diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index 2d6c670834..0be8d3249b 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -38,6 +38,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>