diff --git a/src/drivers/boards/auav-x21/auav_init.c b/src/drivers/boards/auav-x21/auav_init.c
index c6079f524c..cef8a19c65 100644
--- a/src/drivers/boards/auav-x21/auav_init.c
+++ b/src/drivers/boards/auav-x21/auav_init.c
@@ -46,6 +46,7 @@
  ****************************************************************************/
 
 #include <px4_config.h>
+#include <px4_tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>