diff --git a/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp b/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
index 54859110fb..b8b45a8e6f 100644
--- a/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
+++ b/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
@@ -6,6 +6,7 @@
 #include "AP_OADijkstra.h"
 #include "AP_OABendyRuler.h"
 #include <AP_Logger/AP_Logger.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 #if AP_OAPATHPLANNER_BENDYRULER_ENABLED
 void AP_OABendyRuler::Write_OABendyRuler(const uint8_t type, const bool active, const float target_yaw, const float target_pitch, const bool resist_chg, const float margin, const Location &final_dest, const Location &oa_dest) const