diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index d42d5adf75..ed48bd4f34 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -98,7 +98,6 @@ set(config_module_list
 	modules/controllib
 	modules/uORB
 	modules/dataman
-	modules/uavcan
 
 	#
 	# Libraries
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 8788bbeb51..89910bbd95 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -168,6 +168,8 @@ set(config_io_board
 
 set(config_extra_libs
 	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	libuavcan.a
+	libuavcan_stm32_driver.a
 	)
 
 set(config_io_extra_libs
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index c13183ba16..6304ab2642 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -40,8 +40,6 @@ target_link_libraries(firmware_nuttx
 	${module_libraries}
 	${config_extra_libs}
 	${link_libs}
-	libuavcan_stm32_driver.a
-	libuavcan.a
 	-Wl,--end-group)
 
 add_custom_target(check_weak