diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
index 5951ceed77..60a76f97e1 100644
--- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
+++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
@@ -1,65 +1,3 @@
-/* Static */
-*(.text.arm_ack_irq)
-*(.text.arm_doirq)
-*(.text.arm_svcall)
-*(.text.arm_switchcontext)
-*(.text.board_autoled_on)
-*(.text.clock_timer)
-*(.text.exception_common)
-*(.text.hrt_absolute_time)
-*(.text.hrt_tim_isr)
-*(.text.imxrt_configwaitints)
-*(.text.imxrt_dma_callback)
-*(.text.imxrt_dmach_interrupt)
-*(.text.imxrt_dmaterminate)
-*(.text.imxrt_edma_interrupt)
-*(.text.imxrt_endwait)
-*(.text.imxrt_gpio3_16_31_interrupt)
-*(.text.imxrt_interrupt)
-*(.text.imxrt_lpi2c_isr)
-*(.text.imxrt_recvdma)
-*(.text.imxrt_tcd_free)
-*(.text.imxrt_timerisr)
-*(.text.imxrt_usbinterrupt)
-*(.text.irq_dispatch)
-*(.text.memcpy)
-*(.text.nxsched_add_blocked)
-*(.text.nxsched_add_prioritized)
-*(.text.nxsched_add_readytorun)
-*(.text.nxsched_get_files)
-*(.text.nxsched_get_tcb)
-*(.text.nxsched_merge_pending)
-*(.text.nxsched_process_timer)
-*(.text.nxsched_remove_blocked)
-*(.text.nxsched_remove_readytorun)
-*(.text.nxsched_resume_scheduler)
-*(.text.nxsched_suspend_scheduler)
-*(.text.nxsem_add_holder)
-*(.text.nxsem_add_holder_tcb)
-*(.text.nxsem_clockwait)
-*(.text.nxsem_foreachholder)
-*(.text.nxsem_freecount0holder)
-*(.text.nxsem_freeholder)
-*(.text.nxsem_post)
-*(.text.nxsem_release_holder)
-*(.text.nxsem_restore_baseprio)
-*(.text.nxsem_tickwait)
-*(.text.nxsem_timeout)
-*(.text.nxsem_trywait)
-*(.text.nxsem_wait)
-*(.text.nxsem_wait_uninterruptible)
-*(.text.nxsig_timedwait)
-*(.text.sched_lock)
-*(.text.sched_note_resume)
-*(.text.sched_note_suspend)
-*(.text.sched_unlock)
-*(.text.sq_addafter)
-*(.text.sq_addlast)
-*(.text.sq_rem)
-*(.text.sq_remafter)
-*(.text.sq_remfirst)
-*(.text.uart_connected)
-*(.text.wd_timer)
 /* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
@@ -70,11 +8,9 @@
 *(.text._ZN22MulticopterRateControl3RunEv.part.0)
 *(.text._ZN7Mavlink9task_mainEiPPc)
 *(.text._ZN7sensors22VehicleAngularVelocity3RunEv)
-*(.text.memset)
 *(.text._ZN4uORB12Subscription9subscribeEv.part.0)
 *(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
 *(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
-*(.text.strcmp)
 *(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
 *(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
 *(.text._Z12get_orb_meta6ORB_ID)
@@ -82,15 +18,12 @@
 *(.text._ZN3px49WorkQueue3RunEv)
 *(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN4EKF23RunEv)
-*(.text.imxrt_lpspi_exchange)
-*(.text.imxrt_dmach_xfrsetup)
 *(.text._ZN7sensors10VehicleIMU7PublishEv)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
 *(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
 *(.text._ZN9ICM42688P8FIFOReadERKyh)
 *(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
 *(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s)
-*(.text.up_block_task)
 *(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_)
 *(.text._ZN4uORB12Subscription10advertisedEv)
 *(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE)
@@ -99,7 +32,6 @@
 *(.text._ZN4uORB12Subscription6updateEPv)
 *(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
 *(.text._ZN7sensors10VehicleIMU3RunEv)
-*(.text.up_unblock_task)
 *(.text.__aeabi_l2f)
 *(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
 *(.text.pthread_mutex_timedlock)
@@ -121,16 +53,12 @@
 *(.text._ZN9ICM42688P7RunImplEv)
 *(.text._ZN4uORB12Subscription9subscribeEv)
 *(.text.param_get)
-*(.text._do_memcpy)
 *(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
-*(.text.wd_start)
-*(.text.hrt_call_enter)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
 *(.text._ZN3Ekf19fixCovarianceErrorsEb)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
-*(.text.ioctl)
 *(.text._ZN6events12SendProtocol6updateERKy)
 *(.text._ZN6device3SPI8transferEPhS1_j)
 *(.text._ZN27MavlinkStreamDistanceSensor4sendEv)
diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
new file mode 100644
index 0000000000..5d9cd8de73
--- /dev/null
+++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
@@ -0,0 +1,72 @@
+/* Static */
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text.arm_svcall)
+*(.text.arm_switchcontext)
+*(.text.board_autoled_on)
+*(.text.clock_timer)
+*(.text.exception_common)
+*(.text.hrt_absolute_time)
+*(.text.hrt_call_enter)
+*(.text.hrt_tim_isr)
+*(.text.imxrt_configwaitints)
+*(.text.imxrt_dma_callback)
+*(.text.imxrt_dmach_interrupt)
+*(.text.imxrt_dmach_xfrsetup)
+*(.text.imxrt_dmaterminate)
+*(.text.imxrt_edma_interrupt)
+*(.text.imxrt_endwait)
+*(.text.imxrt_gpio3_16_31_interrupt)
+*(.text.imxrt_interrupt)
+*(.text.imxrt_lpi2c_isr)
+*(.text.imxrt_lpspi_exchange)
+*(.text.imxrt_recvdma)
+*(.text.imxrt_tcd_free)
+*(.text.imxrt_timerisr)
+*(.text.imxrt_usbinterrupt)
+*(.text.irq_dispatch)
+*(.text.ioctl)
+*(.text.memcpy)
+*(.text.memset)
+*(.text.nxsched_add_blocked)
+*(.text.nxsched_add_prioritized)
+*(.text.nxsched_add_readytorun)
+*(.text.nxsched_get_files)
+*(.text.nxsched_get_tcb)
+*(.text.nxsched_merge_pending)
+*(.text.nxsched_process_timer)
+*(.text.nxsched_remove_blocked)
+*(.text.nxsched_remove_readytorun)
+*(.text.nxsched_resume_scheduler)
+*(.text.nxsched_suspend_scheduler)
+*(.text.nxsem_add_holder)
+*(.text.nxsem_add_holder_tcb)
+*(.text.nxsem_clockwait)
+*(.text.nxsem_foreachholder)
+*(.text.nxsem_freecount0holder)
+*(.text.nxsem_freeholder)
+*(.text.nxsem_post)
+*(.text.nxsem_release_holder)
+*(.text.nxsem_restore_baseprio)
+*(.text.nxsem_tickwait)
+*(.text.nxsem_timeout)
+*(.text.nxsem_trywait)
+*(.text.nxsem_wait)
+*(.text.nxsem_wait_uninterruptible)
+*(.text.nxsig_timedwait)
+*(.text.sched_lock)
+*(.text.sched_note_resume)
+*(.text.sched_note_suspend)
+*(.text.sched_unlock)
+*(.text.strcmp)
+*(.text.sq_addafter)
+*(.text.sq_addlast)
+*(.text.sq_rem)
+*(.text.sq_remafter)
+*(.text.sq_remfirst)
+*(.text.uart_connected)
+*(.text.up_block_task)
+*(.text.up_unblock_task)
+*(.text.wd_timer)
+*(.text.wd_start)
+*(.text._do_memcpy)
diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
index dc05748b6a..70d861f30a 100644
--- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
+++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
@@ -83,6 +83,7 @@ SECTIONS
         _sitcmfuncs = ABSOLUTE(.);
         FILL(0xFF)
         . = 0x40 ;
+        INCLUDE "itcm_static_functions.ld"
         INCLUDE "itcm_functions_includes.ld"
         . = ALIGN(8);
         _eitcmfuncs = ABSOLUTE(.);
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 1ab6cdfe00..cd8385827e 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -266,7 +266,7 @@ else()
 		-fno-exceptions
 		-fno-rtti
 		-Wl,--script=${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}script.ld
-		-L${NUTTX_CONFIG_DIR_CYG}/scripts/${SCRIPT_PREFIX}
+		-L${NUTTX_CONFIG_DIR_CYG}/scripts
 		-Wl,-Map=${PX4_CONFIG}.map
 		-Wl,--warn-common
 		-Wl,--gc-sections