diff --git a/boards/cuav/can-gps-v1/debug.cmake b/boards/cuav/can-gps-v1/debug.cmake
index dd8613a8f4..90687e12f3 100644
--- a/boards/cuav/can-gps-v1/debug.cmake
+++ b/boards/cuav/can-gps-v1/debug.cmake
@@ -1,22 +1,5 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
 
-
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
 add_definitions(-DUSE_S_RGB_LED_DMA)
 
 px4_add_board(
@@ -26,6 +9,7 @@ px4_add_board(
 	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
 	DRIVERS
@@ -48,6 +32,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )
diff --git a/boards/cuav/can-gps-v1/default.cmake b/boards/cuav/can-gps-v1/default.cmake
index ac89746511..6f1eb8c488 100644
--- a/boards/cuav/can-gps-v1/default.cmake
+++ b/boards/cuav/can-gps-v1/default.cmake
@@ -22,17 +22,17 @@ px4_add_board(
 		tone_alarm
 		uavcannode
 	MODULES
-		load_mon
+		#load_mon
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
+		#perf
+		#reboot
+		#top
+		#topic_listener
+		#tune_control
+		#uorb
+		#ver
+		#work_queue
 )
diff --git a/boards/cuav/can-gps-v1/init/rc.board_defaults b/boards/cuav/can-gps-v1/init/rc.board_defaults
index 42645aeb39..68ad0d5163 100644
--- a/boards/cuav/can-gps-v1/init/rc.board_defaults
+++ b/boards/cuav/can-gps-v1/init/rc.board_defaults
@@ -3,6 +3,8 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
+param set-default CBRK_IO_SAFETY 0
+
 neopixel start
 safety_button start
 tone_alarm start