diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index 5ce5451122..15d17e30db 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -14,3 +14,4 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 			   codegen/rtGetInf.c \
 			   codegen/rtGetNaN.c
 
+INCLUDE_DIRS	+= $(PX4_BASE)/mavlink/include/mavlink