diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 7cba1d8516..1699e6df9d 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -48,7 +48,6 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
-	drivers/tap_esc
 
 	#
 	# System commands
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 2b2814d2b4..d9c6e4fb52 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -48,6 +48,7 @@ set(config_module_list
 	drivers/bmp280
 	drivers/bma180
 	drivers/bmi160
+	drivers/tap_esc
 
 	#
 	# System commands