diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
index b85ca2d318..e0381e9886 100644
--- a/boards/px4/fmu-v5x/init/rc.board_defaults
+++ b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -9,8 +9,10 @@ param set-default SENS_EN_INA226 1
 
 if ver hwbasecmp 008 009 00a 010 011
 then
-	# Skynode: use the "custom participant" config for uxrce_dds_client
+	# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
+	param set-default UXRCE_DDS_AG_IP 170461697
+	param set-default UXRCE_DDS_CFG 1000
 else
 	# Mavlink ethernet (CFG 1000)
 	param set-default MAV_2_CONFIG 1000
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index 8aca927871..cb1eb580a4 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -11,8 +11,10 @@ param set-default SENS_EN_INA226 0
 
 if ver hwbasecmp 009 010 011
 then
-	# Skynode: use the "custom participant" config for uxrce_dds_client
+	# Skynode: use the "custom participant", IP=10.41.10.1 config for uxrce_dds_client
 	param set-default UXRCE_DDS_PTCFG 2
+	param set-default UXRCE_DDS_AG_IP 170461697
+	param set-default UXRCE_DDS_CFG 1000
 else
 	# Mavlink ethernet (CFG 1000)
 	param set-default MAV_2_CONFIG 1000