diff --git a/boards/sim/sim/sim/configs/mirtos_test/defconfig b/boards/sim/sim/sim/configs/mirtos_test/defconfig
index e37c28d7aaa..939d2365400 100644
--- a/boards/sim/sim/sim/configs/mirtos_test/defconfig
+++ b/boards/sim/sim/sim/configs/mirtos_test/defconfig
@@ -119,6 +119,8 @@ CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_ONEXIT=y
 CONFIG_SCHED_TICKLESS=y
+CONFIG_SENSORS_WTGAHRS2=y
+CONFIG_SENSOR_MANAGER=y
 CONFIG_SERVICES_PNS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_EVTHREAD=y
@@ -145,6 +147,7 @@ CONFIG_TESTING_LTP=y
 CONFIG_TESTING_NXFFS=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_TESTING_SCANFTEST=y
+CONFIG_TESTING_SENSORTEST=y
 CONFIG_TESTING_SMART=y
 CONFIG_TESTING_SMART_TEST=y
 CONFIG_TESTING_UNITY=y
@@ -152,6 +155,8 @@ CONFIG_TESTING_UNITY_OUTPUT_COLOR=y
 CONFIG_TOOLS_CURL=y
 CONFIG_TOOLS_IPERF3=y
 CONFIG_TTY_SIGINT=y
+CONFIG_UORB_LISTENER=y
+CONFIG_UORB_TESTS=y
 CONFIG_USERMAIN_STACKSIZE=4096
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_VIDEO_FB=y