diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 1e4d592665..4cf650a986 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -61,6 +61,7 @@ MODULES		+= modules/mavlink_onboard
 # Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3_comp
 MODULES		+= modules/position_estimator_mc
 MODULES		+= modules/position_estimator
 MODULES		+= modules/att_pos_estimator_ekf