diff --git a/src/platforms/posix/drivers/gpssim/gpssim.cpp b/src/platforms/posix/drivers/gpssim/gpssim.cpp
index 5bf296b9da..ff9f5e43ed 100644
--- a/src/platforms/posix/drivers/gpssim/gpssim.cpp
+++ b/src/platforms/posix/drivers/gpssim/gpssim.cpp
@@ -52,9 +52,9 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <px4_config.h>
+#include <px4_tasks.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/device.h>
-#include <systemlib/systemlib.h>
 #include <drivers/drv_gps.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
diff --git a/src/platforms/posix/px4_layer/drv_hrt.c b/src/platforms/posix/px4_layer/drv_hrt.c
index c64bc8bf65..fb5133d41f 100644
--- a/src/platforms/posix/px4_layer/drv_hrt.c
+++ b/src/platforms/posix/px4_layer/drv_hrt.c
@@ -41,6 +41,7 @@
 #include <px4_posix.h>
 #include <px4_defines.h>
 #include <px4_workqueue.h>
+#include <px4_tasks.h>
 #include <drivers/drv_hrt.h>
 #include <semaphore.h>
 #include <time.h>
diff --git a/src/platforms/posix/work_queue/hrt_queue.c b/src/platforms/posix/work_queue/hrt_queue.c
index e17f74ca0a..071bc47e02 100644
--- a/src/platforms/posix/work_queue/hrt_queue.c
+++ b/src/platforms/posix/work_queue/hrt_queue.c
@@ -39,6 +39,8 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_workqueue.h>
+#include <px4_tasks.h>
 
 #include <signal.h>
 #include <stdint.h>
diff --git a/src/platforms/posix/work_queue/hrt_thread.c b/src/platforms/posix/work_queue/hrt_thread.c
index 5199785d78..700daa215a 100644
--- a/src/platforms/posix/work_queue/hrt_thread.c
+++ b/src/platforms/posix/work_queue/hrt_thread.c
@@ -41,6 +41,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_posix.h>
+#include <px4_tasks.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>
diff --git a/src/platforms/posix/work_queue/work_queue.c b/src/platforms/posix/work_queue/work_queue.c
index 36d07ca3d9..3bb4697b26 100644
--- a/src/platforms/posix/work_queue/work_queue.c
+++ b/src/platforms/posix/work_queue/work_queue.c
@@ -39,13 +39,14 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_workqueue.h>
+#include <px4_tasks.h>
 
 #include <signal.h>
 #include <stdint.h>
 #include <queue.h>
 #include <stdio.h>
 #include <semaphore.h>
-#include <px4_workqueue.h>
 #include "work_lock.h"
 
 #ifdef CONFIG_SCHED_WORKQUEUE
diff --git a/src/platforms/posix/work_queue/work_thread.c b/src/platforms/posix/work_queue/work_thread.c
index 2050ad51e6..806c2179d7 100644
--- a/src/platforms/posix/work_queue/work_thread.c
+++ b/src/platforms/posix/work_queue/work_thread.c
@@ -41,12 +41,13 @@
 #include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_time.h>
+#include <px4_tasks.h>
+#include <px4_workqueue.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <queue.h>
 #include <pthread.h>
-#include <px4_workqueue.h>
 #include <drivers/drv_hrt.h>
 #include "work_lock.h"