diff --git a/platforms/posix/src/px4_layer/CMakeLists.txt b/platforms/posix/src/px4_layer/CMakeLists.txt
index bbb71b48a6..03d3d79df0 100644
--- a/platforms/posix/src/px4_layer/CMakeLists.txt
+++ b/platforms/posix/src/px4_layer/CMakeLists.txt
@@ -55,6 +55,10 @@ add_library(px4_layer
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_link_libraries(px4_layer PRIVATE work_queue)
 target_link_libraries(px4_layer PRIVATE px4_daemon)
+target_link_libraries(px4_layer PRIVATE lockstep_scheduler)
+
+include_directories(${PX4_SOURCE_DIR}/src/platforms/posix/lockstep_scheduler/include)
+
 
 if (EXTRA_DEPENDS)
 	add_dependencies(px4_layer ${EXTRA_DEPENDS})