diff --git a/.travis.yml b/.travis.yml
index 6e02f1d..9df1592 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -43,10 +43,12 @@ script:
 
   # Install the toolchain and Python dependencies
   - brew uninstall python@2
-  - brew install px4-sim
+  - brew install px4-dev
+  # - brew install px4-sim
   - pip3 install --user --upgrade packaging pyserial empy toml pandas jinja2 pyyaml pyros-genmsg
 
   # Compile PX4 firmware
   - git clone -b master https://github.com/PX4/Firmware.git ~/Firmware
   - cd ~/Firmware
-  - DONT_RUN=1 make px4_sitl_default gazebo
+  # - DONT_RUN=1 make px4_sitl_default gazebo
+  - make px4_fmu-v5_default
diff --git a/Formula/px4-dev.rb b/Formula/px4-dev.rb
index 34211c6..514916d 100644
--- a/Formula/px4-dev.rb
+++ b/Formula/px4-dev.rb
@@ -13,6 +13,7 @@ class Px4Dev < Formula
   depends_on "cmake"
   depends_on "fastcdr"
   depends_on "fastrtps"
+  depends_on "discoteq/discoteq/flock"
   depends_on "gcc-arm-none-eabi"
   depends_on "genromfs"
   depends_on "kconfig-frontends"