diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 7ef081c318..e63a824ddc 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -87,6 +87,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_NMEA_Output',
     'AP_Filesystem',
     'AP_ADSB',
+    'AC_PID',
 ]
 
 def get_legacy_defines(sketch_name):