diff --git a/boards/ark/fpv/default.px4board b/boards/ark/fpv/default.px4board
index 6206a797565b..3836ea4058eb 100644
--- a/boards/ark/fpv/default.px4board
+++ b/boards/ark/fpv/default.px4board
@@ -1,17 +1,16 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board
index 008e1b7f4211..39ed637d33c2 100644
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@@ -34,7 +34,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-CONFIG_EKF2_EXTERNAL_VISION=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
 # CONFIG_EKF2_DRAG_FUSION is not set
diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board
index 40326a4050a4..fe8405e4d581 100644
--- a/boards/holybro/kakuteh7mini/default.px4board
+++ b/boards/holybro/kakuteh7mini/default.px4board
@@ -14,9 +14,9 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -34,7 +34,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-CONFIG_EKF2_EXTERNAL_VISION=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
 # CONFIG_EKF2_DRAG_FUSION is not set
diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board
index 24843bfc5425..e4ca03c8b501 100644
--- a/boards/holybro/kakuteh7v2/default.px4board
+++ b/boards/holybro/kakuteh7v2/default.px4board
@@ -34,7 +34,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-CONFIG_EKF2_EXTERNAL_VISION=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
 # CONFIG_EKF2_DRAG_FUSION is not set
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index f7bbda7c4948..8e68fca8482d 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -18,8 +18,8 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y