diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index 77a684519d..aedc24ac82 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -1,11 +1,12 @@
 #include "AP_Soaring.h"
-#include <AP_Logger/AP_Logger.h>
-#include <GCS_MAVLink/GCS.h>
-#include <stdint.h>
-extern const AP_HAL::HAL& hal;
 
 #if HAL_SOARING_ENABLED
 
+#include <AP_Logger/AP_Logger.h>
+#include <AP_TECS/AP_TECS.h>
+#include <GCS_MAVLink/GCS.h>
+#include <stdint.h>
+
 // ArduSoar parameters
 const AP_Param::GroupInfo SoaringController::var_info[] = {
     // @Param: ENABLE
diff --git a/libraries/AP_Soaring/AP_Soaring.h b/libraries/AP_Soaring/AP_Soaring.h
index 203bdd45f1..1bb3694aa5 100644
--- a/libraries/AP_Soaring/AP_Soaring.h
+++ b/libraries/AP_Soaring/AP_Soaring.h
@@ -9,13 +9,7 @@
 
 #pragma once
 
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_Param/AP_Param.h>
-#include <AP_Math/AP_Math.h>
-#include "ExtendedKalmanFilter.h"
-#include "Variometer.h"
-#include <AP_TECS/AP_TECS.h>
-#include "SpeedToFly.h"
+#include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef HAL_SOARING_ENABLED
  #define HAL_SOARING_ENABLED !HAL_MINIMIZE_FEATURES
@@ -23,6 +17,12 @@
 
 #if HAL_SOARING_ENABLED
 
+#include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
+#include "ExtendedKalmanFilter.h"
+#include "Variometer.h"
+#include "SpeedToFly.h"
+
 #define INITIAL_THERMAL_RADIUS 80.0
 #define INITIAL_STRENGTH_COVARIANCE 0.0049
 #define INITIAL_RADIUS_COVARIANCE 400.0
@@ -32,7 +32,7 @@
 class SoaringController {
     Variometer::PolarParams _polarParams;
     ExtendedKalmanFilter _ekf{};
-    AP_TECS &_tecs;
+    class AP_TECS &_tecs;
     Variometer _vario;
     SpeedToFly _speedToFly;
 
@@ -81,7 +81,7 @@ protected:
     AP_Float soar_thermal_flap;
 
 public:
-    SoaringController(AP_TECS &tecs, const AP_Vehicle::FixedWing &parms);
+    SoaringController(class AP_TECS &tecs, const AP_Vehicle::FixedWing &parms);
 
     enum class LoiterStatus {
         DISABLED,