diff --git a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
index 030a9015f45594fd358c0b1ead2f76836e72fc6c..730a004d28a04884e34e2c23a57dfc431e73f847 100644
--- a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
+++ b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
@@ -39,9 +39,9 @@ void VRBRAINRCOutput::init(void* unused)
         return;
     }
 
-    _alt_fd = open("/dev/px4fmu", O_RDWR);
+    _alt_fd = open("/dev/vroutput", O_RDWR);
     if (_alt_fd == -1) {
-        hal.console->printf("RCOutput: failed to open /dev/px4fmu");
+        hal.console->printf("RCOutput: failed to open /dev/vroutput");
         return;
     }
 }
diff --git a/mk/VRBRAIN/config_vrbrain-v4_APM.mk b/mk/VRBRAIN/config_vrbrain-v4_APM.mk
index fce317378157e2d08b2bec2a74787d01dde6b7ae..7945e7534e96f09217ab0f148d94139b680b19c0 100644
--- a/mk/VRBRAIN/config_vrbrain-v4_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v4_APM.mk
@@ -18,8 +18,11 @@ MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 
-MODULES		+= drivers/px4fmu
+
 MODULES		+= drivers/boards/vrbrain-v4
+MODULES		+= drivers/vrbrain/vroutput
+MODULES		+= drivers/vrbrain/vrinput/controls
+MODULES		+= drivers/vrbrain/vrinput
 
 
 
@@ -53,7 +56,7 @@ MODULES		+= systemcmds/mtd
 
 
 
-
+MODULES		+= systemcmds/top
 
 MODULES		+= systemcmds/tests
 
diff --git a/mk/VRBRAIN/config_vrbrain-v5_APM.mk b/mk/VRBRAIN/config_vrbrain-v5_APM.mk
index ad538aef0bdc23be0e2c805fedd7ab426a8deb33..29cab6e9d4b97f88b8e0a1ec7f842ff26e62bc86 100644
--- a/mk/VRBRAIN/config_vrbrain-v5_APM.mk
+++ b/mk/VRBRAIN/config_vrbrain-v5_APM.mk
@@ -18,8 +18,11 @@ MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 
-MODULES		+= drivers/px4fmu
+
 MODULES		+= drivers/boards/vrbrain-v5
+MODULES		+= drivers/vrbrain/vroutput
+MODULES		+= drivers/vrbrain/vrinput/controls
+MODULES		+= drivers/vrbrain/vrinput
 
 
 
@@ -53,7 +56,7 @@ MODULES		+= systemcmds/mtd
 
 
 
-
+MODULES		+= systemcmds/top
 
 MODULES		+= systemcmds/tests