diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 3e72a3e0e4..d95ab7b72b 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -225,6 +225,8 @@ static AP_Compass_VRBRAIN compass;
 static AP_Compass_HMC5843 compass;
 #elif CONFIG_COMPASS == HAL_COMPASS_HIL
 static AP_Compass_HIL compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
+static AP_Compass_AK8963_MPU9250 compass;
 #else
  #error Unrecognized CONFIG_COMPASS setting
 #endif