diff --git a/libraries/AP_Common/AP_Param.cpp b/libraries/AP_Common/AP_Param.cpp
index e3d73c3059..17c2c28ada 100644
--- a/libraries/AP_Common/AP_Param.cpp
+++ b/libraries/AP_Common/AP_Param.cpp
@@ -15,6 +15,7 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Math.h>
 
 #include <math.h>
 #include <string.h>
diff --git a/libraries/AP_Common/AP_Param.h b/libraries/AP_Common/AP_Param.h
index 3207911356..b898a8a297 100644
--- a/libraries/AP_Common/AP_Param.h
+++ b/libraries/AP_Common/AP_Param.h
@@ -18,7 +18,6 @@
 
 #include <avr/pgmspace.h>
 #include <avr/eeprom.h>
-#include <AP_Math.h>
 
 #define AP_MAX_NAME_SIZE 15
 
@@ -431,13 +430,12 @@ AP_PARAMDEF(int8_t, Int8, AP_PARAM_INT8);     // defines AP_Int8
 AP_PARAMDEF(int16_t, Int16, AP_PARAM_INT16);  // defines AP_Int16
 AP_PARAMDEF(int32_t, Int32, AP_PARAM_INT32);  // defines AP_Int32
 
-#define AP_PARAMDEFV(_t, _n, _pt)   typedef AP_ParamV<_t, _pt> AP_##_n;
-AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
-AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
-
 #define AP_PARAMDEFA(_t, _n, _size, _pt)   typedef AP_ParamA<_t, _size, _pt> AP_##_n;
 AP_PARAMDEFA(float, Vector6f, 6, AP_PARAM_VECTOR6F);
 
+// this is used in AP_Math.h
+#define AP_PARAMDEFV(_t, _n, _pt)   typedef AP_ParamV<_t, _pt> AP_##_n;
+
 /// Rely on built in casting for other variable types
 /// to minimize template creation and save memory
 #define AP_Uint8    AP_Int8
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 7fd090b9f3..fbff53cb3d 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -2,8 +2,13 @@
 
 // Assorted useful math operations for ArduPilot(Mega)
 
+#include <AP_Common.h>
 #include <stdint.h>
 #include "vector2.h"
 #include "vector3.h"
 #include "matrix3.h"
 #include "polygon.h"
+
+// define AP_Param types AP_Vector3f and Ap_Matrix3f
+AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
+AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);