diff --git a/src/modules/differential_drive_control/CMakeLists.txt b/src/modules/differential_drive_control/CMakeLists.txt
index 7fd6f1d8f3..857b5512b4 100644
--- a/src/modules/differential_drive_control/CMakeLists.txt
+++ b/src/modules/differential_drive_control/CMakeLists.txt
@@ -43,4 +43,7 @@ px4_add_module(
 	DEPENDS
 		DifferentialDriveKinematics
 		px4_work_queue
+		modules__control_allocator # for parameter CA_R_REV
+	MODULE_CONFIG
+		module.yaml
 )
diff --git a/src/modules/differential_drive_control/Kconfig b/src/modules/differential_drive_control/Kconfig
index 5fb5bbf319..fe6dbc84be 100644
--- a/src/modules/differential_drive_control/Kconfig
+++ b/src/modules/differential_drive_control/Kconfig
@@ -1,5 +1,5 @@
 menuconfig MODULES_DIFFERENTIAL_DRIVE_CONTROL
 	bool "differential_drive_control"
-	default y
+	default n
 	---help---
 		Enable support for differential_drive_control