diff --git a/mk/PX4/config_px4fmu-v1_APM.mk b/mk/PX4/config_px4fmu-v1_APM.mk
index 87f0b9fa9c..98a22a6635 100644
--- a/mk/PX4/config_px4fmu-v1_APM.mk
+++ b/mk/PX4/config_px4fmu-v1_APM.mk
@@ -57,6 +57,7 @@ MODULES		+= systemcmds/nshterm
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
+MODULES		+= modules/mathlib/math/filter
 
 #
 # Transitional support - add commands from the NuttX export archive.