diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index e3cecbbd51..e3da261209 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -34,6 +34,7 @@
 #include <termios.h>
 #include <px4_log.h>
 #include <px4_time.h>
+#include <px4_tasks.h>
 #include "simulator.h"
 #include <simulator_config.h>
 #include "errno.h"