diff --git a/boards/nxp/rddrone-uavcan146/default.cmake b/boards/nxp/rddrone-uavcan146/default.cmake
index 5cc156a6c9..96ef52a747 100644
--- a/boards/nxp/rddrone-uavcan146/default.cmake
+++ b/boards/nxp/rddrone-uavcan146/default.cmake
@@ -39,7 +39,7 @@ px4_add_board(
 		#lights
 		#magnetometer # all available magnetometer drivers
 		#optical_flow # all available optical flow drivers
-		#pwm_out
+		pwm_out
 		#safety_button
 		#tone_alarm
 		#uavcannode # TODO: CAN driver needed
@@ -56,13 +56,13 @@ px4_add_board(
 		#hardfault_log
 		i2cdetect
 		#led_control
-		#mixer
+		mixer
 		#motor_ramp
 		#motor_test
 		#nshterm
 		#param
 		#perf
-		#pwm
+		pwm
 		reboot
 		#reflect
 		#sd_bench
@@ -71,5 +71,5 @@ px4_add_board(
 		#topic_listener
 		#tune_control
 		ver
-		#work_queue
+		work_queue
 )
diff --git a/boards/nxp/rddrone-uavcan146/nuttx-config/nsh/defconfig b/boards/nxp/rddrone-uavcan146/nuttx-config/nsh/defconfig
index 44b4363268..cebc6ce82e 100644
--- a/boards/nxp/rddrone-uavcan146/nuttx-config/nsh/defconfig
+++ b/boards/nxp/rddrone-uavcan146/nuttx-config/nsh/defconfig
@@ -80,9 +80,14 @@ CONFIG_S32K1XX_LPSPI0=y
 CONFIG_S32K1XX_LPUART0=y
 CONFIG_S32K1XX_LPUART1=y
 CONFIG_S32K1XX_RTC=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
 CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SERIAL_TERMIOS=y