diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board
index 04a1175465..b531e66539 100644
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@@ -9,7 +9,6 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -66,7 +65,6 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults
index 870ac1af0a..2f2c8cfeae 100644
--- a/boards/ark/fmu-v6x/init/rc.board_defaults
+++ b/boards/ark/fmu-v6x/init/rc.board_defaults
@@ -16,6 +16,13 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
+param set-default SENS_EN_THERMAL 1
+param set-default SENS_TEMP_ID 2818058
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0
+
 if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
 then
 	param set-default SYS_USE_IO 0
diff --git a/boards/ark/fmu-v6x/init/rc.board_sensors b/boards/ark/fmu-v6x/init/rc.board_sensors
index 2b66a4d021..675457f812 100644
--- a/boards/ark/fmu-v6x/init/rc.board_sensors
+++ b/boards/ark/fmu-v6x/init/rc.board_sensors
@@ -8,6 +8,7 @@ if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X00500
 then
 	set HAVE_PM2 no
 fi
+
 if param compare -s ADC_ADS1115_EN 1
 then
 	ads1115 start -X
@@ -15,7 +16,6 @@ else
 	board_adc start
 fi
 
-
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -56,16 +56,10 @@ icm42688p -R 9 -s -b 2 start
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s -b 3 start
 
-# Internal magnetometer on I2c
+# Internal magnetometer on I2C
 bmm150 -I start
 
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
-
-# Possible internal Baro
+# Internal Baro on I2C
 bmp388 -I start
 
-# Baro on I2C3
-ms5611 -X start
-
 unset HAVE_PM2