Hi,
For change the defconfig you cannot cp .config arch/arm/configs***.
Please follow those steps:
1. $cd kernel_imx
2. $make imx6_udoo_android_defconfig
3. make menuconfig and change the configs
4. save config to .config and exit the menuconfig
5. $make savedefconfig
6. $cp defconfig arch/arm/configs/imx6_udoo_android_defconfig
7. $cd .. && mm bootimage
Then flash your new generated boot.img to board and try again.
BRs,
Haoran