diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index 8ba41726c086..fd61e50080de 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -10,7 +10,6 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -21,18 +20,14 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors
index 1a0f426db6f4..b340e297eea0 100644
--- a/boards/px4/fmu-v5x/init/rc.board_sensors
+++ b/boards/px4/fmu-v5x/init/rc.board_sensors
@@ -53,15 +53,9 @@ if ver hwbasecmp 008 009 00a 010 011
 then
 	#SKYNODE base fmu board orientation
 
-	if ver hwtypecmp V5X000 V5X001
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 2 -s start
-		bmi088 -G -R 2 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 4 start
-	fi
+	# Internal SPI BMI088
+	bmi088 -A -R 2 -s start
+	bmi088 -G -R 2 -s start
 
 	# Internal SPI bus ICM42688p
 	icm42688p -R 4 -s start
@@ -78,15 +72,9 @@ then
 else
 	#FMUv5Xbase board orientation
 
-	if ver hwtypecmp V5X000 V5X001
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 4 -s start
-		bmi088 -G -R 4 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
-	fi
+	# Internal SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
 
 	# Internal SPI bus ICM42688p
 	icm42688p -R 6 -s start
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index f7bbda7c4948..c9b8d830b706 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -10,8 +10,6 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -22,15 +20,11 @@ CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
index 15168a6e8f51..82b4662fadaf 100644
--- a/boards/px4/fmu-v6x/init/rc.board_sensors
+++ b/boards/px4/fmu-v6x/init/rc.board_sensors
@@ -71,80 +71,17 @@ else
 	fi
 fi
 
-# Keep nesting shallow
-if ver hwtypecmp V6X006 V6X008
-then
-	if ver hwtypecmp V6X006
-	then
-		# Internal SPI bus ICM45686
-		adis16470 -s -R 0 start
-		iim42652 -s -R 6 start
-		icm45686 -s -R 10 start
-	else
-		# Internal SPI bus 3x ICM45686
-		icm45686 -b 3 -s -R 0 start
-		icm45686 -b 2 -s -R 0 start
-		icm45686 -b 1 -s -R 10 start
-	fi
-else
-	if ver hwtypecmp V6X004
-	then
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 6 start
-	else
-		# Internal SPI BMI088
-		if ver hwbasecmp 009 010 011
-		then
-			bmi088 -A -R 6 -s start
-			bmi088 -G -R 6 -s start
-		else
-			if ver hwtypecmp V6X010
-			then
-				bmi088 -A -R 0 -s start
-				bmi088 -G -R 0 -s start
-			else
-				bmi088 -A -R 4 -s start
-				bmi088 -G -R 4 -s start
-			fi
-		fi
-	fi
-
-	# Internal SPI bus ICM42688p
-	if ver hwbasecmp 009 010 011
-	then
-		icm42688p -R 12 -s start
-	else
-		if ver hwtypecmp V6X010
-		then
-			icm42688p -R 14 -s start
-		else
-			icm42688p -R 6 -s start
-		fi
-	fi
+# Internal SPI BMI088
+bmi088 -A -R 6 -s start
+bmi088 -G -R 6 -s start
 
-	if ver hwtypecmp V6X003 V6X004
-	then
-		# Internal SPI bus ICM-42670-P (hard-mounted)
-		icm42670p -R 10 -s start
-	else
-		if ver hwbasecmp 009 010 011
-		then
-			icm20602 -R 6 -s start
-		else
-			# Internal SPI bus ICM-20649 (hard-mounted)
-			icm20649 -R 14 -s start
-		fi
-	fi
-fi
+# Internal SPI bus ICM42688p
+icm42688p -R 12 -s start
+# Internal SPI bus ICM20602
+icm20602 -R 6 -s start
 
-# Internal magnetometer on I2c
-if ver hwtypecmp V6X001
-then
-	rm3100 -I -b 4 start
-else
-	# Internal magnetometer on I2C
-	bmm150 -I -R 0 start
-fi
+# Internal magnetometer on I2C
+bmm150 -I -R 0 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
@@ -152,21 +89,11 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 if param compare SENS_INT_BARO_EN 1
 then
-	if ver hwtypecmp V6X001 V6X006 V6X008
-	then
-		icp201xx -I -a 0x64 start
-	else
-		bmp388 -I -a 0x77 start
-	fi
+	bmp388 -I -a 0x77 start
 fi
 
 #external baro
-if ver hwtypecmp V6X001
-then
-	icp201xx -X start
-else
-	bmp388 -X start
-fi
+bmp388 -X start
 
 # Don't try to start external baro on I2C3 as it can conflict with the MS5525DSO airspeed sensor.
 #ms5611 -X start
diff --git a/src/drivers/distance_sensor/Kconfig b/src/drivers/distance_sensor/Kconfig
index f45abe877c50..22f5d0c8777f 100644
--- a/src/drivers/distance_sensor/Kconfig
+++ b/src/drivers/distance_sensor/Kconfig
@@ -6,9 +6,7 @@ menu "Distance sensors"
         select DRIVERS_DISTANCE_SENSOR_GY_US42
         select DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE
         select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
-        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL
         select DRIVERS_DISTANCE_SENSOR_LL40LS
-        select DRIVERS_DISTANCE_SENSOR_SRF02
         select DRIVERS_DISTANCE_SENSOR_TERARANGER
         select DRIVERS_DISTANCE_SENSOR_TF02PRO
         select DRIVERS_DISTANCE_SENSOR_TFMINI
diff --git a/src/drivers/magnetometer/Kconfig b/src/drivers/magnetometer/Kconfig
index 018b89502b26..eb99d0dcf154 100644
--- a/src/drivers/magnetometer/Kconfig
+++ b/src/drivers/magnetometer/Kconfig
@@ -7,11 +7,9 @@ menu "Magnetometer"
         select DRIVERS_MAGNETOMETER_BOSCH_BMM150
         select DRIVERS_MAGNETOMETER_HMC5883
         select DRIVERS_MAGNETOMETER_QMC5883L
-        select DRIVERS_MAGNETOMETER_ISENTEK_IST8308
         select DRIVERS_MAGNETOMETER_ISENTEK_IST8310
         select DRIVERS_MAGNETOMETER_LIS3MDL
         select DRIVERS_MAGNETOMETER_LSM303AGR
-        select DRIVERS_MAGNETOMETER_RM3100
         select DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L
         select DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA
         select DRIVERS_MAGNETOMETER_ST_IIS2MDC
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 19f99678808a..3d00bf7db2c0 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -56,3 +56,31 @@ get_rot_quaternion(enum Rotation rot)
 			math::radians((float)rot_lookup[rot].pitch),
 			math::radians((float)rot_lookup[rot].yaw)}};
 }
+
+__EXPORT void
+rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
+{
+	if (!rotate_3(rot, x, y, z)) {
+		// otherwise use full rotation matrix for valid rotations
+		if (rot < ROTATION_MAX) {
+			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
+			x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
+			y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
+			z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
+		}
+	}
+}
+
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z)
+{
+	if (!rotate_3(rot, x, y, z)) {
+		// otherwise use full rotation matrix for valid rotations
+		if (rot < ROTATION_MAX) {
+			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
+			x = r(0);
+			y = r(1);
+			z = r(2);
+		}
+	}
+}
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
index b33e4a8383f0..350404723e01 100644
--- a/src/lib/conversion/rotation.h
+++ b/src/lib/conversion/rotation.h
@@ -157,8 +157,18 @@ __EXPORT matrix::Dcmf get_rot_matrix(enum Rotation rot);
  */
 __EXPORT matrix::Quatf get_rot_quaternion(enum Rotation rot);
 
+/**
+ * rotate a 3 element int16_t vector in-place
+ */
+__EXPORT void rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z);
+
+/**
+ * rotate a 3 element float vector in-place
+ */
+__EXPORT void rotate_3f(enum Rotation rot, float &x, float &y, float &z);
+
 template<typename T>
-static constexpr bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
+static bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
 {
 	switch (rot) {
 	case ROTATION_NONE:
@@ -371,35 +381,3 @@ static constexpr bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
 
 	return false;
 }
-
-/**
- * rotate a 3 element int16_t vector in-place
- */
-__EXPORT inline void rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
-{
-	if (!rotate_3(rot, x, y, z)) {
-		// otherwise use full rotation matrix for valid rotations
-		if (rot < ROTATION_MAX) {
-			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
-			x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
-			y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
-			z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
-		}
-	}
-}
-
-/**
- * rotate a 3 element float vector in-place
- */
-__EXPORT inline void rotate_3f(enum Rotation rot, float &x, float &y, float &z)
-{
-	if (!rotate_3(rot, x, y, z)) {
-		// otherwise use full rotation matrix for valid rotations
-		if (rot < ROTATION_MAX) {
-			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
-			x = r(0);
-			y = r(1);
-			z = r(2);
-		}
-	}
-}
diff --git a/src/lib/world_magnetic_model/geo_mag_declination.cpp b/src/lib/world_magnetic_model/geo_mag_declination.cpp
index 64738426f501..46e4cb6ec020 100644
--- a/src/lib/world_magnetic_model/geo_mag_declination.cpp
+++ b/src/lib/world_magnetic_model/geo_mag_declination.cpp
@@ -53,7 +53,7 @@
 
 using math::constrain;
 
-static constexpr unsigned get_lookup_table_index(float *val, float min, float max)
+static unsigned get_lookup_table_index(float *val, float min, float max)
 {
 	/* for the rare case of hitting the bounds exactly
 	 * the rounding logic wouldn't fit, so enforce it.
@@ -66,7 +66,7 @@ static constexpr unsigned get_lookup_table_index(float *val, float min, float ma
 	return static_cast<unsigned>((-(min) + *val) / SAMPLING_RES);
 }
 
-static constexpr float get_table_data(float latitude_deg, float longitude_deg, const int16_t table[LAT_DIM][LON_DIM])
+static float get_table_data(float latitude_deg, float longitude_deg, const int16_t table[LAT_DIM][LON_DIM])
 {
 	latitude_deg = math::constrain(latitude_deg, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);