diff --git a/CMakeLists.txt b/CMakeLists.txt
index 636cc07e34..8b3ca17e31 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -136,6 +136,14 @@ target_link_libraries(subscriber
   px4
 )
 
+## mc_att_control
+add_executable(mc_att_control src/module/mc_att_control_main.cpp)
+add_dependencies(mc_att_control px4_generate_messages_cpp)
+target_link_libraries(mc_att_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
 #############
 ## Install ##
 #############