diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h b/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h
index 646740407a..7685974474 100644
--- a/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h
+++ b/boards/px4/fmu-v6x/nuttx-config/include/board_dma_map.h
@@ -46,3 +46,6 @@
 // DMAMUX2
 #define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1 /* DMA2:61 */
 #define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1 /* DMA2:62 */
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX /* BDMA:11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX /* BDMA:12 */
diff --git a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
index 5dadef6c55..e8dfbdf87e 100644
--- a/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v6x/nuttx-config/nsh/defconfig
@@ -179,6 +179,7 @@ CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -218,6 +219,8 @@ CONFIG_STM32H7_SPI3_DMA=y
 CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
diff --git a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld
index e0e6f6b20e..504d16b787 100644
--- a/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld
+++ b/boards/px4/fmu-v6x/nuttx-config/scripts/script.ld
@@ -205,6 +205,12 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > sram
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4 (NOLOAD) :
+	{
+	} > sram4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
diff --git a/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig
index 4e3b658dbb..86369b4d9f 100644
--- a/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig
@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP_STM32H743ZI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARCH_USE_MPU=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
@@ -181,6 +180,7 @@ CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_ADC3=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -197,7 +197,6 @@ CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PHYADDR=0
 CONFIG_STM32H7_PHYSR=31
 CONFIG_STM32H7_PHYSR_100MBPS=0x8
 CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
@@ -221,6 +220,8 @@ CONFIG_STM32H7_SPI3_DMA=y
 CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
@@ -243,7 +244,6 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TIME_EXTENDED=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500