diff --git a/Tools/ardupilotwaf/ap_library.py b/Tools/ardupilotwaf/ap_library.py
index 9d0971c1e816f..fbd355db39211 100644
--- a/Tools/ardupilotwaf/ap_library.py
+++ b/Tools/ardupilotwaf/ap_library.py
@@ -54,7 +54,8 @@ def _vehicle_index(vehicle):
 # note that AP_NavEKF3_core.h is needed for AP_NavEKF3_feature.h
 _vehicle_macros = ['APM_BUILD_DIRECTORY', 'AP_BUILD_TARGET_NAME',
                    'APM_BUILD_TYPE', 'APM_BUILD_COPTER_OR_HELI',
-                   'AP_NavEKF3_core.h', 'lua_generated_bindings.h']
+                   'AP_NavEKF3_core.h', 'lua_generated_bindings.h',
+                   'AP_InertialSensor_rate_config.h']
 _macros_re = re.compile(r'\b(%s)\b' % '|'.join(_vehicle_macros))
 
 # some cpp files are not available at the time we run this check so need to be
@@ -174,6 +175,7 @@ class ap_library_check_headers(Task.Task):
         'libraries/AP_Scripting/lua_generated_bindings.h',
         'libraries/AP_NavEKF3/AP_NavEKF3_feature.h',
         'libraries/AP_LandingGear/AP_LandingGear_config.h',
+        'libraries/AP_InertialSensor/AP_InertialSensor_rate_config.h',
     )
     whitelist = tuple(os.path.join(*p.split('/')) for p in whitelist)