diff --git a/boards/nxp/ucans32k146/default.px4board b/boards/nxp/ucans32k146/default.px4board
index 3bb25d62b7..c3f55f93d3 100644
--- a/boards/nxp/ucans32k146/default.px4board
+++ b/boards/nxp/ucans32k146/default.px4board
@@ -4,13 +4,17 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
 CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_LIGHTS_RGBLED=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
diff --git a/boards/nxp/ucans32k146/init/rc.board_sensors b/boards/nxp/ucans32k146/init/rc.board_sensors
new file mode 100644
index 0000000000..f6f8320763
--- /dev/null
+++ b/boards/nxp/ucans32k146/init/rc.board_sensors
@@ -0,0 +1,43 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+
+# Lidar-Lite on I2C
+if param compare -s SENS_EN_LL40LS 2
+then
+	ll40ls start -X
+fi
+
+# mappydot lidar sensor
+if param compare -s SENS_EN_MPDT 1
+then
+	mappydot start -X
+fi
+
+# mb12xx sonar sensor
+if param greater -s SENS_EN_MB12XX 0
+then
+	mb12xx start -X
+fi
+
+# Lightware i2c lidar sensor
+if param greater -s SENS_EN_SF1XX 0
+then
+	lightware_laser_i2c start -X
+fi
+
+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
+# compasses
+hmc5883 -T -X -q start
+ist8308 -X -q start
+ist8310 -X -q start
+lis2mdl -X -q start
+lis3mdl -X -q start
+qmc5883l -X -q start
+rm3100 -X -q start