diff --git a/src/lib/control_allocation/actuator_effectiveness/CMakeLists.txt b/src/lib/control_allocation/actuator_effectiveness/CMakeLists.txt
index b8a3d0076d..f4cdf0d0ac 100644
--- a/src/lib/control_allocation/actuator_effectiveness/CMakeLists.txt
+++ b/src/lib/control_allocation/actuator_effectiveness/CMakeLists.txt
@@ -41,5 +41,4 @@ target_include_directories(ActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_D
 target_link_libraries(ActuatorEffectiveness
 	PRIVATE
 		mathlib
-		PID
 )
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt b/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt
index e50e77f550..9dcd75b013 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt
@@ -37,8 +37,9 @@ target_compile_options(VehicleActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEV
 target_include_directories(VehicleActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(VehicleActuatorEffectiveness
 	PRIVATE
-		mathlib
 		ActuatorEffectiveness
+		mathlib
+		PID
 )
 
 px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS VehicleActuatorEffectiveness)