diff --git a/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig b/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig
index a232720d9d..1d155b51f7 100644
--- a/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/socketcan/defconfig
@@ -11,7 +11,6 @@
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
-# CONFIG_NET_CAN_CANFD is not set
 # CONFIG_NET_ETHERNET is not set
 # CONFIG_NET_IPv4 is not set
 # CONFIG_NSH_DISABLEBG is not set
@@ -173,6 +172,7 @@ CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FDCAN2=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig
index 2d56f5f62f..75d193d1fa 100644
--- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig
+++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/socketcan/defconfig
@@ -116,8 +116,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
diff --git a/boards/mro/ctrl-zero-h7-oem/socketcan.px4board b/boards/mro/ctrl-zero-h7-oem/socketcan.px4board
index 38c3d18c2a..a6c5a12437 100644
--- a/boards/mro/ctrl-zero-h7-oem/socketcan.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/socketcan.px4board
@@ -1,7 +1,6 @@
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_DRIVERS_UAVCAN_V1=y
 CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_CLIENT=y
 CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
 CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
 CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
diff --git a/boards/px4/fmu-v5/uavcanv1.px4board b/boards/px4/fmu-v5/uavcanv1.px4board
index f9b60dd45f..680e06b703 100644
--- a/boards/px4/fmu-v5/uavcanv1.px4board
+++ b/boards/px4/fmu-v5/uavcanv1.px4board
@@ -4,4 +4,12 @@ CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_DRIVERS_UAVCAN_V1=y
 CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
 CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y