diff --git a/boards/px4/sitl/nolockstep.cmake b/boards/px4/sitl/nolockstep.cmake
index 83e40ed7b6..e7d1296365 100644
--- a/boards/px4/sitl/nolockstep.cmake
+++ b/boards/px4/sitl/nolockstep.cmake
@@ -34,6 +34,8 @@ px4_add_board(
 		events
 		flight_mode_manager
 		fw_att_control
+		fw_dyn_soar_control
+		fw_dyn_soar_estimator
 		fw_pos_control_l1
 		gyro_calibration
 		gyro_fft