diff --git a/src/modules/muorb/adsp/uORBFastRpcChannel.hpp b/src/modules/muorb/adsp/uORBFastRpcChannel.hpp
index 2355040cb0..f300b155a0 100644
--- a/src/modules/muorb/adsp/uORBFastRpcChannel.hpp
+++ b/src/modules/muorb/adsp/uORBFastRpcChannel.hpp
@@ -39,6 +39,7 @@
 #include "uORB/uORBCommunicator.hpp"
 #include <semaphore.h>
 #include <set>
+#include <px4_sem.h>
 
 namespace uORB
 {