diff --git a/src/drivers/tap_esc/CMakeLists.txt b/src/drivers/tap_esc/CMakeLists.txt
index f1015f6e64..46bf745bde 100644
--- a/src/drivers/tap_esc/CMakeLists.txt
+++ b/src/drivers/tap_esc/CMakeLists.txt
@@ -41,6 +41,8 @@ px4_add_module(
 		tap_esc_uploader.h
 		TAP_ESC.cpp
 		TAP_ESC.hpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		led
 		mixer
diff --git a/src/drivers/tap_esc/module.yaml b/src/drivers/tap_esc/module.yaml
new file mode 100644
index 0000000000..8bf79b85aa
--- /dev/null
+++ b/src/drivers/tap_esc/module.yaml
@@ -0,0 +1,7 @@
+module_name: TAP ESC Output
+actuator_output:
+  output_groups:
+    - param_prefix: TAP_ESC
+      channel_label: 'TAP ESC'
+      num_channels: 8
+