diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board
index 4d38d8b5eb..8e7e5ff2bf 100644
--- a/boards/modalai/voxl2-slpi/default.px4board
+++ b/boards/modalai/voxl2-slpi/default.px4board
@@ -10,7 +10,6 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_DRIVERS_VOXL2_IO=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_EKF2=y
diff --git a/src/drivers/voxl2_io/CMakeLists.txt b/src/drivers/voxl2_io/CMakeLists.txt
index 9116c91765..57a5f4af21 100644
--- a/src/drivers/voxl2_io/CMakeLists.txt
+++ b/src/drivers/voxl2_io/CMakeLists.txt
@@ -45,6 +45,7 @@ px4_add_module(
 		voxl2_io.cpp
 		voxl2_io.hpp
 	DEPENDS
+		rc
 		px4_work_queue
 		mixer_module
 	MODULE_CONFIG