diff --git a/boards/cuav/nora/default.cmake b/boards/cuav/nora/default.cmake
index 108685fbd4..183b5114ec 100644
--- a/boards/cuav/nora/default.cmake
+++ b/boards/cuav/nora/default.cmake
@@ -34,7 +34,7 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
-		#imu/invensense/icm20948 # required for ak09916 mag
+		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults
index 7491c4b0da..6969379f8b 100644
--- a/boards/cuav/nora/init/rc.board_defaults
+++ b/boards/cuav/nora/init/rc.board_defaults
@@ -3,6 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+# Enables the 2nd bank of mixers
+set AUX_BANK2 yes
+
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
diff --git a/boards/cuav/nora/nuttx-config/include/board.h b/boards/cuav/nora/nuttx-config/include/board.h
index 6d78671f81..ad4b16fbd5 100644
--- a/boards/cuav/nora/nuttx-config/include/board.h
+++ b/boards/cuav/nora/nuttx-config/include/board.h
@@ -250,25 +250,27 @@
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
 
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
 
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
 
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
 
-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
diff --git a/boards/cuav/nora/test.cmake b/boards/cuav/nora/test.cmake
index 95088a09d2..f6e63a088a 100644
--- a/boards/cuav/nora/test.cmake
+++ b/boards/cuav/nora/test.cmake
@@ -49,8 +49,8 @@ px4_add_board(
 		pwm_out_sim
 		pwm_out
 		rc_input
-		roboclaw
-		rpm
+		#roboclaw
+		#rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -84,7 +84,7 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
 		sih
 		temperature_compensation
diff --git a/boards/cuav/x7pro/default.cmake b/boards/cuav/x7pro/default.cmake
index ab6527ca2f..ac30fdade7 100644
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@@ -30,6 +30,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults
index bc7bbe1ec2..6969379f8b 100644
--- a/boards/cuav/x7pro/init/rc.board_defaults
+++ b/boards/cuav/x7pro/init/rc.board_defaults
@@ -17,7 +17,5 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-param set-default IMU_GYRO_FFT_EN 1
-
 rgbled_pwm start
 safety_button start
diff --git a/boards/cuav/x7pro/test.cmake b/boards/cuav/x7pro/test.cmake
index d875dc8182..8ab832f90e 100644
--- a/boards/cuav/x7pro/test.cmake
+++ b/boards/cuav/x7pro/test.cmake
@@ -31,6 +31,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
@@ -49,8 +50,8 @@ px4_add_board(
 		pwm_out_sim
 		pwm_out
 		rc_input
-		roboclaw
-		rpm
+		#roboclaw
+		#rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -84,7 +85,7 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
 		sih
 		temperature_compensation