diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index a2fa151272..6f19f558fd 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -95,6 +95,7 @@ pipeline {
                      "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                      "px4_fmu-v6x_default",
                      "px4_io-v2_default",
                      "spracing_h7extreme_default",
diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml
index 3a375459b2..b09ad292ce 100644
--- a/.github/workflows/compile_nuttx.yml
+++ b/.github/workflows/compile_nuttx.yml
@@ -72,6 +72,7 @@ jobs:
           px4_fmu-v5x_base_phy_DP83848C,
           px4_fmu-v5x_default,
           px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
diff --git a/boards/px4/fmu-v6u/default.cmake b/boards/px4/fmu-v6u/default.cmake
index 6d4cf31073..4c542ecf6a 100644
--- a/boards/px4/fmu-v6u/default.cmake
+++ b/boards/px4/fmu-v6u/default.cmake
@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
@@ -17,6 +16,7 @@ px4_add_board(
 		TEL3:/dev/ttyS1
 		GPS2:/dev/ttyS7
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -37,8 +37,9 @@ px4_add_board(
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input  - Need to create arch/stm32 arch/stm32h7
@@ -49,7 +50,6 @@ px4_add_board(
 		rpm
 		safety_button
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -84,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -91,6 +93,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -108,7 +111,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -118,7 +121,9 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#fake_gyro
+		fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
 		#matlab_csv_serial
diff --git a/boards/px4/fmu-v6u/test.cmake b/boards/px4/fmu-v6u/test.cmake
new file mode 100644
index 0000000000..be4b5eb11a
--- /dev/null
+++ b/boards/px4/fmu-v6u/test.cmake
@@ -0,0 +1,137 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v6u
+	LABEL test
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	BUILD_BOOTLOADER
+	TESTING
+	UAVCAN_INTERFACES 1
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS6
+		TEL2:/dev/ttyS4
+		TEL3:/dev/ttyS1
+		GPS2:/dev/ttyS7
+	DRIVERS
+		adc/ads1115
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm20602
+		imu/invensense/icm42605
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		#pwm_input  - Need to create arch/stm32 arch/stm32h7
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		rpm
+		safety_button
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		#attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		load_mon
+		#local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		serial_test
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fake_gps
+		fake_gyro
+		fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)