diff --git a/libraries/AP_HAL/utility/print_vprintf.cpp b/libraries/AP_HAL/utility/print_vprintf.cpp
index b12110435d..df7b310536 100644
--- a/libraries/AP_HAL/utility/print_vprintf.cpp
+++ b/libraries/AP_HAL/utility/print_vprintf.cpp
@@ -66,6 +66,11 @@
 #define FL_FLTEXP   FL_PREC
 #define FL_FLTFIX   FL_LONG
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+// get __FPU_PRESENT
+#include <hal.h>
+#endif
+
 void print_vprintf(AP_HAL::BetterStream *s, const char *fmt, va_list ap)
 {
         unsigned char c;        /* holds a char from the format string */