diff --git a/Makefile.dep b/Makefile.dep
index 0b4d6df2b..8a443ac4a 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -548,6 +548,8 @@ endif
 
 ifneq (,$(filter saul_default,$(USEMODULE)))
   USEMODULE += saul
+  USEMODULE += saul_reg
+  USEMODULE += auto_init_saul
 endif
 
 ifneq (,$(filter saul,$(USEMODULE)))
diff --git a/examples/default/Makefile b/examples/default/Makefile
index 85e6687ed..8b61c27c6 100644
--- a/examples/default/Makefile
+++ b/examples/default/Makefile
@@ -32,9 +32,7 @@ USEMODULE += shell
 USEMODULE += shell_commands
 USEMODULE += ps
 # include and auto-initialize all available sensors
-USEMODULE += saul_reg
 USEMODULE += saul_default
-USEMODULE += auto_init_saul
 
 BOARD_PROVIDES_NETIF := airfy-beacon cc2538dk fox iotlab-m3 iotlab-a8-m3 mulle \
         microbit native nrf51dongle nrf52dk nrf6310 openmote-cc2538 pba-d-01-kw2x \
diff --git a/tests/saul/Makefile b/tests/saul/Makefile
index d0c4790b5..6a7e8d4b6 100644
--- a/tests/saul/Makefile
+++ b/tests/saul/Makefile
@@ -2,9 +2,7 @@ APPLICATION = saul
 include ../Makefile.tests_common
 
 # include and auto-initialize all available sensors
-USEMODULE += saul_reg
 USEMODULE += saul_default
-USEMODULE += auto_init_saul
 
 USEMODULE += xtimer