diff --git a/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
index 0ab458bed6..855c435833 100644
--- a/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
@@ -78,7 +78,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
-CONFIG_IMXRT_DTCM=0
+CONFIG_IMXRT_DTCM=256
+CONFIG_IMXRT_DTCM_HEAP=y
 CONFIG_IMXRT_EDMA=y
 CONFIG_IMXRT_EDMA_EDBG=y
 CONFIG_IMXRT_EDMA_ELINK=y
@@ -104,7 +105,7 @@ CONFIG_IMXRT_GPIO6_0_15_IRQ=y
 CONFIG_IMXRT_GPIO6_16_31_IRQ=y
 CONFIG_IMXRT_GPIO_IRQ=y
 CONFIG_IMXRT_INIT_FLEXRAM=y
-CONFIG_IMXRT_ITCM=0
+CONFIG_IMXRT_ITCM=256
 CONFIG_IMXRT_LPI2C1=y
 CONFIG_IMXRT_LPI2C2=y
 CONFIG_IMXRT_LPI2C3=y
@@ -190,6 +191,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
+CONFIG_MM_REGIONS=2
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
index 70d861f30a..f9eb6915d0 100644
--- a/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
+++ b/boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
@@ -35,7 +35,7 @@
 MEMORY
 {
   flash (rx)  : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */
-  sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k
+  sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k
   itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
   dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
 }
@@ -83,6 +83,7 @@ SECTIONS
         _sitcmfuncs = ABSOLUTE(.);
         FILL(0xFF)
         . = 0x40 ;
+        *(.ram_vectors)
         INCLUDE "itcm_static_functions.ld"
         INCLUDE "itcm_functions_includes.ld"
         . = ALIGN(8);
@@ -91,12 +92,6 @@ SECTIONS
 
     _fitcmfuncs = LOADADDR(.itcmfunc);
 
-    /* The RAM vector table (if present) should lie at the beginning of SRAM */
-
-    .ram_vectors (COPY) : {
-        *(.ram_vectors)
-    } > dtcm
-
     .text : ALIGN(4)
     {
         _stext = ABSOLUTE(.);