diff --git a/Makefile b/Makefile
index d5bc05985e..df7ebeafe5 100644
--- a/Makefile
+++ b/Makefile
@@ -164,9 +164,6 @@ posix_sitl_default:
 posix_sitl_test:
 	$(call cmake-build,$@)
 
-posix_sitl_lpe:
-	$(call cmake-build,$@)
-
 posix_sitl_ekf2:
 	$(call cmake-build,$@)
 
@@ -240,7 +237,7 @@ ifeq ($(VECTORCONTROL),1)
 	@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
 endif
 
-check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_test check_px4fmu-v2_ekf2 check_px4fmu-v2_lpe check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_posix_sitl_test check_unittest check_format
+check: check_px4fmu-v1_default check_px4fmu-v2_default check_px4fmu-v2_test check_px4fmu-v2_ekf2 check_px4fmu-v4_default_and_uavcan check_mindpx-v2_default check_px4-stm32f4discovery_default check_posix_sitl_default check_posix_sitl_test check_unittest check_format
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index cdac7c28ad..f824247c3a 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -18,7 +18,7 @@ set(config_module_list
 	drivers/boards/px4fmu-v2
 	drivers/rgbled
 	drivers/mpu6000
-	#drivers/mpu9250
+	drivers/mpu9250
 	drivers/lsm303d
 	drivers/l3gd20
 	drivers/hmc5883
@@ -37,16 +37,16 @@ set(config_module_list
 	drivers/airspeed
 	drivers/ets_airspeed
 	drivers/meas_airspeed
-	#drivers/frsky_telemetry
+	drivers/frsky_telemetry
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
 	#drivers/oreoled
-	#drivers/gimbal
+	drivers/gimbal
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	#drivers/snapdragon_rc_pwm
+	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
 
 	#
@@ -91,11 +91,10 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/local_position_estimator
 
 	#
 	# Vehicle Control
@@ -136,6 +135,7 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
+	lib/DriverFramework/framework
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/posix_sitl_test.cmake b/cmake/configs/posix_sitl_test.cmake
index 3f233985d5..12eb54dfdb 100644
--- a/cmake/configs/posix_sitl_test.cmake
+++ b/cmake/configs/posix_sitl_test.cmake
@@ -56,6 +56,7 @@ set(config_module_list
 
 	lib/controllib
 	lib/conversion
+	lib/DriverFramework/framework
 	lib/ecl
 	lib/external_lgpl
 	lib/geo