diff --git a/configs/pico-dwarf-imx6ul_defconfig b/configs/pico-dwarf-imx6ul_defconfig
new file mode 100644
index 0000000000..e7af415abd
--- /dev/null
+++ b/configs/pico-dwarf-imx6ul_defconfig
@@ -0,0 +1,64 @@
+CONFIG_ARM=y
+CONFIG_ARCH_MX6=y
+CONFIG_SYS_TEXT_BASE=0x87800000
+CONFIG_SPL_GPIO_SUPPORT=y
+CONFIG_SPL_LIBCOMMON_SUPPORT=y
+CONFIG_SPL_LIBGENERIC_SUPPORT=y
+CONFIG_TARGET_PICO_IMX6UL=y
+CONFIG_SPL_MMC_SUPPORT=y
+CONFIG_SPL_SERIAL_SUPPORT=y
+CONFIG_SPL=y
+CONFIG_SPL_LIBDISK_SUPPORT=y
+CONFIG_DISTRO_DEFAULTS=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_SYS_EXTRA_OPTIONS="IMX_CONFIG=arch/arm/mach-imx/spl_sd.cfg"
+CONFIG_BOOTDELAY=3
+CONFIG_BOOTCOMMAND="run findfdt; run finduuid; run distro_bootcmd"
+CONFIG_DEFAULT_FDT_FILE="imx6ul-pico-dwarf.dtb"
+CONFIG_BOUNCE_BUFFER=y
+CONFIG_BOARD_EARLY_INIT_F=y
+CONFIG_SPL_USB_HOST_SUPPORT=y
+CONFIG_SPL_USB_GADGET=y
+CONFIG_SPL_USB_SDP_SUPPORT=y
+CONFIG_CMD_BOOTMENU=y
+CONFIG_CMD_MEMTEST=y
+CONFIG_CMD_DFU=y
+# CONFIG_CMD_FLASH is not set
+CONFIG_CMD_GPIO=y
+CONFIG_CMD_GPT=y
+CONFIG_CMD_MMC=y
+CONFIG_CMD_USB=y
+CONFIG_CMD_USB_SDP=y
+CONFIG_CMD_USB_MASS_STORAGE=y
+CONFIG_CMD_CACHE=y
+CONFIG_CMD_EXT4_WRITE=y
+CONFIG_OF_CONTROL=y
+CONFIG_DEFAULT_DEVICE_TREE="imx6ul-pico-pi"
+CONFIG_ENV_IS_IN_MMC=y
+CONFIG_DFU_MMC=y
+CONFIG_USB_FUNCTION_FASTBOOT=y
+CONFIG_FASTBOOT_BUF_SIZE=0x10000000
+CONFIG_FASTBOOT_FLASH=y
+CONFIG_FASTBOOT_FLASH_MMC_DEV=0
+CONFIG_FASTBOOT_CMD_OEM_FORMAT=y
+CONFIG_DM_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_DM_MMC=y
+CONFIG_FSL_ESDHC=y
+CONFIG_PHYLIB=y
+CONFIG_PHY_MICREL=y
+CONFIG_MII=y
+CONFIG_PINCTRL=y
+CONFIG_PINCTRL_IMX6=y
+CONFIG_DM_PMIC=y
+CONFIG_DM_PMIC_PFUZE100=y
+CONFIG_DM_REGULATOR=y
+CONFIG_DM_REGULATOR_PFUZE100=y
+CONFIG_DM_REGULATOR_FIXED=y
+CONFIG_DM_REGULATOR_GPIO=y
+CONFIG_USB=y
+CONFIG_USB_GADGET=y
+CONFIG_USB_GADGET_MANUFACTURER="FSL"
+CONFIG_USB_GADGET_VENDOR_NUM=0x0525
+CONFIG_USB_GADGET_PRODUCT_NUM=0xa4a5
+CONFIG_CI_UDC=y
diff --git a/include/configs/pico-imx6ul.h b/include/configs/pico-imx6ul.h
index cd051bf263..39c83a8c78 100644
--- a/include/configs/pico-imx6ul.h
+++ b/include/configs/pico-imx6ul.h
@@ -63,9 +63,11 @@
 		"rootfs part 0 1\0" \
 
 #define BOOTMENU_ENV \
-	"bootmenu_0=Boot using PICO-Hobbit baseboard=" \
+	"bootmenu_0=Boot using PICO-Dwarf baseboard=" \
+		"setenv fdtfile imx6ul-pico-dwarf.dtb\0" \
+	"bootmenu_1=Boot using PICO-Hobbit baseboard=" \
 		"setenv fdtfile imx6ul-pico-hobbit.dtb\0" \
-	"bootmenu_1=Boot using PICO-Pi baseboard=" \
+	"bootmenu_2=Boot using PICO-Pi baseboard=" \
 		"setenv fdtfile imx6ul-pico-pi.dtb\0" \
 
 #define CONFIG_SYS_MMC_IMG_LOAD_PART	1