diff --git a/NuttX b/NuttX
index e4c914e261..e1e56f2254 160000
--- a/NuttX
+++ b/NuttX
@@ -1 +1 @@
-Subproject commit e4c914e261d2647e44d05222afa7aa3cc90d3c67
+Subproject commit e1e56f2254559c1e71e97d423cb282ec82feece4
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 76457216bd..3abebd82fa 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -37,11 +37,11 @@ MODULES		+= drivers/hil
 # MODULES		+= drivers/hott/hott_sensors
 # MODULES		+= drivers/blinkm
 MODULES		+= drivers/airspeed
-# MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
-# MODULES		+= drivers/frsky_telemetry
+MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
-# MODULES		+= drivers/mkblctrl
+MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/px4flow
 
 #
@@ -70,7 +70,7 @@ MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
 MODULES		+= modules/gpio_led
-# MODULES		+= modules/uavcan
+MODULES		+= modules/uavcan
 MODULES 	+= modules/land_detector
 
 #
@@ -120,7 +120,7 @@ MODULES		+= lib/launchdetection
 #
 # OBC challenge
 #
-# MODULES		+= modules/bottle_drop
+MODULES		+= modules/bottle_drop
 
 #
 # Demo apps
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index a467fa605e..539634e3da 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -92,7 +92,7 @@ CONFIG_ARCH_HAVE_MPU=y
 #
 # CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
 CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
-CONFIG_ARMV7M_STACKCHECK=y
+CONFIG_ARMV7M_STACKCHECK=n
 CONFIG_SERIAL_TERMIOS=y
 
 #
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index 9030a1f022..dedebdfa03 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -117,7 +117,7 @@ CONFIG_ARCH_HAVE_MPU=y
 #
 # CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
 CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
-CONFIG_ARMV7M_STACKCHECK=y
+CONFIG_ARMV7M_STACKCHECK=n
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SDIO_DMA=y
 CONFIG_SDIO_DMAPRIO=0x00010000
diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig
index 7c76be7ec0..385b8d6a8f 100755
--- a/nuttx-configs/px4io-v1/nsh/defconfig
+++ b/nuttx-configs/px4io-v1/nsh/defconfig
@@ -93,7 +93,7 @@ CONFIG_ARCH_DMA=y
 CONFIG_ARCH_MATH_H=y
 
 CONFIG_ARMV7M_CMNVECTOR=y
-# CONFIG_ARMV7M_STACKCHECK is not set
+CONFIG_ARMV7M_STACKCHECK=n
 
 #
 # JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig
index 02b51e3d73..a9b8477948 100755
--- a/nuttx-configs/px4io-v2/nsh/defconfig
+++ b/nuttx-configs/px4io-v2/nsh/defconfig
@@ -89,7 +89,7 @@ CONFIG_ARCH_DMA=y
 CONFIG_ARCH_MATH_H=y
 
 CONFIG_ARMV7M_CMNVECTOR=y
-
+CONFIG_ARMV7M_STACKCHECK=n
 #
 # JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
 #