diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index ead99da819..82451d3353 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -26,7 +26,10 @@
 #include <AP_HAL/CANIface.h>
 #include <AP_Stats/AP_Stats.h>
 #include <AP_SerialManager/AP_SerialManager.h>
-
+#include <AP_ESC_Telem/AP_ESC_Telem_config.h>
+#if HAL_WITH_ESC_TELEM
+#include <AP_ESC_Telem/AP_ESC_Telem.h>
+#endif
 
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
 #if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))