diff --git a/CMakeLists.txt b/CMakeLists.txt
index 491c2c7ed2..4e91fb3bee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -76,6 +76,7 @@ add_message_files(
   position_setpoint_triplet.msg
   vehicle_local_position_setpoint.msg
   vehicle_global_velocity_setpoint.msg
+  offboard_control_mode.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index f8561fa3b7..364a5f31b9 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -66,6 +66,7 @@
 #include <px4_vehicle_global_velocity_setpoint.h>
 #include <px4_vehicle_local_position.h>
 #include <px4_position_setpoint_triplet.h>
+#include <px4_offboard_control_mode.h>
 #endif
 
 #else
@@ -93,6 +94,7 @@
 #include <platforms/nuttx/px4_messages/px4_vehicle_global_velocity_setpoint.h>
 #include <platforms/nuttx/px4_messages/px4_vehicle_local_position.h>
 #include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
+#include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
 #endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>