diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index d17dff5bb070..3c65b19e0294 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -40,14 +40,8 @@ MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/pca8574
 MODULES		+= drivers/px4flow
 
-
-# Needs to be burned to the ground and re-written; for now,
-# just don't build it.
-#MODULES		+= drivers/mkblctrl
-
 #
 # System commands
 #
@@ -61,7 +55,6 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
@@ -81,10 +74,8 @@ MODULES		+= modules/uavcan
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
@@ -100,12 +91,6 @@ MODULES		+= modules/mc_pos_control
 #
 MODULES		+= modules/sdlog2
 
-#
-# Unit tests
-#
-#MODULES 	+= modules/unit_test
-#MODULES 	+= modules/commander/commander_tests
-
 #
 # Library modules
 #
@@ -139,7 +124,7 @@ MODULES		+= modules/bottle_drop
 #MODULES		+= examples/math_demo
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
+#MODULES		+= examples/px4_simple_app
 
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/daemon
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 2f4d9d6a472f..6f54b960c1b0 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -49,6 +49,13 @@ MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/conversion
 
+#
+# Modules to test-build, but not useful for test environment
+#
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= drivers/pca8574
+MODULES		+= examples/flow_position_estimator
+
 #
 # Libraries
 #