diff --git a/libraries/AR_WPNav/AR_WPNav.cpp b/libraries/AR_WPNav/AR_WPNav.cpp
index 1ab6c817d8..66b4041dce 100644
--- a/libraries/AR_WPNav/AR_WPNav.cpp
+++ b/libraries/AR_WPNav/AR_WPNav.cpp
@@ -18,6 +18,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AR_WPNav.h"
 #include <GCS_MAVLink/GCS.h>
+#include <AP_InternalError/AP_InternalError.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <stdio.h>
diff --git a/libraries/AR_WPNav/AR_WPNav_OA.cpp b/libraries/AR_WPNav/AR_WPNav_OA.cpp
index dc7c8f29be..0ecdc22c95 100644
--- a/libraries/AR_WPNav/AR_WPNav_OA.cpp
+++ b/libraries/AR_WPNav/AR_WPNav_OA.cpp
@@ -18,6 +18,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AR_WPNav_OA.h"
 #include <GCS_MAVLink/GCS.h>
+#include <AP_InternalError/AP_InternalError.h>
 
 extern const AP_HAL::HAL& hal;