diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board
index b5e2e23af3..f9961fd7bb 100644
--- a/boards/px4/fmu-v6xrt/default.px4board
+++ b/boards/px4/fmu-v6xrt/default.px4board
@@ -6,21 +6,30 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6"
+CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -32,14 +41,20 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_COMMON_UWB=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -57,11 +72,15 @@ 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_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board
index 639bac90a0..f754c54e36 100644
--- a/boards/px4/fmu-v6xrt/rover.px4board
+++ b/boards/px4/fmu-v6xrt/rover.px4board
@@ -1,11 +1,16 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 # CONFIG_EKF2_WIND is not set
 CONFIG_MODULES_DIFFERENTIAL_DRIVE=y