diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index d0513a28e5..12cbad3e9d 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -109,6 +109,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_VideoTX',
     'AP_FETtecOneWire',
     'AP_Torqeedo',
+    'AP_OpenDroneID',
 ]
 
 def get_legacy_defines(sketch_name, bld):
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index a64818ee7c..21c2233d84 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -547,6 +547,9 @@ class sitl(Board):
 
         cfg.define('HAL_WITH_SPI', 1)
         cfg.define('HAL_WITH_RAMTRON', 1)
+        if Utils.unversioned_sys_platform() != 'cygwin' and sys.platform != 'darwin':
+            # enable OpenDroneID, but not on cygwin or macos due to compiler version used
+            cfg.define('AP_OPENDRONEID_ENABLED', 1)
 
         if self.with_can:
             cfg.define('HAL_NUM_CAN_IFACES', 2)