diff --git a/drivers/saul/Kconfig b/drivers/saul/Kconfig
index 160da78080..d62d63a1c3 100644
--- a/drivers/saul/Kconfig
+++ b/drivers/saul/Kconfig
@@ -7,7 +7,7 @@
 
 menuconfig MODULE_SAUL
     bool "[S]ensor [A]ctuator [U]ber [L]ayer"
-    depends on MODULE_PHYDAT
+    select MODULE_PHYDAT
     depends on TEST_KCONFIG
     help
         SAUL is a generic actuator/sensor interface in RIOT. Its purpose is to
diff --git a/sys/saul_reg/Kconfig b/sys/saul_reg/Kconfig
index ec28fa4f66..5ed1ec13cf 100644
--- a/sys/saul_reg/Kconfig
+++ b/sys/saul_reg/Kconfig
@@ -7,5 +7,6 @@
 
 config MODULE_SAUL_REG
     bool "Global sensor/actuator registry for SAUL devices"
+    default y
     depends on MODULE_SAUL
     depends on TEST_KCONFIG