diff --git a/.gitmodules b/.gitmodules
index bca504f69e6f..06d43d660e50 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -5,7 +5,7 @@
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
 	url = https://github.com/PX4/uavcan.git
-	branch = px4
+	branch = pr-nuttx_update_7.31+
 [submodule "msg/tools/genmsg"]
 	path = msg/tools/genmsg
 	url = https://github.com/PX4/genmsg.git
@@ -49,11 +49,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-7.29+
+	branch = px4_firmware_nuttx-7.31+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-7.29+
+	branch = px4_firmware_nuttx-7.31+
 [submodule "cmake/configs/uavcan_board_ident"]
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
diff --git a/boards/airmind/mindpx-v2/nuttx-config/drivers/Kconfig b/boards/airmind/mindpx-v2/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
index ef31f68f3102..a0327ab82570 100644
--- a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
+++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -16,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/auav/esc35-v1/nuttx-config/drivers/Kconfig b/boards/auav/esc35-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/auav/esc35-v1/nuttx-config/nsh/defconfig b/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
index ea8f46f06b53..71a3b5a0ad32 100644
--- a/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
+++ b/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
@@ -1,11 +1,21 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_NSH_CMDOPT_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_PS is not set
 # CONFIG_SERIAL is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F303CC=y
 CONFIG_ARCH_INTERRUPTSTACK=4096
@@ -15,7 +25,6 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CUSTOM_LEDS=y
-CONFIG_BOARD_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=5483
 CONFIG_BUILTIN=y
 CONFIG_BUILTIN_PROXY_STACKSIZE=4096
diff --git a/boards/auav/x21/nuttx-config/drivers/Kconfig b/boards/auav/x21/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/auav/x21/nuttx-config/nsh/defconfig b/boards/auav/x21/nuttx-config/nsh/defconfig
index e1349f9b5aa6..3f71ac2d9b48 100644
--- a/boards/auav/x21/nuttx-config/nsh/defconfig
+++ b/boards/auav/x21/nuttx-config/nsh/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -16,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/av/x-v1/nuttx-config/drivers/Kconfig b/boards/av/x-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig
index 1ddcd0872eb2..ccca0581192e 100644
--- a/boards/av/x-v1/nuttx-config/nsh/defconfig
+++ b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -40,8 +40,11 @@
 # CONFIG_NSH_DISABLE_WGET is not set
 # CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F777NI=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -78,10 +81,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -197,6 +197,7 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
 CONFIG_STM32F7_PHYSR_10HD=0x4
 CONFIG_STM32F7_PHYSR_ALTCONFIG=y
 CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -233,6 +234,8 @@ CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RS485=y
 CONFIG_UART4_RXBUFSIZE=600
diff --git a/boards/bitcraze/crazyflie/nuttx-config/drivers/Kconfig b/boards/bitcraze/crazyflie/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
index b31d1424d718..5b56c2daf690 100644
--- a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
+++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -16,8 +23,11 @@
 # CONFIG_SPI_CALLBACK is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/holybro/kakutef7/nuttx-config/drivers/Kconfig b/boards/holybro/kakutef7/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig
index 023d19292884..16b47dfc20df 100644
--- a/boards/holybro/kakutef7/nuttx-config/nsh/defconfig
+++ b/boards/holybro/kakutef7/nuttx-config/nsh/defconfig
@@ -1,5 +1,13 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -15,11 +23,14 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_SPI_CALLBACK is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F745VG=y
 CONFIG_ARCH_CHIP_STM32F7=y
-CONFIG_ARCH_INTERRUPTSTACK=750
+CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
@@ -59,11 +70,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -86,6 +93,7 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
@@ -95,12 +103,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_MMCSDSPIPORTNO=1
@@ -110,13 +112,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_MQ_MSGS=4
 CONFIG_PREALLOC_TIMERS=50
@@ -133,11 +128,11 @@ CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1800
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1800
+CONFIG_SCHED_LPWORKSTACKSIZE=1536
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -161,6 +156,7 @@ CONFIG_STM32F7_I2C1=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -190,6 +186,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
diff --git a/boards/intel/aerofc-v1/nuttx-config/drivers/Kconfig b/boards/intel/aerofc-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
index b18eb8a4e7fe..74e6509d97b7 100644
--- a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
+++ b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_FSUTILS_MKFATFS is not set
@@ -13,8 +20,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F429V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/mro/ctrl-zero-f7/nuttx-config/drivers/Kconfig b/boards/mro/ctrl-zero-f7/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig
index cd7774f62b11..3597419af485 100644
--- a/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig
+++ b/boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -22,8 +23,11 @@
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F777NI=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -66,11 +70,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -95,6 +95,7 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
@@ -173,6 +174,7 @@ CONFIG_STM32F7_I2C1=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -206,6 +208,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
diff --git a/boards/nxp/fmuk66-v3/nuttx-config/drivers/Kconfig b/boards/nxp/fmuk66-v3/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
index 14d412c5334f..66744bbac3ec 100644
--- a/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
+++ b/boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
@@ -1,9 +1,19 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_SPI is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="kinetis"
 CONFIG_ARCH_CHIP_KINETIS=y
 CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -171,7 +181,6 @@ CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
 CONFIG_SIG_SIGUSR1_ACTION=y
@@ -199,6 +208,6 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2864
+CONFIG_USERMAIN_STACKSIZE=2624
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
diff --git a/boards/nxp/fmuk66-v3/src/board_config.h b/boards/nxp/fmuk66-v3/src/board_config.h
index 64a44ad6389d..0ba74b8a5e17 100644
--- a/boards/nxp/fmuk66-v3/src/board_config.h
+++ b/boards/nxp/fmuk66-v3/src/board_config.h
@@ -50,7 +50,7 @@ __BEGIN_DECLS
 
 /* these headers are not C++ safe */
 #include <kinetis.h>
-#include <chip/kinetis_pinmux.h>
+#include <hardware/kinetis_pinmux.h>
 #include <arch/board/board.h>
 
 /* FMUK66 GPIOs ***********************************************************************************/
diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
index fd49478bc24b..2790033c6dcd 100644
--- a/boards/nxp/fmuk66-v3/src/init.c
+++ b/boards/nxp/fmuk66-v3/src/init.c
@@ -62,7 +62,7 @@
 
 #include <kinetis.h>
 #include <kinetis_uart.h>
-#include <chip/kinetis_uart.h>
+#include <hardware/kinetis_uart.h>
 #include "board_config.h"
 
 #include "up_arch.h"
diff --git a/boards/nxp/fmuk66-v3/src/timer_config.c b/boards/nxp/fmuk66-v3/src/timer_config.c
index 3d61c2041e74..e1b102217a1e 100644
--- a/boards/nxp/fmuk66-v3/src/timer_config.c
+++ b/boards/nxp/fmuk66-v3/src/timer_config.c
@@ -43,8 +43,8 @@
 #include <stdint.h>
 
 #include <kinetis.h>
-#include "chip/kinetis_sim.h"
-#include "chip/kinetis_ftm.h"
+#include <hardware/kinetis_sim.h>
+#include <hardware/kinetis_ftm.h>
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/kinetis/drv_io_timer.h>
diff --git a/boards/omnibus/f4sd/nuttx-config/drivers/Kconfig b/boards/omnibus/f4sd/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
index 41d074536ac1..60922a50997d 100644
--- a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
+++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
@@ -13,8 +13,11 @@
 # CONFIG_SPI_CALLBACK is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/px4/cannode-v1/nuttx-config/drivers/Kconfig b/boards/px4/cannode-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/cannode-v1/nuttx-config/nsh/defconfig b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
index 0ecec24940d3..bef61e34694c 100644
--- a/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
+++ b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
@@ -1,9 +1,19 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DEV_NULL is not set
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F103RB=y
 CONFIG_ARCH_INTERRUPTSTACK=360
@@ -14,7 +24,6 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CUSTOM_BUTTONS=y
 CONFIG_BOARD_CUSTOM_IRQBUTTONS=y
 CONFIG_BOARD_CUSTOM_LEDS=y
-CONFIG_BOARD_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=5483
 CONFIG_BUILTIN=y
 CONFIG_BUILTIN_PROXY_STACKSIZE=392
diff --git a/boards/px4/esc-v1/nuttx-config/drivers/Kconfig b/boards/px4/esc-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/esc-v1/nuttx-config/nsh/defconfig b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
index fb6956c3fb94..ab80aeee5218 100644
--- a/boards/px4/esc-v1/nuttx-config/nsh/defconfig
+++ b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_NSH_DISABLEBG is not set
@@ -20,8 +27,11 @@
 # CONFIG_NSH_DISABLE_UNAME is not set
 # CONFIG_NSH_DISABLE_XD is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F446R=y
 CONFIG_ARCH_MATH_H=y
@@ -30,7 +40,6 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CUSTOM_LEDS=y
-CONFIG_BOARD_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=5483
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
diff --git a/boards/px4/fmu-v2/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v2/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
index 72c08a713830..4428cfb3a3d7 100644
--- a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
@@ -23,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/px4/fmu-v3/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v3/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
index fb2062439b55..0c5dff141e82 100644
--- a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
@@ -23,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
index 44feff2fc398..f109224a7643 100644
--- a/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -16,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -74,6 +84,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_MAX_TASKS=64
 CONFIG_MAX_WDOGPARMS=2
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
diff --git a/boards/px4/fmu-v4/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v4/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
index 82ee00b3e1d3..04f4c3bb84ce 100644
--- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -23,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
index ed4f18b97e84..f2728a751518 100644
--- a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -16,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/px4/fmu-v4pro/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v4pro/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
index 340345f93500..6b841f50ff5f 100644
--- a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
@@ -23,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F469I=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig b/boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig
index 3c2d89eb18db..9a1089ee69e0 100644
--- a/boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -22,8 +23,11 @@
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -66,11 +70,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -95,6 +95,7 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
@@ -177,6 +178,7 @@ CONFIG_STM32F7_I2C4=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -214,6 +216,8 @@ CONFIG_SYSTEM_CRITMONITOR=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
diff --git a/boards/px4/fmu-v5/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v5/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig b/boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig
index 9d6537c2496b..1cfc563c7e38 100644
--- a/boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -22,8 +23,11 @@
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -66,11 +70,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -95,6 +95,7 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
@@ -177,6 +178,7 @@ CONFIG_STM32F7_I2C4=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -213,6 +215,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
index b17ac5f06c14..c3e8ad605b0b 100644
--- a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -22,8 +23,11 @@
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -66,11 +70,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -95,6 +95,7 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
@@ -104,11 +105,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
@@ -117,13 +113,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_MQ_MSGS=4
 CONFIG_PREALLOC_TIMERS=50
@@ -176,6 +165,7 @@ CONFIG_STM32F7_I2C4=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -212,6 +202,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
diff --git a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
index 0fa6dc3f3820..5bd00bf10d51 100644
--- a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
@@ -1,5 +1,13 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -15,8 +23,11 @@
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -60,11 +71,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -89,6 +96,7 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
@@ -98,11 +106,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
@@ -170,6 +173,7 @@ CONFIG_STM32F7_I2C4=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -198,12 +202,16 @@ CONFIG_STM32F7_USART2=y
 CONFIG_STM32F7_USART3=y
 CONFIG_STM32F7_USART6=y
 CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
diff --git a/boards/px4/fmu-v5x/nuttx-config/drivers/Kconfig b/boards/px4/fmu-v5x/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
index b4941f2ec4a7..60b5e437ad24 100644
--- a/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -22,8 +23,11 @@
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -67,11 +71,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -81,9 +81,9 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MAX_TASKS=64
@@ -98,8 +98,8 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
@@ -118,6 +118,7 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -127,12 +128,9 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DRIPADDR=0XC0A800FE
-CONFIG_NSH_IPADDR=0XC0A8007B
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_NOMAC=y
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
@@ -205,6 +203,7 @@ CONFIG_STM32F7_PHYSR_100MBPS=0x0
 CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x01
 CONFIG_STM32F7_PHYSR_MODE=0x04
 CONFIG_STM32F7_PHYSR_SPEED=0x2
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -242,6 +241,8 @@ CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
diff --git a/boards/px4/fmu-v5x/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v5x/nuttx-config/stackcheck/defconfig
index 61c38b7cbc09..cf2026b586a4 100644
--- a/boards/px4/fmu-v5x/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v5x/nuttx-config/stackcheck/defconfig
@@ -1,22 +1,33 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_VERSION is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
 CONFIG_ARCH_CHIP_STM32F765II=y
 CONFIG_ARCH_CHIP_STM32F7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
@@ -50,6 +61,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_ETH0_PHY_DP83848C=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -60,11 +72,7 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -74,6 +82,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -89,7 +99,26 @@ CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_SOCKOPTS=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
@@ -98,11 +127,8 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=12
 CONFIG_NSH_NESTDEPTH=8
@@ -110,6 +136,8 @@ CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNET=y
+CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
 CONFIG_NXFONTS_DISABLE_16BPP=y
 CONFIG_NXFONTS_DISABLE_1BPP=y
@@ -155,12 +183,14 @@ CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_ADC3=y
 CONFIG_STM32F7_BBSRAM=y
 CONFIG_STM32F7_BBSRAM_FILES=5
 CONFIG_STM32F7_BKPSRAM=y
 CONFIG_STM32F7_DMA1=y
 CONFIG_STM32F7_DMA2=y
 CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_ETHMAC=y
 CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32F7_I2C1=y
 CONFIG_STM32F7_I2C2=y
@@ -169,6 +199,12 @@ CONFIG_STM32F7_I2C4=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PHYSR=16
+CONFIG_STM32F7_PHYSR_100MBPS=0x0
+CONFIG_STM32F7_PHYSR_FULLDUPLEX=0x01
+CONFIG_STM32F7_PHYSR_MODE=0x04
+CONFIG_STM32F7_PHYSR_SPEED=0x2
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -197,12 +233,17 @@ CONFIG_STM32F7_USART2=y
 CONFIG_STM32F7_USART3=y
 CONFIG_STM32F7_USART6=y
 CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
diff --git a/boards/px4/fmu-v5x/stackcheck.cmake b/boards/px4/fmu-v5x/stackcheck.cmake
index 8264d38d8d94..0c959f3c5914 100644
--- a/boards/px4/fmu-v5x/stackcheck.cmake
+++ b/boards/px4/fmu-v5x/stackcheck.cmake
@@ -20,15 +20,14 @@ px4_add_board(
 
 	DRIVERS
 		barometer # all available barometer drivers
-		batt_smbus
+		#batt_smbus
 		camera_capture
 		camera_trigger
-		differential_pressure # all available differential pressure drivers
+		#differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
 		#heater
-		imu/adis16448
-		imu/adis16497
+		#imu/adis16448
 		#imu # all available imu drivers
 # TBD		imu/bmi088 - needs bus selection
 # TBD		imu/ism330dlc - needs bus selection
@@ -36,29 +35,30 @@ px4_add_board(
 		#irlock
 		#lights/blinkm
 		#lights/oreoled
-		lights/pca8574
+		#lights/pca8574
 		lights/rgbled
 		#lights/rgbled_ncp5623c
+		#lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		#md25
-		mkblctrl
-		optical_flow # all available optical flow drivers
+		#mkblctrl
+		#optical_flow # all available optical flow drivers
 		pca9685
 		power_monitor/ina226
 		#protocol_splitter
-		pwm_input
+		#pwm_input
 		pwm_out_sim
 		px4fmu
 		px4io
 		rc_input
-		roboclaw
+		#roboclaw
 		safety_button
 		stm32
 		stm32/adc
 		stm32/tone_alarm
-		tap_esc
+		#tap_esc
 		telemetry # all available telemetry drivers
-		test_ppm
+		#test_ppm
 		tone_alarm
 		#uavcan
 
diff --git a/boards/px4/io-v2/nuttx-config/drivers/Kconfig b/boards/px4/io-v2/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/px4/io-v2/nuttx-config/nsh/defconfig b/boards/px4/io-v2/nuttx-config/nsh/defconfig
index bb71ca56ff28..9ba0e44eba58 100644
--- a/boards/px4/io-v2/nuttx-config/nsh/defconfig
+++ b/boards/px4/io-v2/nuttx-config/nsh/defconfig
@@ -5,10 +5,14 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
+# CONFIG_DEV_CONSOLE is not set
 # CONFIG_DEV_NULL is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARCH_MATH_H=y
@@ -22,20 +26,19 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_POLL=y
 CONFIG_DISABLE_PTHREAD=y
-CONFIG_DISABLE_SIGNALS=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=2
 CONFIG_MAX_WDOGPARMS=2
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
-CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_NFILE_STREAMS=0
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_PREALLOC_WDOGS=6
@@ -60,7 +63,6 @@ CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_USART1=y
 CONFIG_STM32_USART2=y
 CONFIG_STM32_USART3=y
-CONFIG_STM32_USART_SINGLEWIRE=y
 CONFIG_TASK_NAME_SIZE=4
 CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=1024
 CONFIG_USART1_RXBUFSIZE=64
diff --git a/boards/thiemar/s2740vc-v1/nuttx-config/drivers/Kconfig b/boards/thiemar/s2740vc-v1/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
index a99759a0631f..585c832ebd10 100644
--- a/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
+++ b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
@@ -1,10 +1,20 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_ARCH_FPU is not set
 # CONFIG_DEV_NULL is not set
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F302K8=y
 CONFIG_ARCH_INTERRUPTSTACK=1024
@@ -13,7 +23,6 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=5483
 CONFIG_BUILTIN=y
 CONFIG_BUILTIN_PROXY_STACKSIZE=392
diff --git a/boards/uvify/core/nuttx-config/drivers/Kconfig b/boards/uvify/core/nuttx-config/drivers/Kconfig
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/boards/uvify/core/nuttx-config/nsh/defconfig b/boards/uvify/core/nuttx-config/nsh/defconfig
index 39a594e1f3a1..bfec2cc1bd4c 100644
--- a/boards/uvify/core/nuttx-config/nsh/defconfig
+++ b/boards/uvify/core/nuttx-config/nsh/defconfig
@@ -23,8 +23,11 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index fb6b630d24b2..a47112f1c508 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -54,7 +54,7 @@ list(APPEND nuttx_libs
 	nuttx_arch
 	nuttx_binfmt
 	nuttx_c
-	nuttx_configs
+	nuttx_boards
 	nuttx_xx
 	nuttx_drivers
 	nuttx_fs
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index c465eb2f5f59..0854992b13c2 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -112,9 +112,9 @@ add_custom_target(nuttx_copy_and_apps_target
 if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 	add_custom_command(
 		OUTPUT
-			${NUTTX_DIR}/configs/dummy/Kconfig
+			${NUTTX_DIR}/boards/dummy/Kconfig
 			${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
-		COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
+		COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
 		COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
 		DEPENDS
 			nuttx_copy_and_apps_target
@@ -122,9 +122,9 @@ if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 else()
 	add_custom_command(
 		OUTPUT
-			${NUTTX_DIR}/configs/dummy/Kconfig
+			${NUTTX_DIR}/boards/dummy/Kconfig
 			${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
-		COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig
+		COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig
 		COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
 		DEPENDS
 			nuttx_copy_and_apps_target
@@ -133,7 +133,7 @@ endif()
 
 add_custom_target(nuttx_config_kconfig_target
 	DEPENDS
-		${NUTTX_DIR}/configs/dummy/Kconfig
+		${NUTTX_DIR}/boards/dummy/Kconfig
 		${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
 )
 
@@ -357,7 +357,7 @@ endfunction()
 # add_nuttx_dir(NAME DIRECTORY KERNEL EXTRA)
 add_nuttx_dir(arch arch/arm/src y -D__KERNEL__)
 add_nuttx_dir(binfmt binfmt y -D__KERNEL__)
-add_nuttx_dir(configs configs y -D__KERNEL__)
+add_nuttx_dir(boards boards y -D__KERNEL__)
 add_nuttx_dir(drivers drivers y -D__KERNEL__)
 add_nuttx_dir(fs fs y -D__KERNEL__)
 add_nuttx_dir(sched sched y -D__KERNEL__)
diff --git a/platforms/nuttx/NuttX/Make.defs.in b/platforms/nuttx/NuttX/Make.defs.in
index a76fd4d1b6b9..a89bdf0fda36 100644
--- a/platforms/nuttx/NuttX/Make.defs.in
+++ b/platforms/nuttx/NuttX/Make.defs.in
@@ -104,7 +104,8 @@ CFLAGS = $(ARCHINCLUDES) \
 	-Wno-nonnull-compare \
 	-Wno-old-style-declaration \
 	-Wno-sign-compare \
-	-Wno-type-limits
+	-Wno-type-limits \
+	-Wno-error=unused-but-set-variable
 
 CXXFLAGS = $(ARCHXXINCLUDES) \
 	-std=gnu++11 \
diff --git a/platforms/nuttx/NuttX/apps b/platforms/nuttx/NuttX/apps
index 13eeff0ec3f2..3a75edca2012 160000
--- a/platforms/nuttx/NuttX/apps
+++ b/platforms/nuttx/NuttX/apps
@@ -1 +1 @@
-Subproject commit 13eeff0ec3f23d84fabf1e9fe216846957ad15cf
+Subproject commit 3a75edca20127f33f04b00eac3f6fbd4583e2b08
diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index d8da51108264..a3bea40c46fb 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit d8da511082646d83a54c6905daca13f0a1a609f0
+Subproject commit a3bea40c46fb5e1b6f60faff0cb78fc173b38d5d
diff --git a/platforms/nuttx/cmake/init.cmake b/platforms/nuttx/cmake/init.cmake
index e87a5438d2e9..3d6631ebe811 100644
--- a/platforms/nuttx/cmake/init.cmake
+++ b/platforms/nuttx/cmake/init.cmake
@@ -94,9 +94,9 @@ set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH
 
 # If the board provides a Kconfig Use it or create an empty one
 if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
-	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig)
+	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
 else()
-	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig)
+	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
 endif()
 
 execute_process(
diff --git a/src/drivers/boards/common/kinetis/board_identity.c b/src/drivers/boards/common/kinetis/board_identity.c
index 5cea3f50c5c0..6f65e4006cb6 100644
--- a/src/drivers/boards/common/kinetis/board_identity.c
+++ b/src/drivers/boards/common/kinetis/board_identity.c
@@ -41,8 +41,8 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
-#include <chip/kinetis_memorymap.h>
-#include <chip/kinetis_sim.h>
+#include <hardware/kinetis_memorymap.h>
+#include <hardware/kinetis_sim.h>
 
 static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID;
 
diff --git a/src/drivers/boards/common/kinetis/board_mcu_version.c b/src/drivers/boards/common/kinetis/board_mcu_version.c
index e98937b0ae90..8f9b957b8715 100644
--- a/src/drivers/boards/common/kinetis/board_mcu_version.c
+++ b/src/drivers/boards/common/kinetis/board_mcu_version.c
@@ -41,7 +41,7 @@
 #include <px4_defines.h>
 
 #include "up_arch.h"
-#include "chip/kinetis_sim.h"
+#include "hardware/kinetis_sim.h"
 
 #define CHIP_TAG     "Kinetis K??"
 #define CHIP_TAG_LEN sizeof(CHIP_TAG)-1
diff --git a/src/drivers/boards/common/kinetis/board_reset.c b/src/drivers/boards/common/kinetis/board_reset.c
index c6f8c4389d62..2d87a0854121 100644
--- a/src/drivers/boards/common/kinetis/board_reset.c
+++ b/src/drivers/boards/common/kinetis/board_reset.c
@@ -42,6 +42,39 @@
 #include <nuttx/board.h>
 
 
+#ifdef CONFIG_BOARDCTL_RESET
+
+/****************************************************************************
+ * Public functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_reset
+ *
+ * Description:
+ *   Reset board.  Support for this function is required by board-level
+ *   logic if CONFIG_BOARDCTL_RESET is selected.
+ *
+ * Input Parameters:
+ *   status - Status information provided with the reset event.  This
+ *            meaning of this status information is board-specific.  If not
+ *            used by a board, the value zero may be provided in calls to
+ *            board_reset().
+ *
+ * Returned Value:
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
+ *
+ ****************************************************************************/
+
+int board_reset(int status)
+{
+	up_systemreset();
+	return 0;
+}
+
+#endif /* CONFIG_BOARDCTL_RESET */
 
 
 int board_set_bootload_mode(board_reset_e mode)
diff --git a/src/drivers/boards/common/stm32/board_hw_rev_ver.c b/src/drivers/boards/common/stm32/board_hw_rev_ver.c
index 21c2039266e2..af790f500398 100644
--- a/src/drivers/boards/common/stm32/board_hw_rev_ver.c
+++ b/src/drivers/boards/common/stm32/board_hw_rev_ver.c
@@ -41,6 +41,8 @@
 #include <stdio.h>
 #include "board_config.h"
 
+#include <hardware/stm32_adc.h>
+
 #include "../board_internal_common.h"
 
 #include <systemlib/px4_macros.h>
diff --git a/src/drivers/boards/common/stm32/board_reset.c b/src/drivers/boards/common/stm32/board_reset.c
index cb5355ee9c56..a09ba88e0282 100644
--- a/src/drivers/boards/common/stm32/board_reset.c
+++ b/src/drivers/boards/common/stm32/board_reset.c
@@ -43,6 +43,39 @@
 #include <stm32_rtc.h>
 #include <nuttx/board.h>
 
+#ifdef CONFIG_BOARDCTL_RESET
+
+/****************************************************************************
+ * Public functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_reset
+ *
+ * Description:
+ *   Reset board.  Support for this function is required by board-level
+ *   logic if CONFIG_BOARDCTL_RESET is selected.
+ *
+ * Input Parameters:
+ *   status - Status information provided with the reset event.  This
+ *            meaning of this status information is board-specific.  If not
+ *            used by a board, the value zero may be provided in calls to
+ *            board_reset().
+ *
+ * Returned Value:
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
+ *
+ ****************************************************************************/
+
+int board_reset(int status)
+{
+	up_systemreset();
+	return 0;
+}
+
+#endif /* CONFIG_BOARDCTL_RESET */
 
 int board_set_bootload_mode(board_reset_e mode)
 {
diff --git a/src/drivers/camera_trigger/interfaces/src/gpio.cpp b/src/drivers/camera_trigger/interfaces/src/gpio.cpp
index 8104fc189b9e..296fd90ad05d 100644
--- a/src/drivers/camera_trigger/interfaces/src/gpio.cpp
+++ b/src/drivers/camera_trigger/interfaces/src/gpio.cpp
@@ -3,7 +3,7 @@
 #include "gpio.h"
 #include <cstring>
 
-constexpr uint32_t CameraInterfaceGPIO::_gpios[6];
+constexpr uint32_t CameraInterfaceGPIO::_gpios[];
 
 CameraInterfaceGPIO::CameraInterfaceGPIO():
 	CameraInterface(),
@@ -25,7 +25,7 @@ void CameraInterfaceGPIO::setup()
 {
 	for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) {
 
-		// Pin range is from 1 to 6, indexes are 0 to 5
+		// Pin range is from 1 to 5 or 6, indexes are 0 to 4 or 5
 
 		if (_pins[i] >= 0 && _pins[i] < (int)arraySize(_gpios)) {
 			uint32_t gpio = _gpios[_pins[i]];
@@ -50,9 +50,17 @@ void CameraInterfaceGPIO::trigger(bool trigger_on_true)
 
 void CameraInterfaceGPIO::info()
 {
-	PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d][%d], polarity : %s",
-		 _pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
-		 _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
+	if (ngpios == 6) {
+		PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d][%d], polarity : %s",
+			 _pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
+			 _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
+	}
+
+	if (ngpios == 5) {
+		PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d], polarity : %s",
+			 _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
+			 _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
+	}
 }
 
 #endif /* ifdef __PX4_NUTTX */
diff --git a/src/drivers/camera_trigger/interfaces/src/gpio.h b/src/drivers/camera_trigger/interfaces/src/gpio.h
index 38150d1409ff..d721ee354bda 100644
--- a/src/drivers/camera_trigger/interfaces/src/gpio.h
+++ b/src/drivers/camera_trigger/interfaces/src/gpio.h
@@ -30,16 +30,19 @@ class CameraInterfaceGPIO : public CameraInterface
 
 	bool _trigger_invert;
 
-	static constexpr uint32_t _gpios[6] = {
+	static constexpr uint32_t _gpios[] = {
 		GPIO_GPIO0_OUTPUT,
 		GPIO_GPIO1_OUTPUT,
 		GPIO_GPIO2_OUTPUT,
 		GPIO_GPIO3_OUTPUT,
 		GPIO_GPIO4_OUTPUT,
+#if defined(GPIO_GPIO5_OUTPUT)
 		GPIO_GPIO5_OUTPUT
+#endif
 	};
+	static constexpr int ngpios = sizeof(_gpios) / sizeof(_gpios[0]);
 
-	uint32_t _triggers[arraySize(_gpios)];
+	uint32_t _triggers[ngpios];
 };
 
 #endif /* ifdef __PX4_NUTTX */
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 737a45e93436..e291bbd45d50 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -1068,7 +1068,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance)
 	}
 
 	int task_id = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
-				   SCHED_PRIORITY_SLOW_DRIVER, 1600,
+				   SCHED_PRIORITY_SLOW_DRIVER, 1700,
 				   entry_point, (char *const *)argv);
 
 	if (task_id < 0) {
diff --git a/src/drivers/kinetis/adc/adc.cpp b/src/drivers/kinetis/adc/adc.cpp
index 50f307c3c0d9..8e7e4bff6bd9 100644
--- a/src/drivers/kinetis/adc/adc.cpp
+++ b/src/drivers/kinetis/adc/adc.cpp
@@ -45,8 +45,8 @@
 
 #include <nuttx/analog/adc.h>
 #include <kinetis.h>
-#include <chip/kinetis_sim.h>
-#include <chip/kinetis_adc.h>
+#include <hardware/kinetis_sim.h>
+#include <hardware/kinetis_adc.h>
 
 #include <drivers/drv_adc.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/kinetis/drv_hrt.c b/src/drivers/kinetis/drv_hrt.c
index c39b4989e34b..8c2b9d57aec2 100644
--- a/src/drivers/kinetis/drv_hrt.c
+++ b/src/drivers/kinetis/drv_hrt.c
@@ -67,8 +67,8 @@
 
 
 #include "kinetis.h"
-#include "chip/kinetis_sim.h"
-#include "kinetis_tpm.h"
+#include <hardware/kinetis_sim.h>
+#include <kinetis_tpm.h>
 
 #undef PPM_DEBUG
 
diff --git a/src/drivers/kinetis/drv_input_capture.c b/src/drivers/kinetis/drv_input_capture.c
index c44138118d85..89cdceb57a9f 100644
--- a/src/drivers/kinetis/drv_input_capture.c
+++ b/src/drivers/kinetis/drv_input_capture.c
@@ -77,8 +77,8 @@
 #include "drv_input_capture.h"
 
 #include <kinetis.h>
-#include "chip/kinetis_sim.h"
-#include "chip/kinetis_ftm.h"
+#include "hardware/kinetis_sim.h"
+#include "hardware/kinetis_ftm.h"
 
 
 #define _REG(_addr)	(*(volatile uint32_t *)(_addr))
diff --git a/src/drivers/kinetis/drv_io_timer.c b/src/drivers/kinetis/drv_io_timer.c
index 4aaa8bb095d5..720ba1b7f315 100644
--- a/src/drivers/kinetis/drv_io_timer.c
+++ b/src/drivers/kinetis/drv_io_timer.c
@@ -59,8 +59,8 @@
 #include "drv_io_timer.h"
 
 #include <kinetis.h>
-#include "chip/kinetis_sim.h"
-#include "chip/kinetis_ftm.h"
+#include <hardware/kinetis_sim.h>
+#include <hardware/kinetis_ftm.h>
 
 /* The FTM pre-scalers are limited to Divide by 2^n where n={1-7}
  * Therefore we use Y1 at 16 Mhz to drive FTM_CLKIN0 (PCT12)
diff --git a/src/drivers/kinetis/drv_led_pwm.cpp b/src/drivers/kinetis/drv_led_pwm.cpp
index b11ca0e4580f..78b8cfa57d14 100644
--- a/src/drivers/kinetis/drv_led_pwm.cpp
+++ b/src/drivers/kinetis/drv_led_pwm.cpp
@@ -59,8 +59,8 @@
 #include "drv_io_timer.h"
 
 #include <kinetis.h>
-#include "chip/kinetis_sim.h"
-#include "chip/kinetis_ftm.h"
+#include <hardware/kinetis_sim.h>
+#include <hardware/kinetis_ftm.h>
 
 #if defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
 
diff --git a/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp b/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp
index e7f36bd2ab54..2371e64b7559 100644
--- a/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp
+++ b/src/drivers/kinetis/tone_alarm/ToneAlarmInterface.cpp
@@ -35,8 +35,8 @@
  * @file ToneAlarmInterface.cpp
  */
 
-#include "chip/kinetis_sim.h"
-#include "kinetis_tpm.h"
+#include <hardware/kinetis_sim.h>
+#include <kinetis_tpm.h>
 
 #include <drivers/device/device.h>
 #include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
diff --git a/src/drivers/pwm_input/pwm_input.cpp b/src/drivers/pwm_input/pwm_input.cpp
index 5efca66d6411..35e9b07b3ed4 100644
--- a/src/drivers/pwm_input/pwm_input.cpp
+++ b/src/drivers/pwm_input/pwm_input.cpp
@@ -68,8 +68,8 @@
 #include "up_internal.h"
 #include "up_arch.h"
 
-#include "stm32_gpio.h"
-#include "stm32_tim.h"
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
 #include <systemlib/err.h>
 
 #include <uORB/uORB.h>
diff --git a/src/drivers/safety_button/CMakeLists.txt b/src/drivers/safety_button/CMakeLists.txt
index f1fb9c3e6b0a..50478387044d 100644
--- a/src/drivers/safety_button/CMakeLists.txt
+++ b/src/drivers/safety_button/CMakeLists.txt
@@ -34,6 +34,7 @@
 px4_add_module(
 	MODULE drivers__safety_button
 	MAIN safety_button
+	STACK_MAIN 1200
 	SRCS
 		SafetyButton.cpp
 	DEPENDS
diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt
index 065e1729916d..5802d0f1b6ba 100644
--- a/src/drivers/uavcan/CMakeLists.txt
+++ b/src/drivers/uavcan/CMakeLists.txt
@@ -130,3 +130,6 @@ px4_add_module(
 		uavcan
 		uavcan_${UAVCAN_PLATFORM}_driver
 	)
+
+add_dependencies(uavcan prebuild_targets)
+add_dependencies(uavcan_${UAVCAN_PLATFORM}_driver prebuild_targets)
diff --git a/src/drivers/uavcan/libuavcan b/src/drivers/uavcan/libuavcan
index 6174b8c10a2d..b8629b236b74 160000
--- a/src/drivers/uavcan/libuavcan
+++ b/src/drivers/uavcan/libuavcan
@@ -1 +1 @@
-Subproject commit 6174b8c10a2dbf47076ca7a7b5820a4c36c8a988
+Subproject commit b8629b236b74260a2b8ec8bd41e9a8e07aa2b3d6
diff --git a/src/drivers/uavcanesc/led.cpp b/src/drivers/uavcanesc/led.cpp
index 69bac9130766..f3acc97bcabc 100644
--- a/src/drivers/uavcanesc/led.cpp
+++ b/src/drivers/uavcanesc/led.cpp
@@ -36,7 +36,7 @@
 #include <stdint.h>
 
 #include <arch/board/board.h>
-#include "chip/stm32_tim.h"
+#include <stm32_tim.h>
 
 
 #include "led.hpp"
diff --git a/src/drivers/uavcannode/led.cpp b/src/drivers/uavcannode/led.cpp
index 69bac9130766..f3acc97bcabc 100644
--- a/src/drivers/uavcannode/led.cpp
+++ b/src/drivers/uavcannode/led.cpp
@@ -36,7 +36,7 @@
 #include <stdint.h>
 
 #include <arch/board/board.h>
-#include "chip/stm32_tim.h"
+#include <stm32_tim.h>
 
 
 #include "led.hpp"
diff --git a/src/modules/load_mon/load_mon.cpp b/src/modules/load_mon/load_mon.cpp
index 7781ffc71f84..1cd6b82669b9 100644
--- a/src/modules/load_mon/load_mon.cpp
+++ b/src/modules/load_mon/load_mon.cpp
@@ -57,8 +57,8 @@
 
 extern struct system_load_s system_load;
 
-#define STACK_LOW_WARNING_THRESHOLD 300 ///< if free stack space falls below this, print a warning
-#define FDS_LOW_WARNING_THRESHOLD 3 ///< if free file descriptors fall below this, print a warning
+static constexpr int STACK_LOW_WARNING_THRESHOLD = 200; ///< if free stack space falls below this, print a warning
+static constexpr int FDS_LOW_WARNING_THRESHOLD = 1; ///< if free file descriptors fall below this, print a warning
 
 namespace load_mon
 {
diff --git a/src/platforms/common/px4_work_queue/WorkQueueManager.cpp b/src/platforms/common/px4_work_queue/WorkQueueManager.cpp
index f9d092396f60..d46d01305926 100644
--- a/src/platforms/common/px4_work_queue/WorkQueueManager.cpp
+++ b/src/platforms/common/px4_work_queue/WorkQueueManager.cpp
@@ -253,7 +253,7 @@ int WorkQueueManagerStart()
 	int task_id = px4_task_spawn_cmd("wq:manager",
 					 SCHED_DEFAULT,
 					 PX4_WQ_HP_BASE,
-					 1200,
+					 1300,
 					 (px4_main_t)&WorkQueueManagerRun,
 					 nullptr);
 
diff --git a/src/platforms/px4_micro_hal.h b/src/platforms/px4_micro_hal.h
index 62b8b9261e43..7b605211557b 100644
--- a/src/platforms/px4_micro_hal.h
+++ b/src/platforms/px4_micro_hal.h
@@ -70,7 +70,7 @@ __BEGIN_DECLS
 #    if defined(CONFIG_ARCH_CHIP_STM32F7)
 #      define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_STM32F7
 #      include <chip.h>
-#      include <chip/stm32_flash.h>
+#      include <hardware/stm32_flash.h>
 void stm32_flash_lock(void);
 void stm32_flash_unlock(void);
 int stm32_flash_writeprotect(size_t page, bool enabled);