diff --git a/boards/micoair/h743-aio/default.px4board b/boards/micoair/h743-aio/default.px4board
index 97068102d2aa..c912a7a6cb2a 100644
--- a/boards/micoair/h743-aio/default.px4board
+++ b/boards/micoair/h743-aio/default.px4board
@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
@@ -24,7 +25,6 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -55,7 +55,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -73,8 +72,6 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
diff --git a/boards/micoair/h743-aio/nuttx-config/nsh/defconfig b/boards/micoair/h743-aio/nuttx-config/nsh/defconfig
index 494e2dcf1472..df1012959d97 100644
--- a/boards/micoair/h743-aio/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743-aio/nuttx-config/nsh/defconfig
@@ -74,9 +74,10 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
 CONFIG_CDCACM_PRODUCTSTR="MicoAir743AIO"
-CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_RXBUFSIZE=6000
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1B8C
 CONFIG_CDCACM_VENDORSTR="MicoAir"
diff --git a/boards/micoair/h743/default.px4board b/boards/micoair/h743/default.px4board
index 01fdf6c3322b..ef7458f7c33b 100644
--- a/boards/micoair/h743/default.px4board
+++ b/boards/micoair/h743/default.px4board
@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
@@ -23,7 +24,6 @@ CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -54,7 +54,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
@@ -72,8 +71,6 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
diff --git a/boards/micoair/h743/nuttx-config/nsh/defconfig b/boards/micoair/h743/nuttx-config/nsh/defconfig
index 05505572f813..be4f3e1e5fcd 100644
--- a/boards/micoair/h743/nuttx-config/nsh/defconfig
+++ b/boards/micoair/h743/nuttx-config/nsh/defconfig
@@ -74,9 +74,10 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
 CONFIG_CDCACM_PRODUCTSTR="MicoAir743"
-CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_RXBUFSIZE=6000
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1B8C
 CONFIG_CDCACM_VENDORSTR="MicoAir"