diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 7b4c4099ac..2899078dd5 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -142,6 +142,9 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 
+	# micro RTPS
+	modules/micrortps_bridge/micrortps_client
+
 	#
 	# Libraries
 	#
@@ -211,6 +214,14 @@ set(config_module_list
 	examples/ekf_att_pos_estimator
 )
 
+set(config_rtps_send_topics
+   sensor_combined
+   )
+
+set(config_rtps_receive_topics
+   sensor_baro
+   )
+
 set(config_extra_builtin_cmds
 	serdis
 	sercon