diff --git a/boards/px4/esc-v1/nuttx-config/Kconfig b/boards/px4/esc-v1/nuttx-config/Kconfig
index 4b7aa9e2d1..7518b0cdab 100644
--- a/boards/px4/esc-v1/nuttx-config/Kconfig
+++ b/boards/px4/esc-v1/nuttx-config/Kconfig
@@ -20,3 +20,9 @@ config BOARD_USE_PROBES
 		Select to use GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals	from selected drivers.
 
 endif
+
+# Hack to ensure ARCH_MATH_H is kept
+config BOARD_HAVE_MATH_H
+	bool "Provide ARCH math.h (selects ARCH_HAVE_MATH_H)"
+	default y
+	select ARCH_HAVE_MATH_H
diff --git a/boards/px4/esc-v1/nuttx-config/drivers/Kconfig b/boards/px4/esc-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/boards/px4/esc-v1/nuttx-config/nsh/defconfig b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
index fb6956c3fb..ab80aeee52 100644
--- a/boards/px4/esc-v1/nuttx-config/nsh/defconfig
+++ b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_NSH_DISABLEBG is not set
@@ -20,8 +27,11 @@
 # CONFIG_NSH_DISABLE_UNAME is not set
 # CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F446R=y
 CONFIG_ARCH_MATH_H=y
@@ -30,7 +40,6 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CUSTOM_LEDS=y
-CONFIG_BOARD_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=5483
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y