diff --git a/boards/nxp/fmurt1170-v1/nuttx-config/nsh/defconfig b/boards/nxp/fmurt1170-v1/nuttx-config/nsh/defconfig
index 959fd4b7a1..10638c30e2 100644
--- a/boards/nxp/fmurt1170-v1/nuttx-config/nsh/defconfig
+++ b/boards/nxp/fmurt1170-v1/nuttx-config/nsh/defconfig
@@ -17,8 +17,9 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="imxrt"
 CONFIG_ARCH_CHIP_IMXRT=y
 CONFIG_ARCH_CHIP_MIMXRT1176DVMAA=y
-CONFIG_ARCH_INTERRUPTSTACK=1024
+CONFIG_ARCH_INTERRUPTSTACK=2048
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
@@ -29,7 +30,6 @@ CONFIG_BOARD_BOOTLOADER_INVALID_FCB=y
 CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_FORCE_ALIGNMENT=y
 CONFIG_BOARD_LOOPSPERMSEC=104926
-CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
@@ -70,8 +70,8 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=1750
-CONFIG_IMXRT_DTCM_HEAP=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_DTCM=0
 CONFIG_IMXRT_EDMA=y
 CONFIG_IMXRT_EDMA_EDBG=y
 CONFIG_IMXRT_EDMA_ELINK=y
diff --git a/boards/nxp/fmurt1170-v1/src/init.c b/boards/nxp/fmurt1170-v1/src/init.c
index 43f478557c..54c2a8d692 100644
--- a/boards/nxp/fmurt1170-v1/src/init.c
+++ b/boards/nxp/fmurt1170-v1/src/init.c
@@ -287,6 +287,8 @@ __EXPORT void imxrt_boardinitialize(void)
  *   any failure to indicate the nature of the failure.
  *
  ****************************************************************************/
+static volatile bool g_debug = false;
+volatile bool g_debug_loop_on_fault = true;
 
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
@@ -332,7 +334,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if defined(SERIAL_HAVE_RXDMA)
+#if defined(SERIAL_HAVE_RXDMA) // Needed???
 	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL);
@@ -345,14 +347,16 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	led_off(LED_GREEN);
 	led_off(LED_BLUE);
 
+	if (g_debug) {
 #if defined(CONFIG_IMXRT_USDHC)
-	ret = fmurt1170_usdhc_initialize();
+		ret = fmurt1170_usdhc_initialize();
 
-	if (ret != OK) {
-		led_on(LED_RED);
-	}
+		if (ret != OK) {
+			led_on(LED_RED);
+		}
 
 #endif
+	}
 
 	ret = imxrt_flexspi_fram_initialize();