diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index c75577743b1..587c75ee635 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -74,7 +74,6 @@ config SENSORS_WTGAHRS2
 
 config SENSORS_FAKESENSOR
 	bool "Fake Sensor Support"
-	depends on SENSORS_GNSS
 	default n
 	---help---
 		Simulate physical sensor by reading data from csv file.
diff --git a/drivers/sensors/fakesensor_uorb.c b/drivers/sensors/fakesensor_uorb.c
index 6077cf9e32c..9f3bcc976de 100644
--- a/drivers/sensors/fakesensor_uorb.c
+++ b/drivers/sensors/fakesensor_uorb.c
@@ -39,10 +39,13 @@
 #include <nuttx/semaphore.h>
 #include <nuttx/sensors/fakesensor.h>
 #include <nuttx/sensors/sensor.h>
-#include <nuttx/sensors/gnss.h>
 #include <nuttx/signal.h>
 #include <debug.h>
 
+#ifdef CONFIG_SENSORS_GNSS
+#include <nuttx/sensors/gnss.h>
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/
@@ -52,7 +55,9 @@ struct fakesensor_s
   union
     {
       struct sensor_lowerhalf_s lower;
+#ifdef CONFIG_SENSORS_GNSS
       struct gnss_lowerhalf_s gnss;
+#endif
     };
 
   int type;
@@ -77,14 +82,17 @@ static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
 static int fakesensor_batch(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
                             FAR uint32_t *latency_us);
+static void fakesensor_push_event(FAR struct fakesensor_s *sensor,
+                                  uint64_t event_timestamp);
+static int fakesensor_thread(int argc, char** argv);
+
+#ifdef CONFIG_SENSORS_GNSS
 static int fakegnss_activate(FAR struct gnss_lowerhalf_s *lower,
                              FAR struct file *filep, bool sw);
 static int fakegnss_set_interval(FAR struct gnss_lowerhalf_s *lower,
                                  FAR struct file *filep,
                                  FAR uint32_t *period_us);
-static void fakesensor_push_event(FAR struct fakesensor_s *sensor,
-                                  uint64_t event_timestamp);
-static int fakesensor_thread(int argc, char** argv);
+#endif
 
 /****************************************************************************
  * Private Data
@@ -97,11 +105,13 @@ static struct sensor_ops_s g_fakesensor_ops =
   .batch = fakesensor_batch,
 };
 
+#ifdef CONFIG_SENSORS_GNSS
 static struct gnss_ops_s g_fakegnss_ops =
 {
   .activate = fakegnss_activate,
   .set_interval = fakegnss_set_interval,
 };
+#endif
 
 /****************************************************************************
  * Private Functions
@@ -211,6 +221,7 @@ static inline void fakesensor_read_baro(FAR struct fakesensor_s *sensor,
                            sizeof(struct sensor_baro));
 }
 
+#ifdef CONFIG_SENSORS_GNSS
 static inline void fakesensor_read_gnss(FAR struct fakesensor_s *sensor)
 {
   char raw[150];
@@ -227,6 +238,7 @@ static inline void fakesensor_read_gnss(FAR struct fakesensor_s *sensor)
         }
     }
 }
+#endif
 
 static int fakesensor_activate(FAR struct sensor_lowerhalf_s *lower,
                                FAR struct file *filep, bool enable)
@@ -249,11 +261,13 @@ static int fakesensor_activate(FAR struct sensor_lowerhalf_s *lower,
   return OK;
 }
 
+#ifdef CONFIG_SENSORS_GNSS
 static int fakegnss_activate(FAR struct gnss_lowerhalf_s *lower,
                              FAR struct file *filep, bool enable)
 {
   return fakesensor_activate((FAR void *)lower, filep, enable);
 }
+#endif
 
 static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
                                    FAR struct file *filep,
@@ -265,12 +279,14 @@ static int fakesensor_set_interval(FAR struct sensor_lowerhalf_s *lower,
   return OK;
 }
 
+#ifdef CONFIG_SENSORS_GNSS
 static int fakegnss_set_interval(FAR struct gnss_lowerhalf_s *lower,
                                  FAR struct file *filep,
                                  FAR uint32_t *period_us)
 {
   return fakesensor_set_interval((FAR void *)lower, filep, period_us);
 }
+#endif
 
 static int fakesensor_batch(FAR struct sensor_lowerhalf_s *lower,
                             FAR struct file *filep,
@@ -313,10 +329,12 @@ void fakesensor_push_event(FAR struct fakesensor_s *sensor,
       fakesensor_read_baro(sensor, event_timestamp);
       break;
 
+#ifdef CONFIG_SENSORS_GNSS
     case SENSOR_TYPE_GNSS:
     case SENSOR_TYPE_GNSS_SATELLITE:
       fakesensor_read_gnss(sensor);
       break;
+#endif
 
     default:
       snerr("fakesensor: unsupported type sensor type\n");
@@ -420,6 +438,7 @@ int fakesensor_init(int type, FAR const char *file_name,
   FAR struct fakesensor_s *sensor;
   FAR char *argv[2];
   char arg1[32];
+#ifdef CONFIG_SENSORS_GNSS
   uint32_t nbuffer[] = {
     [SENSOR_GNSS_IDX_GNSS] = batch_number,
     [SENSOR_GNSS_IDX_GNSS_SATELLITE] = batch_number,
@@ -427,6 +446,7 @@ int fakesensor_init(int type, FAR const char *file_name,
     [SENSOR_GNSS_IDX_GNSS_CLOCK] = batch_number,
     [SENSOR_GNSS_IDX_GNSS_GEOFENCE] = batch_number,
   };
+#endif
 
   int ret;
 
@@ -460,12 +480,14 @@ int fakesensor_init(int type, FAR const char *file_name,
 
   /*  Register sensor */
 
+#ifdef CONFIG_SENSORS_GNSS
   if (type == SENSOR_TYPE_GNSS || type == SENSOR_TYPE_GNSS_SATELLITE)
     {
       sensor->gnss.ops = &g_fakegnss_ops;
       gnss_register(&sensor->gnss, devno, nbuffer, nitems(nbuffer));
     }
   else
+#endif
     {
       sensor->lower.type = type;
       sensor->lower.ops = &g_fakesensor_ops;