diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4b2d4fde8..458b297b04 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -346,6 +346,7 @@ endforeach()
 add_subdirectory(src/firmware/${OS})
 
 add_subdirectory(src/lib/DriverFramework/framework/src)
+add_subdirectory(src/lib/DriverFramework/drivers/)
 #add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 36072c185e..f65a01cbd0 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -643,6 +643,7 @@ function(px4_add_common_flags)
 		${CMAKE_BINARY_DIR}/src/modules
 		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
 		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/drivers/imu
 		)
 
 	list(APPEND added_include_dirs
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 2ccdb33daa..ecaea14c3e 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -18,6 +18,7 @@ set(config_module_list
 	platforms/posix/drivers/gyrosim
 	platforms/posix/drivers/rgbledsim
 	platforms/posix/drivers/ledsim
+	platforms/posix/drivers/df_imu
 	systemcmds/param
 	systemcmds/mixer
 	systemcmds/ver
diff --git a/cmake/configs/qurt_eagle_default.cmake b/cmake/configs/qurt_eagle_default.cmake
index 5bdde5186b..875c145fc1 100644
--- a/cmake/configs/qurt_eagle_default.cmake
+++ b/cmake/configs/qurt_eagle_default.cmake
@@ -37,6 +37,7 @@ set(config_module_list
 #	$(EAGLE_DRIVERS_SRC)/uart_esc
 #	$(EAGLE_DRIVERS_SRC)/rc_receiver
 #	$(EAGLE_DRIVERS_SRC)/csr_gps
+	platforms/posix/drivers/df_imu
 
 	#
 	# System commands