diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
index e362515f4a..b66765ff1e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
@@ -9,8 +9,6 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 /********************************************************
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index a389e638b6..b2b8c1d820 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -10,8 +10,6 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
index 78b5ca5ded..ef06360a84 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
@@ -7,8 +7,6 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 // reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index f1f7ba0022..199a925d96 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -8,8 +8,6 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 /********************************************************
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index b1706dbf39..2d761b4280 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -7,8 +7,6 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
index 3d2d84f8fb..13ccbc17f0 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
@@ -7,8 +7,6 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 /********************************************************
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 33c1c3d796..727e1e58f9 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -9,8 +9,6 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 3475fad92d..4c29a7fdab 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -9,8 +9,6 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 /********************************************************
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index 5a2cd0bc7f..d9e495f377 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -8,8 +8,6 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 /********************************************************
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
index 0c7c3b18bc..23a5233b0a 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
@@ -10,8 +10,6 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index a44aeb0c7f..15954e32bf 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -26,7 +26,6 @@
 
 #include <AP_Math/AP_Math.h>
 #include "AP_NavEKF3.h"
-#include <stdio.h>
 #include <AP_Math/vectorN.h>
 #include <AP_NavEKF3/AP_NavEKF3_Buffer.h>