diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index c8f129dc79c..aecbb8465b0 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -38,6 +38,7 @@ set(config_module_list
 	modules/commander
 	modules/dataman
 	modules/ekf2
+	modules/ekf2_replay
 	modules/events
 	modules/fw_att_control
 	modules/fw_pos_control_l1