diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index 74aac30091..cae0204380 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -10,6 +10,8 @@ set(config_module_list
 	drivers/imu/mpu9250
 	drivers/barometer/lps25h
 	drivers/gps
+	drivers/distance_sensor/vl53lxx
+	drivers/pmw3901
 	modules/sensors
 
 	#
@@ -29,6 +31,7 @@ set(config_module_list
 	systemcmds/dumpfile
 	systemcmds/ver
 	systemcmds/hardfault_log
+	systemcmds/topic_listener
 
 	#
 	# General system control