diff --git a/boards/px4/fmu-v2/default.px4board b/boards/px4/fmu-v2/default.px4board
index 8a583b8dc2..c5543bdb93 100644
--- a/boards/px4/fmu-v2/default.px4board
+++ b/boards/px4/fmu-v2/default.px4board
@@ -19,17 +19,13 @@ CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -41,7 +37,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -49,5 +44,4 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
diff --git a/boards/px4/fmu-v2/multicopter.px4board b/boards/px4/fmu-v2/multicopter.px4board
index f9ed11c046..7a4bef6a55 100644
--- a/boards/px4/fmu-v2/multicopter.px4board
+++ b/boards/px4/fmu-v2/multicopter.px4board
@@ -3,14 +3,14 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
diff --git a/boards/px4/fmu-v2/test.px4board b/boards/px4/fmu-v2/test.px4board
index a37ade7436..6d82c8f9b8 100644
--- a/boards/px4/fmu-v2/test.px4board
+++ b/boards/px4/fmu-v2/test.px4board
@@ -1,4 +1,5 @@
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
+CONFIG_DRIVERS_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_EKF2=n
 CONFIG_MODULES_FW_ATT_CONTROL=n