diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.cpp b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
index 7ee41b537c..574d6ff99c 100644
--- a/libraries/AP_Gripper/AP_Gripper_EPM.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
@@ -15,6 +15,8 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <SRV_Channel/SRV_Channel.h>
+
 #ifdef UAVCAN_NODE_FILE
 #include <fcntl.h>
 #include <stdio.h>
diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.h b/libraries/AP_Gripper/AP_Gripper_EPM.h
index 65ae6a4732..aeb23069a2 100644
--- a/libraries/AP_Gripper/AP_Gripper_EPM.h
+++ b/libraries/AP_Gripper/AP_Gripper_EPM.h
@@ -19,8 +19,6 @@
 
 #include "AP_Gripper_Backend.h"
 
-#include <SRV_Channel/SRV_Channel.h>
-
 #define EPM_RETURN_TO_NEUTRAL_MS    500         // EPM PWM returns to neutral position this many milliseconds after grab or release
 
 /// @class  AP_Gripper_EPM
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
index 45bb387fa3..43f08895a8 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -4,6 +4,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <SRV_Channel/SRV_Channel.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #include <SITL/SITL.h>
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.h b/libraries/AP_Gripper/AP_Gripper_Servo.h
index 33042c0e93..3c72effc09 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.h
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.h
@@ -19,8 +19,6 @@
 
 #if AP_GRIPPER_SERVO_ENABLED
 
-#include <SRV_Channel/SRV_Channel.h>
-
 #define SERVO_ACTUATION_TIME    500         // Time for servo to move to target position during grab or release in milliseconds
 
 class AP_Gripper_Servo : public AP_Gripper_Backend {