diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 3e6c4e80af..01ecc7df9b 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1,6 +1,7 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF2_core.h"
+
+#include <AP_DAL/AP_DAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
index 3e8476963f..929c0edd37 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
@@ -1,9 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
-
-#include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 
-extern const AP_HAL::HAL& hal;
+#include <AP_DAL/AP_DAL.h>
+
+#include "AP_NavEKF2.h"
 
 /********************************************************
 *                   RESET FUNCTIONS                     *
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 459d3de398..ed19bd078f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -1,11 +1,9 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_NavEKF2_core.h"
+
+#include <GCS_MAVLink/GCS.h>
+#include <AP_DAL/AP_DAL.h>
 
 #include "AP_NavEKF2.h"
-#include "AP_NavEKF2_core.h"
-#include <GCS_MAVLink/GCS.h>
-
-extern const AP_HAL::HAL& hal;
-
 
 // Control filter mode transitions
 void NavEKF2_core::controlFilterModes()
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
index 2336c522db..8653ad4a7e 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -1,9 +1,6 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF2_core.h"
 
-extern const AP_HAL::HAL& hal;
-
+#include <AP_DAL/AP_DAL.h>
 
 /* Monitor GPS data to see if quality is good enough to initialise the EKF
    Monitor magnetometer innovations to see if the heading is good enough to use GPS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index caf78f8745..08d59b42a2 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -1,8 +1,10 @@
+#include "AP_NavEKF2_core.h"
+
 #include <AP_HAL/AP_HAL.h>
+#include <AP_DAL/AP_DAL.h>
+#include <GCS_MAVLink/GCS.h>
 
 #include "AP_NavEKF2.h"
-#include "AP_NavEKF2_core.h"
-#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index fcb48be5cc..0dc9c68819 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -29,7 +29,8 @@
 #include <AP_Math/vectorN.h>
 #include <AP_NavEKF/AP_NavEKF_core_common.h>
 #include <AP_NavEKF/EKF_Buffer.h>
-#include <AP_DAL/AP_DAL.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_Beacon/AP_Beacon_config.h>
 
 #include "AP_NavEKF/EKFGSF_yaw.h"
 
@@ -341,7 +342,7 @@ public:
     
 private:
     EKFGSF_yaw *yawEstimator;
-    AP_DAL &dal;
+    class AP_DAL &dal;
 
     // Reference to the global EKF frontend for parameters
     class NavEKF2 *frontend;