diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake
index 627bcafe80..44e0378f32 100644
--- a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake
@@ -6,6 +6,7 @@ list(APPEND config_module_list
     drivers/pwm_input
     modules/uavcan
     lib/mathlib
+    lib/rc
 )
 
 list(APPEND config_extra_libs