diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.cpp b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
index 5fd47dc6e4..e314efcfb8 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
@@ -16,6 +16,7 @@
 #include "AP_VisualOdom.h"
 #include "AP_VisualOdom_Backend.h"
 #include "AP_VisualOdom_MAV.h"
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL &hal;