diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index e09339029f..18b496fa02 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -15,7 +15,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	#drivers/px4io
-	drivers/test_ppm
+	#drivers/test_ppm
 	drivers/boards/mindpx-v2
 	#drivers/rgbled
 	drivers/rgbled_pwm
@@ -76,6 +76,7 @@ set(config_module_list
 	# General system control
 	#
 	modules/commander
+	modules/load_mon
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
@@ -85,11 +86,11 @@ set(config_module_list
 	#
 	# Estimation modules (EKF/ SO3 / other filters)
 	#
-	# Too high RAM usage due to static allocations
-	# modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
 
 	#
 	# Vehicle Control
@@ -135,7 +136,7 @@ set(config_module_list
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
-	platforms/common 
+	platforms/common
 	platforms/nuttx/px4_layer
 
 	#
@@ -146,7 +147,7 @@ set(config_module_list
 	#
 	# Rover apps
 	#
-	examples/rover_steering_control
+	#examples/rover_steering_control
 
 	#
 	# Demo apps
@@ -154,7 +155,7 @@ set(config_module_list
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	examples/px4_simple_app
+	#examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -177,10 +178,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_io_board
-	px4io-v2
-	)
-
 set(config_extra_libs
 	uavcan
 	uavcan_stm32_driver
@@ -192,9 +189,11 @@ set(config_io_extra_libs
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "sercon" STACK_MAIN "2048")
+	MAIN "sercon"
+	STACK_MAIN "2048")
 
 add_custom_target(serdis)
 set_target_properties(serdis PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
-	MAIN "serdis" STACK_MAIN "2048")
+	MAIN "serdis"
+	STACK_MAIN "2048")