diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board
index fd5cb46283..be01cfa934 100644
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-# CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -15,10 +14,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-#CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-#CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-#CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-#CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -30,11 +25,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
-#CONFIG_DRIVERS_UAVCAN=y
-#CONFIG_BOARD_UAVCAN_INTERFACES=1
-#CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board
index a3e4cb9c28..4d38d8b5eb 100644
--- a/boards/modalai/voxl2-slpi/default.px4board
+++ b/boards/modalai/voxl2-slpi/default.px4board
@@ -1,37 +1,31 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
-CONFIG_BOARD_ROOTFSDIR="/"
-CONFIG_MODULES_MUORB_SLPI=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_ORB_COMMUNICATOR=y
-CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-# CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-# CONFIG_DRIVERS_GPS=y
-# CONFIG_DRIVERS_RC_CRSF_RC=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_RC_UPDATE=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+CONFIG_DRIVERS_QSHELL_QURT=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_PARAM_SET_SELECTOR=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MUORB_SLPI=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
-CONFIG_PARAM_CLIENT=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_ORB_COMMUNICATOR=y
diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board
index 32e334a985..bf42bff4c9 100644
--- a/boards/modalai/voxl2/default.px4board
+++ b/boards/modalai/voxl2/default.px4board
@@ -2,29 +2,27 @@ CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ROOTFSDIR="/data/px4"
-CONFIG_ORB_COMMUNICATOR=y
-CONFIG_PARAM_SERVER=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_QSHELL_POSIX=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
-CONFIG_DRIVERS_IMU_SERVER=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_NAVIGATOR=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_QSHELL_POSIX=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MUORB_APPS=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_ORB_COMMUNICATOR=y