diff --git a/boards/px4/fmu-v4/test.cmake b/boards/px4/fmu-v4/test.cmake
index e9748d9bc89..f7d97ffa4c9 100644
--- a/boards/px4/fmu-v4/test.cmake
+++ b/boards/px4/fmu-v4/test.cmake
@@ -50,7 +50,6 @@ px4_add_board(
 		rpm
 		safety_button
 		smart_battery/batmon
-		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm