diff --git a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5 b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
index c1484d0b41..61a1e9e0b9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
@@ -43,6 +43,7 @@ param set-default CA_ROTOR3_PX -0.0762
 param set-default CA_ROTOR3_PY 0.09525
 param set-default CA_ROTOR3_KM -0.05
 
+param set-default EKF2_HGT_REF 2
 param set-default EKF2_MIN_RNG 0.01
 param set-default EKF2_OF_POS_X 0.043
 param set-default EKF2_OF_POS_Y 0.011
diff --git a/boards/ark/pi6x/init/rc.board_defaults b/boards/ark/pi6x/init/rc.board_defaults
index 03134c8878..717632839b 100644
--- a/boards/ark/pi6x/init/rc.board_defaults
+++ b/boards/ark/pi6x/init/rc.board_defaults
@@ -32,19 +32,10 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi
 
-param set-default EKF2_BARO_DELAY 13
-param set-default EKF2_BARO_NOISE 0.9
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_MAG_DELAY 100
-param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 48
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
-param set-default EKF2_RNG_DELAY 48
-param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
-param set-default EKF2_RNG_SFE 0.03
 
 param set-default SENS_FLOW_RATE 150