diff --git a/boards/thepeach/k1/default.px4board b/boards/thepeach/k1/default.px4board
index b2c6588f98..39fefb9b68 100644
--- a/boards/thepeach/k1/default.px4board
+++ b/boards/thepeach/k1/default.px4board
@@ -69,6 +69,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
diff --git a/boards/thepeach/r1/default.px4board b/boards/thepeach/r1/default.px4board
index b2c6588f98..39fefb9b68 100644
--- a/boards/thepeach/r1/default.px4board
+++ b/boards/thepeach/r1/default.px4board
@@ -69,6 +69,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y