diff --git a/boards/cuav/nora/nuttx-config/nsh/defconfig b/boards/cuav/nora/nuttx-config/nsh/defconfig
index 865c099a16..2d7e579de3 100644
--- a/boards/cuav/nora/nuttx-config/nsh/defconfig
+++ b/boards/cuav/nora/nuttx-config/nsh/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -71,6 +72,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -83,7 +85,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
diff --git a/boards/cuav/nora/src/init.c b/boards/cuav/nora/src/init.c
index a1450d25bc..e0b747ec77 100644
--- a/boards/cuav/nora/src/init.c
+++ b/boards/cuav/nora/src/init.c
@@ -129,16 +129,6 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/cuav/x7pro/nuttx-config/nsh/defconfig b/boards/cuav/x7pro/nuttx-config/nsh/defconfig
index 07f1b76285..46afaee16b 100644
--- a/boards/cuav/x7pro/nuttx-config/nsh/defconfig
+++ b/boards/cuav/x7pro/nuttx-config/nsh/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -71,6 +72,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -83,7 +85,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
diff --git a/boards/cuav/x7pro/src/init.c b/boards/cuav/x7pro/src/init.c
index a1450d25bc..e0b747ec77 100644
--- a/boards/cuav/x7pro/src/init.c
+++ b/boards/cuav/x7pro/src/init.c
@@ -129,16 +129,6 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig
index 2fd68949e9..874a2b0cdf 100644
--- a/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig
@@ -39,6 +39,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
diff --git a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
index 90026f7289..615b44855c 100644
--- a/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/test/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
diff --git a/boards/cubepilot/cubeorange/src/init.c b/boards/cubepilot/cubeorange/src/init.c
index 392c4b3654..0137c982e0 100644
--- a/boards/cubepilot/cubeorange/src/init.c
+++ b/boards/cubepilot/cubeorange/src/init.c
@@ -120,16 +120,6 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
index b01e910029..343ba7342f 100644
--- a/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
+++ b/boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -72,6 +73,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -84,7 +86,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
diff --git a/boards/holybro/durandal-v1/src/init.c b/boards/holybro/durandal-v1/src/init.c
index 902c3a9656..06aeabceb5 100644
--- a/boards/holybro/durandal-v1/src/init.c
+++ b/boards/holybro/durandal-v1/src/init.c
@@ -162,16 +162,6 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	board_on_reset(-1); /* Reset PWM first thing */
 
 	/* configure LEDs */
diff --git a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig
index 78156847c8..faa9101d83 100644
--- a/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -73,6 +74,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -85,7 +87,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c
index 02a4a2eb7a..78ff910ae1 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/init.c
@@ -123,16 +123,6 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig
index 947d1975e8..edd39d3174 100644
--- a/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -73,6 +74,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -85,7 +87,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c
index 02a4a2eb7a..78ff910ae1 100644
--- a/boards/mro/ctrl-zero-h7/src/init.c
+++ b/boards/mro/ctrl-zero-h7/src/init.c
@@ -123,16 +123,6 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig
index dcca131152..7304565277 100644
--- a/boards/mro/pixracerpro/nuttx-config/nsh/defconfig
+++ b/boards/mro/pixracerpro/nuttx-config/nsh/defconfig
@@ -38,6 +38,7 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -71,6 +72,7 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -83,7 +85,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c
index 7085a45233..3ff174a3e3 100644
--- a/boards/mro/pixracerpro/src/init.c
+++ b/boards/mro/pixracerpro/src/init.c
@@ -123,16 +123,6 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
-	// clear all existing MPU configuration from bootloader
-	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
-		putreg32(region, MPU_RNR);
-		putreg32(0, MPU_RBAR);
-		putreg32(0, MPU_RASR);
-
-		// save
-		putreg32(0, MPU_CTRL);
-	}
-
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index ca1938fbcc..769bc6a6c3 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit ca1938fbcccc1a0a3429b5d141a92324e790b025
+Subproject commit 769bc6a6c3209ab5f7a0bbf651f38dd0aea4f74b