diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
index 2b7828cc5d..8e0b5bd042 100644
--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@@ -54,6 +54,7 @@ jobs:
           nxp_fmuk66-e,
           nxp_fmuk66-v3,
           nxp_fmurt1062-v1,
+          nxp_mr-canhubk3,
           nxp_ucans32k146,
           omnibus_f4sd,
           px4_fmu-v2,
diff --git a/boards/nxp/mr-canhubk3/fmu.px4board b/boards/nxp/mr-canhubk3/fmu.px4board
index 6d0a6d31d7..b22d389893 100644
--- a/boards/nxp/mr-canhubk3/fmu.px4board
+++ b/boards/nxp/mr-canhubk3/fmu.px4board
@@ -21,6 +21,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
diff --git a/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig b/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig
index d2d4d7ea1d..c82d120bce 100644
--- a/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig
+++ b/boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig
@@ -152,6 +152,7 @@ CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
 CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
diff --git a/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig b/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig
index c72a872773..1ef8ce095c 100644
--- a/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig
+++ b/boards/nxp/mr-canhubk3/nuttx-config/sysview/defconfig
@@ -71,6 +71,7 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=14539
 CONFIG_BUILTIN=y
 CONFIG_DEBUG_BUSFAULT=y
@@ -152,6 +153,7 @@ CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
 CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
@@ -248,6 +250,7 @@ CONFIG_S32K3XX_LPUART9=y
 CONFIG_S32K3XX_LPUART_INVERT=y
 CONFIG_S32K3XX_LPUART_SINGLEWIRE=y
 CONFIG_S32K3XX_PROGMEM=y
+CONFIG_S32K3XX_PROGMEM_SIZE=120
 CONFIG_S32K3XX_QSPI=y
 CONFIG_S32K3XX_WKPUINTS=y
 CONFIG_SCHED_HPWORK=y
diff --git a/boards/nxp/mr-canhubk3/sysview.px4board b/boards/nxp/mr-canhubk3/sysview.px4board
index 828d2912c1..b22d389893 100644
--- a/boards/nxp/mr-canhubk3/sysview.px4board
+++ b/boards/nxp/mr-canhubk3/sysview.px4board
@@ -2,12 +2,14 @@
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_UAVCAN=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -19,6 +21,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
@@ -41,6 +44,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PERF=y