diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index 8e3b5121be..44661cd2c8 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -58,6 +58,7 @@ set(config_module_list
 	#
 	modules/mc_att_control
 	modules/mc_pos_control
+	modules/vtol_att_control # FIXME: only required for params needed by Navigator
 
 	#
 	# Logging
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index 84260d1ecb..81ba1c75c2 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -60,7 +60,7 @@ set(config_module_list
 	# modules/fw_att_control
 	modules/mc_att_control
 	modules/mc_pos_control
-	# modules/vtol_att_control
+	modules/vtol_att_control # FIXME: only required for params needed by Navigator
 
 	#
 	# Logging
diff --git a/src/modules/systemlib/param/CMakeLists.txt b/src/modules/systemlib/param/CMakeLists.txt
index b74b3fc03b..ab9e244a5f 100644
--- a/src/modules/systemlib/param/CMakeLists.txt
+++ b/src/modules/systemlib/param/CMakeLists.txt
@@ -86,6 +86,7 @@ add_custom_command(OUTPUT ${parameters_xml}
 		--xml ${parameters_xml}
 		--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
+		--board ${BOARD}
 		#--verbose
 	DEPENDS
 		${param_src_files}