diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 1400051ca2..3207e518c0 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -46,6 +46,7 @@
 #include <stdlib.h>
 #include <errno.h>
 #include <string.h>
+#include <malloc.h>
 #include <poll.h>
 #include <signal.h>
 #include <crc32.h>
diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c
index cc106f017c..55bcfb6633 100644
--- a/src/modules/px4iofirmware/serial.c
+++ b/src/modules/px4iofirmware/serial.c
@@ -48,8 +48,8 @@
 
 /* XXX might be able to prune these */
 #include <chip.h>
-#include <up_internal.h>
-#include <up_arch.h>
+#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 
 //#define DEBUG