diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board
index 9b868eea8f..aaf1dc2c25 100644
--- a/boards/px4/fmu-v3/default.px4board
+++ b/boards/px4/fmu-v3/default.px4board
@@ -23,6 +23,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IMU_L3GD20=y
 CONFIG_DRIVERS_IMU_LSM303D=y
+CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board
index e81370562e..f77760fc78 100644
--- a/boards/px4/fmu-v4/default.px4board
+++ b/boards/px4/fmu-v4/default.px4board
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index 2be36f8fb0..61c6e38fdd 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
diff --git a/boards/px4/fmu-v5x/test.px4board b/boards/px4/fmu-v5x/test.px4board
index 5cf7e383ee..2e83219479 100644
--- a/boards/px4/fmu-v5x/test.px4board
+++ b/boards/px4/fmu-v5x/test.px4board
@@ -1,4 +1,5 @@
 CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_INS=n
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board
index 5051db9c2a..a6f041bf18 100644
--- a/boards/px4/fmu-v6c/default.px4board
+++ b/boards/px4/fmu-v6c/default.px4board
@@ -17,7 +17,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_INS_VECTORNAV=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index dab4ca6ff5..77972de484 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -25,6 +25,7 @@ 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_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y