diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c
index a7fd31a20c..02a4a2eb7a 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/init.c
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c
index a7fd31a20c..02a4a2eb7a 100644
--- a/boards/mro/ctrl-zero-h7/src/init.c
+++ b/boards/mro/ctrl-zero-h7/src/init.c
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);
 
diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c
index 5a5748918b..7085a45233 100644
--- a/boards/mro/pixracerpro/src/init.c
+++ b/boards/mro/pixracerpro/src/init.c
@@ -60,6 +60,8 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include <mpu.h>
+
 __BEGIN_DECLS
 extern void led_init(void);
 extern void led_on(int led);
@@ -121,6 +123,16 @@ __EXPORT void board_on_reset(int status)
  ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);