diff --git a/src/modules/uavcanesc/uavcanesc_main.cpp b/src/modules/uavcanesc/uavcanesc_main.cpp
index 5d6179a90b..13ee480b0e 100644
--- a/src/modules/uavcanesc/uavcanesc_main.cpp
+++ b/src/modules/uavcanesc/uavcanesc_main.cpp
@@ -36,6 +36,7 @@
 
 #include <px4_config.h>
 #include <px4_log.h>
+#include <px4_tasks.h>
 
 #include <cstdlib>
 #include <cstring>
@@ -45,7 +46,6 @@
 #include <systemlib/param/param.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
-#include <systemlib/scheduling_priorities.h>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>