diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 1e552cdfa8..ebef10c695 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -100,6 +100,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_GyroFFT',
     'AP_RCTelemetry',
     'AP_Generator',
+    'AP_MSP',
 ]
 
 def get_legacy_defines(sketch_name):