diff --git a/boards/nxp/fmurt1062-v2/nuttx-config/nsh/defconfig b/boards/nxp/fmurt1062-v2/nuttx-config/nsh/defconfig
index 2a35b5407c..21f7373c6e 100644
--- a/boards/nxp/fmurt1062-v2/nuttx-config/nsh/defconfig
+++ b/boards/nxp/fmurt1062-v2/nuttx-config/nsh/defconfig
@@ -5,23 +5,9 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/fmurt1062-v2/nuttx-config"
@@ -41,13 +27,13 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_FORCE_ALIGNMENT=y
 CONFIG_BOARD_LOOPSPERMSEC=104926
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BOOT_RUNFROMISRAM=y
 CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_PRODUCTID=0x001f
@@ -56,15 +42,11 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1FC9
 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
-CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_ETH0_PHY_TJA1103=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -149,13 +131,14 @@ CONFIG_IMXRT_USBDEV=y
 CONFIG_IMXRT_USDHC1=y
 CONFIG_IMXRT_USDHC1_INVERT_CD=y
 CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
 CONFIG_IPCFG_CHARDEV=y
 CONFIG_IPCFG_PATH="/fs/mtd_net"
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C1_DMA=y
 CONFIG_LPI2C2_DMA=y
@@ -210,7 +193,6 @@ CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
@@ -236,26 +218,19 @@ CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1048576
@@ -264,17 +239,16 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC=y
-CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1800
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -299,6 +273,4 @@ CONFIG_USBDEV_DMA=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
diff --git a/boards/nxp/fmurt1062-v2/src/board_config.h b/boards/nxp/fmurt1062-v2/src/board_config.h
index 3491ba6061..4b97429d5e 100644
--- a/boards/nxp/fmurt1062-v2/src/board_config.h
+++ b/boards/nxp/fmurt1062-v2/src/board_config.h
@@ -366,11 +366,11 @@
 /* SD card bringup does not work if performed on the IDLE thread because it
  * will cause waiting.  Use either:
  *
- *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARDCTL=y, OR
  *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
  */
 
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
    !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
diff --git a/boards/nxp/fmurt1062-v2/src/can.c b/boards/nxp/fmurt1062-v2/src/can.c
index 22581bdeaa..9f0f897cbb 100644
--- a/boards/nxp/fmurt1062-v2/src/can.c
+++ b/boards/nxp/fmurt1062-v2/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include <chip.h>
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "board_config.h"
 
diff --git a/boards/nxp/fmurt1062-v2/src/init.c b/boards/nxp/fmurt1062-v2/src/init.c
index 83c767c957..e6df994f16 100644
--- a/boards/nxp/fmurt1062-v2/src/init.c
+++ b/boards/nxp/fmurt1062-v2/src/init.c
@@ -63,7 +63,7 @@
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "arm_internal.h"
 #include "imxrt_flexspi_nor_boot.h"
 #include "imxrt_iomuxc.h"
diff --git a/boards/nxp/fmurt1062-v2/src/mtd.cpp b/boards/nxp/fmurt1062-v2/src/mtd.cpp
index 52f3e672a3..bf34673de3 100644
--- a/boards/nxp/fmurt1062-v2/src/mtd.cpp
+++ b/boards/nxp/fmurt1062-v2/src/mtd.cpp
@@ -71,8 +71,8 @@ static const px4_mtd_entry_t base_eeprom = {
 	.npart = 2,
 	.partd = {
 		{
-			.type = MTD_MFT,
-			.path = "/fs/mtd_mft",
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
 			.nblocks = 248
 		},
 		{
@@ -86,12 +86,17 @@ static const px4_mtd_entry_t base_eeprom = {
 
 static const px4_mtd_entry_t imu_eeprom = {
 	.device = &i2c4,
-	.npart = 2,
+	.npart = 3,
 	.partd = {
 		{
 			.type = MTD_CALDATA,
 			.path = "/fs/mtd_caldata",
-			.nblocks = 248
+			.nblocks = 240
+		},
+		{
+			.type = MTD_MFT_REV,
+			.path = "/fs/mtd_mft_rev",
+			.nblocks = 8
 		},
 		{
 			.type = MTD_ID,
diff --git a/boards/nxp/fmurt1062-v2/src/spi.cpp b/boards/nxp/fmurt1062-v2/src/spi.cpp
index 678344c816..a3191eb23e 100644
--- a/boards/nxp/fmurt1062-v2/src/spi.cpp
+++ b/boards/nxp/fmurt1062-v2/src/spi.cpp
@@ -53,7 +53,7 @@
 #include <systemlib/px4_macros.h>
 #include <px4_platform/gpio.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include "imxrt_lpspi.h"
 #include "imxrt_gpio.h"
diff --git a/boards/nxp/fmurt1062-v2/src/usb.c b/boards/nxp/fmurt1062-v2/src/usb.c
index 24fe740fed..0d3c71348d 100644
--- a/boards/nxp/fmurt1062-v2/src/usb.c
+++ b/boards/nxp/fmurt1062-v2/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <hardware/imxrt_usb_analog.h>
 #include "board_config.h"