diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake
index b808fa7098..71971082c6 100644
--- a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake
@@ -4,6 +4,12 @@ list(APPEND config_module_list
     drivers/boards/px4fmu-v2
     drivers/pwm_input
     drivers/px4io
+    modules/uavcan
+)
+
+list(APPEND config_extra_libs
+    uavcan
+    uavcan_stm32_driver
 )
 
 set(config_io_board