diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index c6a8e7841b..1991ae026a 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -6,8 +6,8 @@
 #include <math.h>
 
 #include "PID.h"
-#include <AP_HAL.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/PID/PID.h b/libraries/PID/PID.h
index 7a859cf896..47a5bc01b3 100644
--- a/libraries/PID/PID.h
+++ b/libraries/PID/PID.h
@@ -6,8 +6,8 @@
 #ifndef __PID_H__
 #define __PID_H__
 
-#include <AP_Common.h>
-#include <AP_Param.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
 #include <stdlib.h>
 #include <math.h>               // for fabs()
 
diff --git a/libraries/PID/examples/pid/pid.cpp b/libraries/PID/examples/pid/pid.cpp
index d91411c360..e25cb06b8f 100644
--- a/libraries/PID/examples/pid/pid.cpp
+++ b/libraries/PID/examples/pid/pid.cpp
@@ -3,17 +3,17 @@
  *       2010 Code by Jason Short. DIYDrones.com
  */
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_Math.h>
-#include <PID.h> // ArduPilot Mega RC Library
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Param/AP_Param.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Math/AP_Math.h>
+#include <PID/PID.h> // ArduPilot Mega RC Library
 
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Empty.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;