diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 27a49a7f8d..55b7989250 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -684,7 +684,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
 
   // status commands
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
@@ -715,7 +715,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -767,13 +767,13 @@ void runTests() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index dc07543c46..958dbabbc0 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 	then
 		echo "ERROR [init] param import failed"
 
-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE
 
 		# try to make a backup copy
 		cp $PARAM_FILE param_import_fail.bson
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
 			echo "[init] importing from parameter backup"
 
 			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
+			bsondump $PARAM_BACKUP_FILE
 
 			param import $PARAM_BACKUP_FILE
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e6012a2c23..f1e54e0910 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -130,7 +130,7 @@ else
 		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 
-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE
 
 		if [ -d "/fs/microsd" ]
 		then
@@ -143,7 +143,7 @@ else
 				echo "[init] importing from parameter backup"
 
 				# dump current backup file contents for comparison
-				param dump $PARAM_BACKUP_FILE
+				bsondump $PARAM_BACKUP_FILE
 
 				param import $PARAM_BACKUP_FILE
 
diff --git a/Tools/HIL/test_airframes.sh b/Tools/HIL/test_airframes.sh
index 14658241fe..606d43f104 100755
--- a/Tools/HIL/test_airframes.sh
+++ b/Tools/HIL/test_airframes.sh
@@ -43,13 +43,13 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
diff --git a/boards/airmind/mindpx-v2/default.px4board b/boards/airmind/mindpx-v2/default.px4board
index c3fae0e738..89f5620399 100644
--- a/boards/airmind/mindpx-v2/default.px4board
+++ b/boards/airmind/mindpx-v2/default.px4board
@@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board
index 119a0fedff..04a1175465 100644
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@@ -70,6 +70,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
diff --git a/boards/av/x-v1/default.px4board b/boards/av/x-v1/default.px4board
index f1f793f5ac..3deacca91c 100644
--- a/boards/av/x-v1/default.px4board
+++ b/boards/av/x-v1/default.px4board
@@ -76,8 +76,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board
index b04d0574e7..7cef007869 100644
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@@ -63,6 +63,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
diff --git a/boards/cuav/nora/default.px4board b/boards/cuav/nora/default.px4board
index 0b2fee1e0f..13ae300774 100644
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@@ -81,8 +81,9 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board
index 48a94b2030..07ed35b162 100644
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@@ -27,14 +27,12 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -46,6 +44,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -54,6 +53,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -80,10 +79,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -106,4 +105,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
diff --git a/boards/cubepilot/cubeorange/default.px4board b/boards/cubepilot/cubeorange/default.px4board
index 1f12767b7c..f04db4d636 100644
--- a/boards/cubepilot/cubeorange/default.px4board
+++ b/boards/cubepilot/cubeorange/default.px4board
@@ -75,6 +75,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/cubepilot/cubeorange/test.px4board b/boards/cubepilot/cubeorange/test.px4board
index e56c5bdd32..1d21159987 100644
--- a/boards/cubepilot/cubeorange/test.px4board
+++ b/boards/cubepilot/cubeorange/test.px4board
@@ -1,12 +1,8 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
diff --git a/boards/cubepilot/cubeyellow/default.px4board b/boards/cubepilot/cubeyellow/default.px4board
index de6c2abff0..0d67b3434d 100644
--- a/boards/cubepilot/cubeyellow/default.px4board
+++ b/boards/cubepilot/cubeyellow/default.px4board
@@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board
index ca13adfbf1..d1bab3fd5c 100644
--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@@ -66,6 +66,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
diff --git a/boards/holybro/durandal-v1/default.px4board b/boards/holybro/durandal-v1/default.px4board
index eaecd081bc..5996ba31da 100644
--- a/boards/holybro/durandal-v1/default.px4board
+++ b/boards/holybro/durandal-v1/default.px4board
@@ -28,10 +28,8 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -40,6 +38,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -48,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,10 +72,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board
index 9e53c4a38d..7ee74459bf 100644
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@@ -71,6 +71,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/holybro/pix32v5/default.px4board b/boards/holybro/pix32v5/default.px4board
index 814050f587..92e74327f8 100644
--- a/boards/holybro/pix32v5/default.px4board
+++ b/boards/holybro/pix32v5/default.px4board
@@ -85,8 +85,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/modalai/fc-v1/default.px4board b/boards/modalai/fc-v1/default.px4board
index 8c3e771211..5353dd0ceb 100644
--- a/boards/modalai/fc-v1/default.px4board
+++ b/boards/modalai/fc-v1/default.px4board
@@ -82,6 +82,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board
index 104d5e9947..83ac665636 100644
--- a/boards/modalai/fc-v2/default.px4board
+++ b/boards/modalai/fc-v2/default.px4board
@@ -76,6 +76,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board
index 1f5de86f2b..464feed956 100644
--- a/boards/modalai/voxl2/default.px4board
+++ b/boards/modalai/voxl2/default.px4board
@@ -8,3 +8,4 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board
index f9bcd91e0a..9bfb078b39 100644
--- a/boards/mro/ctrl-zero-classic/default.px4board
+++ b/boards/mro/ctrl-zero-classic/default.px4board
@@ -79,6 +79,7 @@ CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/ctrl-zero-f7-oem/default.px4board b/boards/mro/ctrl-zero-f7-oem/default.px4board
index 1adec256f7..e632bfedad 100644
--- a/boards/mro/ctrl-zero-f7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-f7-oem/default.px4board
@@ -77,8 +77,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/ctrl-zero-f7/default.px4board b/boards/mro/ctrl-zero-f7/default.px4board
index fca453d7d8..12a58fd397 100644
--- a/boards/mro/ctrl-zero-f7/default.px4board
+++ b/boards/mro/ctrl-zero-f7/default.px4board
@@ -77,8 +77,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/ctrl-zero-h7-oem/default.px4board b/boards/mro/ctrl-zero-h7-oem/default.px4board
index 9fa47c2e4b..19b0058892 100644
--- a/boards/mro/ctrl-zero-h7-oem/default.px4board
+++ b/boards/mro/ctrl-zero-h7-oem/default.px4board
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/ctrl-zero-h7/default.px4board b/boards/mro/ctrl-zero-h7/default.px4board
index 11f35c83b1..35e4a5110e 100644
--- a/boards/mro/ctrl-zero-h7/default.px4board
+++ b/boards/mro/ctrl-zero-h7/default.px4board
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -79,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/pixracerpro/default.px4board b/boards/mro/pixracerpro/default.px4board
index 72b170ffcb..7474649fad 100644
--- a/boards/mro/pixracerpro/default.px4board
+++ b/boards/mro/pixracerpro/default.px4board
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/x21-777/default.px4board b/boards/mro/x21-777/default.px4board
index a7525e4e01..79152cfa38 100644
--- a/boards/mro/x21-777/default.px4board
+++ b/boards/mro/x21-777/default.px4board
@@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/mro/x21/default.px4board b/boards/mro/x21/default.px4board
index bf9292ec98..743449131d 100644
--- a/boards/mro/x21/default.px4board
+++ b/boards/mro/x21/default.px4board
@@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/nxp/fmuk66-e/default.px4board b/boards/nxp/fmuk66-e/default.px4board
index f0d2e8fe15..dfab3337cd 100644
--- a/boards/nxp/fmuk66-e/default.px4board
+++ b/boards/nxp/fmuk66-e/default.px4board
@@ -23,14 +23,12 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -78,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
diff --git a/boards/nxp/fmuk66-v3/default.px4board b/boards/nxp/fmuk66-v3/default.px4board
index 40ef605364..080a841a7e 100644
--- a/boards/nxp/fmuk66-v3/default.px4board
+++ b/boards/nxp/fmuk66-v3/default.px4board
@@ -24,14 +24,12 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -80,6 +78,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
diff --git a/boards/nxp/fmurt1062-v1/default.px4board b/boards/nxp/fmurt1062-v1/default.px4board
index bdc42a1cc6..7d04b986f1 100644
--- a/boards/nxp/fmurt1062-v1/default.px4board
+++ b/boards/nxp/fmurt1062-v1/default.px4board
@@ -31,6 +31,7 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -49,7 +50,7 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
diff --git a/boards/px4/fmu-v3/default.px4board b/boards/px4/fmu-v3/default.px4board
index b1d9925cc8..efa9174818 100644
--- a/boards/px4/fmu-v3/default.px4board
+++ b/boards/px4/fmu-v3/default.px4board
@@ -83,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/px4/fmu-v4/default.px4board b/boards/px4/fmu-v4/default.px4board
index fe212199c0..f016ee5820 100644
--- a/boards/px4/fmu-v4/default.px4board
+++ b/boards/px4/fmu-v4/default.px4board
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -84,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/px4/fmu-v4pro/default.px4board b/boards/px4/fmu-v4pro/default.px4board
index f73c72d6bf..b4bc75d7f1 100644
--- a/boards/px4/fmu-v4pro/default.px4board
+++ b/boards/px4/fmu-v4pro/default.px4board
@@ -25,15 +25,12 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -43,6 +40,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -51,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -66,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -79,10 +77,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/px4/fmu-v5/debug.px4board b/boards/px4/fmu-v5/debug.px4board
index be936a6aeb..17f6c10396 100644
--- a/boards/px4/fmu-v5/debug.px4board
+++ b/boards/px4/fmu-v5/debug.px4board
@@ -11,28 +11,25 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_GIMBAL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
diff --git a/boards/px4/fmu-v5/default.px4board b/boards/px4/fmu-v5/default.px4board
index 7d3514675c..56b76ab4f8 100644
--- a/boards/px4/fmu-v5/default.px4board
+++ b/boards/px4/fmu-v5/default.px4board
@@ -86,6 +86,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/px4/fmu-v5/test.px4board b/boards/px4/fmu-v5/test.px4board
index 5279a489dc..0fa723ab1f 100644
--- a/boards/px4/fmu-v5/test.px4board
+++ b/boards/px4/fmu-v5/test.px4board
@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_GYRO_FFT=n
diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index d6042debef..3720470971 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -86,6 +85,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board
index ff3292e15d..d62f84406d 100644
--- a/boards/px4/fmu-v6c/default.px4board
+++ b/boards/px4/fmu-v6c/default.px4board
@@ -68,6 +68,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
diff --git a/boards/px4/fmu-v6u/default.px4board b/boards/px4/fmu-v6u/default.px4board
index fc1ca57e40..9a5289b998 100644
--- a/boards/px4/fmu-v6u/default.px4board
+++ b/boards/px4/fmu-v6u/default.px4board
@@ -78,6 +78,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index d6b0cc1313..ee85f7ccc2 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -74,6 +74,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board
index a9e562f424..74aca7c7d8 100644
--- a/boards/px4/raspberrypi/default.px4board
+++ b/boards/px4/raspberrypi/default.px4board
@@ -62,6 +62,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index ff8dda3a5c..b9b80c08d1 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -49,6 +49,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_FAILURE=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board
index 9776fce445..873998f093 100644
--- a/boards/scumaker/pilotpi/default.px4board
+++ b/boards/scumaker/pilotpi/default.px4board
@@ -59,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
diff --git a/boards/sky-drones/smartap-airlink/default.px4board b/boards/sky-drones/smartap-airlink/default.px4board
index b0f31c0282..6951c4cbda 100644
--- a/boards/sky-drones/smartap-airlink/default.px4board
+++ b/boards/sky-drones/smartap-airlink/default.px4board
@@ -83,6 +83,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/boards/thepeach/k1/default.px4board b/boards/thepeach/k1/default.px4board
index 0c1e4b32b5..d980b16daa 100644
--- a/boards/thepeach/k1/default.px4board
+++ b/boards/thepeach/k1/default.px4board
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/thepeach/r1/default.px4board b/boards/thepeach/r1/default.px4board
index 0c1e4b32b5..d980b16daa 100644
--- a/boards/thepeach/r1/default.px4board
+++ b/boards/thepeach/r1/default.px4board
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/uvify/core/default.px4board b/boards/uvify/core/default.px4board
index cf6b7fd16d..fed8bf42a7 100644
--- a/boards/uvify/core/default.px4board
+++ b/boards/uvify/core/default.px4board
@@ -33,10 +33,12 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -52,7 +54,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -62,9 +63,9 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 9d7edaf286..f6bcc9260b 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -68,6 +68,7 @@ add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)
 add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
 add_subdirectory(timesync EXCLUDE_FROM_ALL)
+add_subdirectory(tinybson EXCLUDE_FROM_ALL)
 add_subdirectory(tunes EXCLUDE_FROM_ALL)
 add_subdirectory(version EXCLUDE_FROM_ALL)
 add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index e2fed86119..908776bd41 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -33,8 +33,6 @@
 
 add_compile_options(${MAX_CUSTOM_OPT_LEVEL})
 
-add_subdirectory(tinybson)
-
 if (NOT PARAM_DEFAULT_OVERRIDES)
 	set(PARAM_DEFAULT_OVERRIDES "{}")
 endif()
diff --git a/src/lib/parameters/flashparams/flashparams.cpp b/src/lib/parameters/flashparams/flashparams.cpp
index 6eb8c9e8a2..b309207850 100644
--- a/src/lib/parameters/flashparams/flashparams.cpp
+++ b/src/lib/parameters/flashparams/flashparams.cpp
@@ -55,7 +55,7 @@
 #include <parameters/param.h>
 
 #include "../uthash/utarray.h"
-#include <parameters/tinybson/tinybson.h>
+#include <lib/tinybson/tinybson.h>
 #include "flashparams.h"
 #include "flashfs.h"
 #include "../param_translation.h"
diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h
index a7b669c1c0..5e7802230e 100644
--- a/src/lib/parameters/param.h
+++ b/src/lib/parameters/param.h
@@ -347,17 +347,6 @@ __EXPORT int		param_import(int fd);
  */
 __EXPORT int		param_load(int fd);
 
-/**
- * Read saved parameters from file and dump to console.
- *
- * This function reads the file and dumps all contents to console
- * values from a file.
- *
- * @param fd		File descriptor to read from.
- * @return		Zero on success, nonzero if an error occurred during import.
- */
-__EXPORT int		param_dump(int fd);
-
 /**
  * Apply a function to each parameter.
  *
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index 0822842e45..84a5da7682 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -45,7 +45,7 @@
 #include "param.h"
 #include "param_translation.h"
 #include <parameters/px4_parameters.hpp>
-#include "tinybson/tinybson.h"
+#include <lib/tinybson/tinybson.h>
 
 #include <crc32.h>
 #include <float.h>
@@ -1521,38 +1521,6 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 	return 1;
 }
 
-static int
-param_dump_callback(bson_decoder_t decoder, bson_node_t node)
-{
-	switch (node->type) {
-	case BSON_EOO:
-		PX4_INFO_RAW("BSON_EOO\n");
-		return 0;
-
-	case BSON_DOUBLE:
-		PX4_INFO_RAW("BSON_DOUBLE: %s = %.6f\n", node->name, node->d);
-		return 1;
-
-	case BSON_BOOL:
-		PX4_INFO_RAW("BSON_BOOL:   %s = %d\n", node->name, node->b);
-		return 1;
-
-	case BSON_INT32:
-		PX4_INFO_RAW("BSON_INT32:  %s = %" PRIi32 "\n", node->name, node->i32);
-		return 1;
-
-	case BSON_INT64:
-		PX4_INFO_RAW("BSON_INT64:  %s = %" PRIi64 "\n", node->name, node->i64);
-		return 1;
-
-	default:
-		PX4_INFO_RAW("ERROR %s unhandled bson type %d\n", node->name, node->type);
-		return 1; // just skip this entry
-	}
-
-	return -1;
-}
-
 static int
 param_import_internal(int fd)
 {
@@ -1630,42 +1598,6 @@ param_load(int fd)
 	return param_import_internal(fd);
 }
 
-int
-param_dump(int fd)
-{
-	bson_decoder_s decoder{};
-
-	if (bson_decoder_init_file(&decoder, fd, param_dump_callback) == 0) {
-		PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
-
-		int result = -1;
-
-		do {
-			result = bson_decoder_next(&decoder);
-
-		} while (result > 0);
-
-		if (result == 0) {
-			PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
-				     ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
-				     decoder.total_decoded_size,
-				     decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
-				     decoder.count_node_int32, decoder.count_node_int64);
-
-			return 0;
-
-		} else if (result == -ENODATA) {
-			PX4_WARN("BSON: no data");
-			return 0;
-
-		} else {
-			PX4_ERR("param dump failed (%d)", result);
-		}
-	}
-
-	return -1;
-}
-
 void
 param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed, bool only_used)
 {
diff --git a/src/lib/parameters/tinybson/CMakeLists.txt b/src/lib/tinybson/CMakeLists.txt
similarity index 88%
rename from src/lib/parameters/tinybson/CMakeLists.txt
rename to src/lib/tinybson/CMakeLists.txt
index a8d5b43e79..88febcd4f1 100644
--- a/src/lib/parameters/tinybson/CMakeLists.txt
+++ b/src/lib/tinybson/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,7 +31,15 @@
 #
 ############################################################################
 
-add_library(tinybson tinybson.cpp)
+add_library(tinybson
+	tinybson.cpp
+	tinybson.h
+)
 target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
-target_compile_options(tinybson PRIVATE -Wno-sign-compare) # TODO: fix this
+target_compile_options(tinybson
+	PRIVATE
+		-Wno-sign-compare # TODO: fix this
+		${MAX_CUSTOM_OPT_LEVEL}
+)
+
 add_dependencies(tinybson prebuild_targets)
diff --git a/src/lib/parameters/tinybson/tinybson.cpp b/src/lib/tinybson/tinybson.cpp
similarity index 100%
rename from src/lib/parameters/tinybson/tinybson.cpp
rename to src/lib/tinybson/tinybson.cpp
diff --git a/src/lib/parameters/tinybson/tinybson.h b/src/lib/tinybson/tinybson.h
similarity index 100%
rename from src/lib/parameters/tinybson/tinybson.h
rename to src/lib/tinybson/tinybson.h
diff --git a/src/systemcmds/bsondump/CMakeLists.txt b/src/systemcmds/bsondump/CMakeLists.txt
new file mode 100644
index 0000000000..9a59e5e1ce
--- /dev/null
+++ b/src/systemcmds/bsondump/CMakeLists.txt
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__bsondump
+	MAIN bsondump
+	STACK_MAIN 4096
+	COMPILE_FLAGS
+	SRCS
+		bsondump.cpp
+	DEPENDS
+		tinybson
+)
diff --git a/src/systemcmds/bsondump/Kconfig b/src/systemcmds/bsondump/Kconfig
new file mode 100644
index 0000000000..2259371c8a
--- /dev/null
+++ b/src/systemcmds/bsondump/Kconfig
@@ -0,0 +1,12 @@
+menuconfig SYSTEMCMDS_BSONDUMP
+	bool "bsondump"
+	default n
+	---help---
+		Enable bsondump
+
+menuconfig USER_BSONDUMP
+	bool "bsondump running as userspace module"
+	default n
+	depends on BOARD_PROTECTED && SYSTEMCMDS_BSONDUMP
+	---help---
+		Put bsondump in userspace memory
diff --git a/src/systemcmds/bsondump/bsondump.cpp b/src/systemcmds/bsondump/bsondump.cpp
new file mode 100644
index 0000000000..50021eba14
--- /dev/null
+++ b/src/systemcmds/bsondump/bsondump.cpp
@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+
+#include <lib/tinybson/tinybson.h>
+
+#include <fcntl.h>
+
+static void print_usage(const char *reason = nullptr)
+{
+	if (reason) {
+		PX4_ERR("%s", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION("read BSON from a file and print in human form");
+
+	PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command");
+	PRINT_MODULE_USAGE_ARG("<file>", "File name", false);
+}
+
+static int bson_print_callback(bson_decoder_t decoder, bson_node_t node)
+{
+	switch (node->type) {
+	case BSON_EOO:
+		PX4_INFO_RAW("BSON_EOO\n");
+		return 0;
+
+	case BSON_DOUBLE:
+		PX4_INFO_RAW("BSON_DOUBLE: %s = %.6f\n", node->name, node->d);
+		return 1;
+
+	case BSON_BOOL:
+		PX4_INFO_RAW("BSON_BOOL:   %s = %d\n", node->name, node->b);
+		return 1;
+
+	case BSON_INT32:
+		PX4_INFO_RAW("BSON_INT32:  %s = %" PRIi32 "\n", node->name, node->i32);
+		return 1;
+
+	case BSON_INT64:
+		PX4_INFO_RAW("BSON_INT64:  %s = %" PRIi64 "\n", node->name, node->i64);
+		return 1;
+
+	default:
+		PX4_INFO_RAW("ERROR %s unhandled bson type %d\n", node->name, node->type);
+		return 1; // just skip this entry
+	}
+
+	return -1;
+}
+
+extern "C" __EXPORT int bsondump_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		print_usage();
+
+	} else {
+		char *file_name = argv[1];
+
+		if (file_name) {
+			int fd = open(file_name, O_RDONLY);
+
+			if (fd < 0) {
+				PX4_ERR("open '%s' failed (%i)", file_name, errno);
+				return 1;
+
+			} else {
+				PX4_INFO_RAW("[bsondump] reading from %s\n", file_name);
+
+				bson_decoder_s decoder{};
+
+				if (bson_decoder_init_file(&decoder, fd, bson_print_callback) == 0) {
+					PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
+
+					int result = -1;
+
+					do {
+						result = bson_decoder_next(&decoder);
+
+					} while (result > 0);
+
+					close(fd);
+
+					if (result == 0) {
+						PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
+							     ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
+							     decoder.total_decoded_size,
+							     decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
+							     decoder.count_node_int32, decoder.count_node_int64);
+
+						return 0;
+
+					} else if (result == -ENODATA) {
+						PX4_WARN("no data");
+						return -1;
+
+					} else {
+						PX4_ERR("failed (%d)", result);
+						return -1;
+					}
+				}
+			}
+		}
+	}
+
+	return -1;
+}
diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp
index c7bd26c71d..2f7842f126 100644
--- a/src/systemcmds/param/param.cpp
+++ b/src/systemcmds/param/param.cpp
@@ -83,7 +83,6 @@ enum class COMPARE_ERROR_LEVEL {
 
 static int 	do_save(const char *param_file_name);
 static int	do_save_default();
-static int 	do_dump(const char *param_file_name);
 static int 	do_load(const char *param_file_name);
 static int	do_import(const char *param_file_name = nullptr);
 static int	do_show(const char *search_string, bool only_changed);
@@ -136,8 +135,6 @@ $ reboot
 	PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save params to a file");
 	PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("dump", "Dump params from a file");
-	PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("select", "Select default file");
 	PRINT_MODULE_USAGE_ARG("<file>", "File name", true);
@@ -212,15 +209,6 @@ param_main(int argc, char *argv[])
 			}
 		}
 
-		if (!strcmp(argv[1], "dump")) {
-			if (argc >= 3) {
-				return do_dump(argv[2]);
-
-			} else {
-				return do_dump(param_get_default_file());
-			}
-		}
-
 		if (!strcmp(argv[1], "load")) {
 			if (argc >= 3) {
 				return do_load(argv[2]);
@@ -443,42 +431,6 @@ do_save(const char *param_file_name)
 	return 0;
 }
 
-static int
-do_dump(const char *param_file_name)
-{
-	int fd = -1;
-
-	if (param_file_name) { // passing NULL means to select the flash storage
-
-		fd = open(param_file_name, O_RDONLY);
-
-		if (fd < 0) {
-			PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
-			return 1;
-		} else {
-			PX4_INFO_RAW("[param] reading from %s\n\n", param_file_name);
-		}
-	}
-
-	int result = param_dump(fd);
-
-	if (fd >= 0) {
-		close(fd);
-	}
-
-	if (result < 0) {
-		if (param_file_name) {
-			PX4_ERR("reading from '%s' failed (%i)", param_file_name, result);
-
-		} else {
-			PX4_ERR("reading failed (%i)", result);
-		}
-
-		return 1;
-	}
-
-	return 0;
-}
 
 static int
 do_load(const char *param_file_name)
diff --git a/src/systemcmds/tests/test_bson.cpp b/src/systemcmds/tests/test_bson.cpp
index caaaa3474f..939d51fe8d 100644
--- a/src/systemcmds/tests/test_bson.cpp
+++ b/src/systemcmds/tests/test_bson.cpp
@@ -45,7 +45,7 @@
 #include <math.h>
 
 #include <systemlib/err.h>
-#include <parameters/tinybson/tinybson.h>
+#include <lib/tinybson/tinybson.h>
 
 #include "tests_main.h"