diff --git a/src/drivers/boards/px4fmu-v5/px4fmu_init.c b/src/drivers/boards/px4fmu-v5/px4fmu_init.c
index 447e7973c5..ab5abe1336 100644
--- a/src/drivers/boards/px4fmu-v5/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v5/px4fmu_init.c
@@ -46,6 +46,7 @@
  ****************************************************************************/
 
 #include <px4_config.h>
+#include <px4_tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>