diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index 835b762c18..417043f012 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -176,14 +176,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index 446bc8ce56..c5e3ac63df 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -120,9 +120,3 @@ set(config_extra_builtin_cmds
 
 set(config_io_board
 	)
-
-set(config_extra_libs
-	)
-
-set(config_io_extra_libs
-	)
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 29a042c168..d4db053711 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -201,14 +201,6 @@ set(config_io_board
 	px4io-v2
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index b23784892a..0de4bb0256 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -145,9 +145,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_esc35-v1_default.cmake b/cmake/configs/nuttx_esc35-v1_default.cmake
index b8a10fb25a..2961b41264 100644
--- a/cmake/configs/nuttx_esc35-v1_default.cmake
+++ b/cmake/configs/nuttx_esc35-v1_default.cmake
@@ -86,11 +86,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 3fc342be42..2903a545a2 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -204,14 +204,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4cannode-v1_default.cmake b/cmake/configs/nuttx_px4cannode-v1_default.cmake
index 73f476ab32..bf0a78c15d 100644
--- a/cmake/configs/nuttx_px4cannode-v1_default.cmake
+++ b/cmake/configs/nuttx_px4cannode-v1_default.cmake
@@ -71,8 +71,3 @@ set(config_module_list
 
 
 )
-
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
diff --git a/cmake/configs/nuttx_px4esc-v1_default.cmake b/cmake/configs/nuttx_px4esc-v1_default.cmake
index e5414a493e..4627ef8084 100644
--- a/cmake/configs/nuttx_px4esc-v1_default.cmake
+++ b/cmake/configs/nuttx_px4esc-v1_default.cmake
@@ -85,11 +85,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index a1565aeb64..7a27e1da70 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -174,12 +174,6 @@ set(config_io_board
 	px4io-v1
 	)
 
-set(config_extra_libs
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index a72f82defe..40a7ab4dd7 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -204,14 +204,6 @@ set(config_io_board
 	px4io-v2
 	)
 
-#set(config_extra_libs
-#	uavcan
-#	uavcan_stm32_driver
-#	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index b0671952df..8f627f8ad4 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -199,14 +199,6 @@ set(config_io_board
 	px4io-v2
 	)
 
-#set(config_extra_libs
-#	uavcan
-#	uavcan_stm32_driver
-#	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 2899078dd5..38fc8b2bc1 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -231,14 +231,6 @@ set(config_io_board
 	px4io-v2
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 61362f90dd..1a411f549e 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -220,14 +220,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 07c7434525..089e740f19 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -231,14 +231,6 @@ set(config_io_board
 	px4io-v2
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index ec7639cddf..bbd7f592ef 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -226,14 +226,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 6f2a1f4570..2f2a0ec34d 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -184,14 +184,6 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_extra_libs
-	uavcan
-	uavcan_stm32_driver
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index 2e3e24ed40..e54e81d433 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -121,12 +121,6 @@ set(config_extra_builtin_cmds
 set(config_io_board
 	)
 
-set(config_extra_libs
-	)
-
-set(config_io_extra_libs
-	)
-
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	PRIORITY "SCHED_PRIORITY_DEFAULT"
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 8de947001e..c188370bf7 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -69,7 +69,6 @@ target_link_libraries(firmware_nuttx
 	${startup_libs}
 	${module_libraries}
 	${df_driver_libs}
-	${config_extra_libs}
 	${nuttx_bootloader_wrapers}
 	${link_libs}
 	-Wl,--end-group)
diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index 921f58324c..d691962e4e 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -81,4 +81,4 @@ px4_add_module(
 		uavcan
 	)
 
-## vim: set noet ft=cmake fenc=utf-8 ff=unix :
+target_link_libraries(modules__uavcan uavcan uavcan_stm32_driver)
diff --git a/src/modules/uavcanesc/CMakeLists.txt b/src/modules/uavcanesc/CMakeLists.txt
index b2a98ccb83..fd01ba7838 100644
--- a/src/modules/uavcanesc/CMakeLists.txt
+++ b/src/modules/uavcanesc/CMakeLists.txt
@@ -82,3 +82,5 @@ px4_add_module(
 		platforms__common
 		uavcan
 	)
+
+target_link_libraries(modules__uavcanesc uavcan uavcan_stm32_driver)
diff --git a/src/modules/uavcannode/CMakeLists.txt b/src/modules/uavcannode/CMakeLists.txt
index 8dbd8d9414..8d050f14e5 100644
--- a/src/modules/uavcannode/CMakeLists.txt
+++ b/src/modules/uavcannode/CMakeLists.txt
@@ -82,3 +82,5 @@ px4_add_module(
 		platforms__common
 		uavcan
 	)
+
+target_link_libraries(modules__uavcannode uavcan uavcan_stm32_driver)