 @@ def main():
     for config in new:
         print_config("+", config, None, b[config])
 
-main()
+if __name__ == '__main__':
+
+    # parse command line args
+    if ("-h" in sys.argv or "--help" in sys.argv):
+        usage()
+
+    merge_style = 0
+    if "-m" in sys.argv:
+        merge_style = 1
+        sys.argv.remove("-m")
+
+    argc = len(sys.argv)
+    if not (argc==1 or argc == 3):
+        print("Error: incorrect number of arguments or unrecognized option")
+        usage()
+
+    if argc == 1:
+        # if no filenames given, assume .config and .config.old
+        build_dir=""
+        if "KBUILD_OUTPUT" in os.environ:
+            build_dir = os.environ["KBUILD_OUTPUT"]+"/"
+        configa_filename = build_dir + ".config.old"
+        configb_filename = build_dir + ".config"
+    else:
+        configa_filename = sys.argv[1]
+        configb_filename = sys.argv[2]
+
+    main(merge_style, configa_filename, configb_filename)
diff --git a/Tools/setup/macos.sh b/Tools/setup/macos.sh
index 12f3689e3a..5133b66af0 100755
--- a/Tools/setup/macos.sh
+++ b/Tools/setup/macos.sh
@@ -33,6 +33,7 @@ if [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 
 	brew tap PX4/px4
 	brew reinstall px4-dev
+	brew install ncurses
 else
 	if brew ls --versions px4-dev > /dev/null; then
 		echo "px4-dev already installed"
@@ -40,6 +41,7 @@ else
 		echo "Installing PX4 general dependencies (homebrew px4-dev)"
 		brew tap PX4/px4
 		brew install px4-dev
+		brew install ncurses
 	fi
 fi
 
diff --git a/boards/cuav/can-gps-v1/default.cmake b/boards/cuav/can-gps-v1/default.cmake
deleted file mode 100644
index b9da21cef1..0000000000
--- a/boards/cuav/can-gps-v1/default.cmake
+++ /dev/null
@@ -1,3 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-add_definitions(-DUSE_S_RGB_LED_DMA)
diff --git a/boards/cuav/can-gps-v1/default.px4board b/boards/cuav/can-gps-v1/default.px4board
index ee98336955..9157eef8e3 100644
--- a/boards/cuav/can-gps-v1/default.px4board
+++ b/boards/cuav/can-gps-v1/default.px4board
@@ -1,6 +1,7 @@
 CONFIG_ARCHITECTURE_CORTEX_M4=y
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board
index 81aeccbaed..b66322e9e2 100644
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@@ -6,7 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -22,7 +22,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
-CONFIG_DRIVERS_MAGNETOMETER=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
@@ -41,7 +41,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_DRIVERS_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_INTERFACES=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
diff --git a/boards/nxp/fmuk66-v3/test.px4board b/boards/nxp/fmuk66-v3/test.px4board
index 3cf3855db8..2733bcf2a9 100644
--- a/boards/nxp/fmuk66-v3/test.px4board
+++ b/boards/nxp/fmuk66-v3/test.px4board
@@ -9,5 +9,3 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
-CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_TESTS=y
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 928e6308a0..07a3412db7 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -291,6 +291,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		set(PX4_BOARD_LINKER_PREFIX "" CACHE STRING "PX4 board linker prefix" FORCE)
 	endif()
 
+	if(COMPILE_DEFINITIONS)
+        add_definitions( ${COMPILE_DEFINITIONS})
+	endif()
+
 	include(px4_impl_os)
 	px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
 
diff --git a/cmake/px4_config.cmake b/cmake/px4_config.cmake
index 2645468bd1..6cf8b8039f 100644
--- a/cmake/px4_config.cmake
+++ b/cmake/px4_config.cmake
@@ -63,7 +63,6 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-                set(PX4_BOARD_CMAKE "${PX4_SOURCE_DIR}/boards/${vendor}/${model}/default.cmake" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
                 set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
                 set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
                 set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
@@ -76,7 +75,6 @@ if(NOT PX4_CONFIG_FILE)
 			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				set(PX4_BOARD_CMAKE "${PX4_SOURCE_DIR}/boards/${vendor}/${model}/default.cmake" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
                 set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
                 set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
@@ -110,6 +108,6 @@ set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
 
 set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
 
-if(EXISTS ${PX4_BOARD_CMAKE})
-include (${PX4_BOARD_CMAKE})
+if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity")
+include ("${PX4_BOARD_DIR}/uavcan_board_identity")
 endif()
diff --git a/src/drivers/barometer/Kconfig b/src/drivers/barometer/Kconfig
index 7ec3f14eaf..8a7f8c1a0f 100644
--- a/src/drivers/barometer/Kconfig
+++ b/src/drivers/barometer/Kconfig
@@ -1,9 +1,14 @@
-menuconfig DRIVERS_BAROMETER
-	bool "barometer"
-	default n
-	---help---
-		Enable support for barometer
-
-if DRIVERS_BAROMETER
-rsource "*/Kconfig"
-endif #DRIVERS_BAROMETER
+menu "barometer"
+    menuconfig COMMON_BAROMETERS
+        bool "Common barometers"
+        default n
+        select DRIVERS_BAROMETER_BMP280
+        select DRIVERS_BAROMETER_BMP388
+        select DRIVERS_BAROMETER_DPS310
+        select DRIVERS_BAROMETER_LPC22HB
+        select DRIVERS_BAROMETER_LPS33HW
+        select DRIVERS_BAROMETER_MS5611
+        ---help---
+            Enable default set of barometer drivers
+    rsource "*/Kconfig"
+endmenu #barometer
diff --git a/src/drivers/imu/Kconfig b/src/drivers/imu/Kconfig
index 5d59ecaf87..9a1de9995a 100644
--- a/src/drivers/imu/Kconfig
+++ b/src/drivers/imu/Kconfig
@@ -1,3 +1,30 @@
 menu "IMU"
-rsource "*/Kconfig"
+    menuconfig COMMON_IMU
+        bool "Common IMU's"
+        default n
+        select DRIVERS_IMU_ADIS16477
+        select DRIVERS_IMU_ADIS16497
+        select DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
+        select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
+        select DRIVERS_IMU_BOSCH_BMI055
+        select DRIVERS_IMU_BOSCH_BMI088
+        select DRIVERS_IMU_FXAS21002C
+        select DRIVERS_IMU_FXOS8701CQ
+        select DRIVERS_IMU_INVENSENSE_ICM20602
+        select DRIVERS_IMU_INVENSENSE_ICM20608G
+        select DRIVERS_IMU_INVENSENSE_ICM20649
+        select DRIVERS_IMU_INVENSENSE_ICM20689
+        #select DRIVERS_IMU_INVENSENSE_ICM20948
+        select DRIVERS_IMU_INVENSENSE_ICM40609D
+        select DRIVERS_IMU_INVENSENSE_ICM42605
+        select DRIVERS_IMU_INVENSENSE_ICM42688P
+        select DRIVERS_IMU_INVENSENSE_MPU6000
+        select DRIVERS_IMU_INVENSENSE_MPU6500
+        select DRIVERS_IMU_INVENSENSE_MPU9250
+        select DRIVERS_IMU_L3GD20
+        select DRIVERS_IMU_LSM303D
+        select DRIVERS_IMU_ST
+        ---help---
+            Enable default set of IMU drivers
+    rsource "*/Kconfig"
 endmenu
diff --git a/src/drivers/magnetometer/Kconfig b/src/drivers/magnetometer/Kconfig
index 003347a33f..1285915080 100644
--- a/src/drivers/magnetometer/Kconfig
+++ b/src/drivers/magnetometer/Kconfig
@@ -1,9 +1,20 @@
-menuconfig DRIVERS_MAGNETOMETER
-	bool "Magnetometer"
-	default n
-	---help---
-		Enable support for all available magnetometer drivers
-		
-if DRIVERS_MAGNETOMETER
-rsource "*/Kconfig"
-endif #DRIVERS_MAGNETOMETER
+menu "Magnetometer"
+    menuconfig COMMON_MAGNETOMETER
+        bool "Common Magnetometer's"
+        default n
+        select DRIVERS_MAGNETOMETER_AKM_AK8963
+        select DRIVERS_MAGNETOMETER_AKM_AK09916
+        select DRIVERS_MAGNETOMETER_BOSCH_BMM150
+        select DRIVERS_MAGNETOMETER_HMC5883
+        select DRIVERS_MAGNETOMETER_QMC5883L
+        select DRIVERS_MAGNETOMETER_ISENTEK_IST8308
+        select DRIVERS_MAGNETOMETER_ISENTEK_IST8310
+        select DRIVERS_MAGNETOMETER_LIS2MDL
+        select DRIVERS_MAGNETOMETER_LIS3MDL
+        select DRIVERS_MAGNETOMETER_LSM303AGR
+        select DRIVERS_MAGNETOMETER_RM3100
+        select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
+        ---help---
+            Enable default set of magnetometer drivers
+    rsource "*/Kconfig"
+endmenu
diff --git a/src/drivers/magnetometer/akm/Kconfig b/src/drivers/magnetometer/akm/Kconfig
index aa1f053bf3..f40d0a6408 100644
--- a/src/drivers/magnetometer/akm/Kconfig
+++ b/src/drivers/magnetometer/akm/Kconfig
@@ -1,5 +1,3 @@
-menuconfig DRIVERS_MAGNETOMETER_AKM
-	bool "akm"
-	default n
-	---help---
-		Enable support for akm
\ No newline at end of file
+menu "AKM"
+    rsource "*/Kconfig"
+endmenu
diff --git a/src/drivers/magnetometer/akm/ak09916/Kconfig b/src/drivers/magnetometer/akm/ak09916/Kconfig
new file mode 100644
index 0000000000..6802acc381
--- /dev/null
+++ b/src/drivers/magnetometer/akm/ak09916/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_AKM_AK09916
+	bool "ak09916"
+	default n
+	---help---
+		Enable support for ak09916
diff --git a/src/drivers/magnetometer/akm/ak8963/Kconfig b/src/drivers/magnetometer/akm/ak8963/Kconfig
new file mode 100644
index 0000000000..216621100f
--- /dev/null
+++ b/src/drivers/magnetometer/akm/ak8963/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_AKM_AK8963
+	bool "ak8963"
+	default n
+	---help---
+		Enable support for ak8963
diff --git a/src/drivers/magnetometer/bosch/Kconfig b/src/drivers/magnetometer/bosch/Kconfig
index 155ab7f995..a12dbffcfe 100644
--- a/src/drivers/magnetometer/bosch/Kconfig
+++ b/src/drivers/magnetometer/bosch/Kconfig
@@ -1,5 +1,3 @@
-menuconfig DRIVERS_MAGNETOMETER_BOSCH
-	bool "bosch"
-	default n
-	---help---
-		Enable support for bosch
\ No newline at end of file
+menu "Bosch"
+    rsource "*/Kconfig"
+endmenu
diff --git a/src/drivers/magnetometer/bosch/bmm150/Kconfig b/src/drivers/magnetometer/bosch/bmm150/Kconfig
new file mode 100644
index 0000000000..e44e684bf8
--- /dev/null
+++ b/src/drivers/magnetometer/bosch/bmm150/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_BOSCH_BMM150
+	bool "bmm150"
+	default n
+	---help---
+		Enable support for bosch bmm150
diff --git a/src/drivers/magnetometer/isentek/Kconfig b/src/drivers/magnetometer/isentek/Kconfig
index d556143b40..a30e5f58ff 100644
--- a/src/drivers/magnetometer/isentek/Kconfig
+++ b/src/drivers/magnetometer/isentek/Kconfig
@@ -1,5 +1,3 @@
-menuconfig DRIVERS_MAGNETOMETER_ISENTEK
-	bool "isentek"
-	default n
-	---help---
-		Enable support for isentek
\ No newline at end of file
+menu "Isentek"
+rsource "*/Kconfig"
+endmenu #Isentek
diff --git a/src/drivers/magnetometer/isentek/ist8308/Kconfig b/src/drivers/magnetometer/isentek/ist8308/Kconfig
new file mode 100644
index 0000000000..a79ed1d71b
--- /dev/null
+++ b/src/drivers/magnetometer/isentek/ist8308/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_ISENTEK_IST8308
+	bool "IST8308"
+	default n
+	---help---
+		Enable support for isentek IST8308
diff --git a/src/drivers/magnetometer/isentek/ist8310/Kconfig b/src/drivers/magnetometer/isentek/ist8310/Kconfig
new file mode 100644
index 0000000000..f5466b9766
--- /dev/null
+++ b/src/drivers/magnetometer/isentek/ist8310/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_ISENTEK_IST8310
+	bool "IST8310"
+	default n
+	---help---
+		Enable support for isentek IST8310
diff --git a/src/drivers/magnetometer/vtrantech/Kconfig b/src/drivers/magnetometer/vtrantech/Kconfig
new file mode 100644
index 0000000000..fdfea7f0cf
--- /dev/null
+++ b/src/drivers/magnetometer/vtrantech/Kconfig
@@ -0,0 +1,3 @@
+menu "Vtrantech"
+rsource "*/Kconfig"
+endmenu #Vtrantech
diff --git a/src/drivers/magnetometer/vtrantech/vcm1193l/Kconfig b/src/drivers/magnetometer/vtrantech/vcm1193l/Kconfig
new file mode 100644
index 0000000000..32025a2694
--- /dev/null
+++ b/src/drivers/magnetometer/vtrantech/vcm1193l/Kconfig
@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
+	bool "VCM1193L"
+	default n
+	---help---
+		Enable support for Vtrantech VCM1193L