diff --git a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
index 4f8497b..4eb568e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@@ -67,5 +67,5 @@ fi
 if [ $VEHICLE_TYPE = none ]
 then
 	echo "No autostart ID found"
-	ekf2 start &
+	#ekf2 start &
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 4a391d3..ece6ede 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -222,40 +222,41 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
-	tone_alarm start
+	#tone_alarm start
 
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare -s SYS_DM_BACKEND 1
-	then
-		dataman start -r
-	else
-		if param compare SYS_DM_BACKEND 0
-		then
-			# dataman start default
-			dataman start
-		fi
-	fi
+
+	#if param compare -s SYS_DM_BACKEND 1
+	#then
+#		dataman start -r
+#	else
+#		if param compare SYS_DM_BACKEND 0
+#		then
+#			# dataman start default
+#			dataman start
+#		fi
+#	fi
 
 	#
 	# Start the socket communication send_event handler.
 	#
-	send_event start
+#	send_event start
 
 	#
 	# Start the resource load monitor.
 	#
-	load_mon start
+#	load_mon start
 
 	#
 	# Start system state indicator.
 	#
-	rgbled start -X -q
-	rgbled_ncp5623c start -X -q
-	rgbled_lp5562 start -X -q
-	rgbled_is31fl3195 start -X -q
+#	rgbled start -X -q
+#	rgbled_ncp5623c start -X -q
+#	rgbled_lp5562 start -X -q
+#	rgbled_is31fl3195 start -X -q
 
 	#
 	# Override parameters from user configuration file.
@@ -306,8 +307,8 @@ else
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
-	rc_update start
-	manual_control start
+	#rc_update start
+	#manual_control start
 
 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
@@ -367,23 +368,23 @@ else
 		fi
 		unset BOARD_RC_SENSORS
 
-		. ${R}etc/init.d/rc.sensors
+		#. ${R}etc/init.d/rc.sensors
 
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
 
-		if ! param compare BAT1_SOURCE 1
-		then
-			battery_status start
-		fi
+		#if ! param compare BAT1_SOURCE 1
+		#then
+		#	battery_status start
+		#fi
 
-		sensors start
-		commander start
+		#sensors start
+		#commander start
 
-		dshot start
-		pwm_out start
+		#dshot start
+		#pwm_out start
 	fi
 
 	#
@@ -415,7 +416,7 @@ else
 	. ${R}etc/init.d/rc.serial
 
 	# Must be started after the serial config is read
-	rc_input start $RC_INPUT_ARGS
+	#rc_input start $RC_INPUT_ARGS
 
 	#
 	# Play the startup tune (if not disabled or there is an error)
@@ -429,12 +430,12 @@ else
 	#
 	# Start the navigator.
 	#
-	navigator start
+	#navigator start
 
 	#
 	# Start a thermal calibration if required.
 	#
-	. ${R}etc/init.d/rc.thermal_cal
+	#. ${R}etc/init.d/rc.thermal_cal
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
diff --git a/openocd.cfg b/openocd.cfg
new file mode 100644
index 0000000..6bdd2ef
--- /dev/null
+++ b/openocd.cfg
@@ -0,0 +1,8 @@
+#OPENOCD BOARD CONFIG FILE
+source [find interface/stlink.cfg]
+
+transport select hla_swd
+
+source [find target/stm32h7x_dual_bank.cfg]
+
+reset_config srst_only
diff --git a/platforms/nuttx/NuttX/Make.defs.in b/platforms/nuttx/NuttX/Make.defs.in
index 315bf92..e4272ed 100644
--- a/platforms/nuttx/NuttX/Make.defs.in
+++ b/platforms/nuttx/NuttX/Make.defs.in
@@ -112,7 +112,8 @@ FLAGS = $(MAXOPTIMIZATION) -g2 \
 	-Wno-sign-compare \
 	-Wno-type-limits \
 	-Wno-unused-parameter \
-	-Wpointer-arith
+	-Wpointer-arith \
+	-Wno-uninitialized
 
 FLAGS += $(EXTRAFLAGS)