diff --git a/libraries/AR_WPNav/AR_PivotTurn.cpp b/libraries/AR_WPNav/AR_PivotTurn.cpp
index 5c1965b63c..cc82d9bb82 100644
--- a/libraries/AR_WPNav/AR_PivotTurn.cpp
+++ b/libraries/AR_WPNav/AR_PivotTurn.cpp
@@ -13,6 +13,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include "AR_PivotTurn.h"
diff --git a/libraries/AR_WPNav/AR_WPNav.cpp b/libraries/AR_WPNav/AR_WPNav.cpp
index 1d4bbb5b6e..8372180efd 100644
--- a/libraries/AR_WPNav/AR_WPNav.cpp
+++ b/libraries/AR_WPNav/AR_WPNav.cpp
@@ -13,6 +13,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AR_WPNav.h"
diff --git a/libraries/AR_WPNav/AR_WPNav_OA.cpp b/libraries/AR_WPNav/AR_WPNav_OA.cpp
index 9bbb7ea8c5..97e7b77c58 100644
--- a/libraries/AR_WPNav/AR_WPNav_OA.cpp
+++ b/libraries/AR_WPNav/AR_WPNav_OA.cpp
@@ -13,6 +13,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AR_WPNav_OA.h"