diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board
index 6473ff63f8e2..fe829a18c2e8 100644
--- a/boards/modalai/voxl2-slpi/default.px4board
+++ b/boards/modalai/voxl2-slpi/default.px4board
@@ -1,10 +1,10 @@
 CONFIG_PLATFORM_QURT=y
 CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
diff --git a/boards/px4/fmu-v5x/performance-test.px4board b/boards/px4/fmu-v5x/performance-test.px4board
index 5e69dd7ae311..14a29b8e1b96 100644
--- a/boards/px4/fmu-v5x/performance-test.px4board
+++ b/boards/px4/fmu-v5x/performance-test.px4board
@@ -1,31 +1,4 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
diff --git a/boards/px4/fmu-v6x/performance-test.px4board b/boards/px4/fmu-v6x/performance-test.px4board
index 5e69dd7ae311..dbbea246962e 100644
--- a/boards/px4/fmu-v6x/performance-test.px4board
+++ b/boards/px4/fmu-v6x/performance-test.px4board
@@ -1,31 +1,5 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index 8eb8ebec8c63..fde6d6963701 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -50,8 +50,8 @@ CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
-CONFIG_MODULES_SIMULATION_GZ_MSGS=y
 CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
 CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
 CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -82,4 +82,3 @@ CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
-CONFIG_MODULES_SPACECRAFT=n
diff --git a/boards/px4/sitl/spacecraft.px4board b/boards/px4/sitl/spacecraft.px4board
index 56c966598bcb..7c4aa27ea98e 100644
--- a/boards/px4/sitl/spacecraft.px4board
+++ b/boards/px4/sitl/spacecraft.px4board
@@ -1,19 +1,18 @@
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_CONTROL_ALLOCATOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_MODULES_ROVER_ACKERMANN=n
 CONFIG_MODULES_ROVER_DIFFERENTIAL=n
 CONFIG_MODULES_ROVER_MECANUM=n
-CONFIG_EKF2_AUX_GLOBAL_POSITION=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_MODULES_SPACECRAFT=y