diff --git a/boards/ark/septentrio-gps/default.px4board b/boards/ark/septentrio-gps/default.px4board
index 1480a0b4da..b62a95d689 100644
--- a/boards/ark/septentrio-gps/default.px4board
+++ b/boards/ark/septentrio-gps/default.px4board
@@ -20,6 +20,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
diff --git a/boards/ark/septentrio-gps/init/rc.board_defaults b/boards/ark/septentrio-gps/init/rc.board_defaults
index c50d816026..0db1234ce9 100644
--- a/boards/ark/septentrio-gps/init/rc.board_defaults
+++ b/boards/ark/septentrio-gps/init/rc.board_defaults
@@ -11,3 +11,5 @@ param set-default SENS_IMU_CLPNOTI 0
 
 safety_button start
 tone_alarm start
+
+ekf2 start
diff --git a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig
index 6b3c2c9518..0208af2cac 100644
--- a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig
+++ b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig
@@ -50,6 +50,7 @@ CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
diff --git a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig
index 81007d30a4..176ae3eccc 100644
--- a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig
+++ b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig
@@ -123,6 +123,7 @@ CONFIG_STM32_ADC1=y
 CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
 CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
 CONFIG_STM32_I2C1=y
diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld
index cbf9fddc32..48a59fe92d 100644
--- a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld
+++ b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld
@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000
diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld
index d8573d2bcd..2f4769b8f5 100644
--- a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld
+++ b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld
@@ -33,7 +33,7 @@
  *
  ****************************************************************************/
 
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and
  * 256Kb of SRAM. SRAM is split up into three blocks:
  *
  * 1) 112Kb of SRAM beginning at address 0x2000:0000