diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 681984a2dc..4d3af583a1 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -9,9 +9,9 @@
 #include <inttypes.h>
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Math/AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
-#include <RC_Channel/RC_Channel.h>     // RC Channel Library
-#include "AP_Motors.h"
+#include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
+#include <RC_Channel/RC_Channel.h>      // RC Channel Library
+#include "AP_Motors_Class.h"
 #include "AP_MotorsHeli_RSC.h"
 
 // maximum number of swashplate servos
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index 06dad8cf14..7cfd34b81d 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -15,7 +15,7 @@
  */
 
 #include <stdlib.h>
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #include "AP_MotorsHeli_RSC.h"
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index 7d786da492..80c12b0fd1 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -3,10 +3,9 @@
 #ifndef __AP_MOTORS_HELI_RSC_H__
 #define __AP_MOTORS_HELI_RSC_H__
 
-#include <inttypes.h>
-#include <AP_Common.h>
-#include <AP_Math.h>
-#include <RC_Channel.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
+#include <RC_Channel/RC_Channel.h>      // RC Channel Library
 
 class AP_MotorsHeli_RSC {
 public:
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index c967f4ecf9..efbaea2a01 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -15,7 +15,7 @@
  */
 
 #include <stdlib.h>
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_MotorsHeli_Single.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 74319dfcaa..2cb5fcbdfe 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -6,11 +6,9 @@
 #ifndef __AP_MOTORS_HELI_SINGLE_H__
 #define __AP_MOTORS_HELI_SINGLE_H__
 
-#include <inttypes.h>
-#include <AP_Common.h>
-#include <AP_Math.h>
-#include <RC_Channel.h>
-
+#include <AP_Common/AP_Common.h>
+#include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
+#include <RC_Channel/RC_Channel.h>      // RC Channel Library
 #include "AP_MotorsHeli.h"
 #include "AP_MotorsHeli_RSC.h"