diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 1699e6df9d..7cba1d8516 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -48,6 +48,7 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/tap_esc
 
 	#
 	# System commands