diff --git a/boards/px4/fmu-v5/uavcanv1.px4board b/boards/px4/fmu-v5/uavcanv1.px4board
index 6965d5f564..f9b60dd45f 100644
--- a/boards/px4/fmu-v5/uavcanv1.px4board
+++ b/boards/px4/fmu-v5/uavcanv1.px4board
@@ -3,3 +3,5 @@ CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y