diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
index 560da79ffe..7b11b94e9a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
@@ -16,7 +16,7 @@
    by Mirko Denecke <mirkix@gmail.com>
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 
 #include "AP_RangeFinder_BBB_PRU.h"
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index a414313e1a..f3831bcb4a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -24,7 +24,7 @@
  */
 
 #include "AP_RangeFinder_MaxsonarI2CXL.h"
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
index 8e196fe74b..15ddc88593 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PX4.cpp
@@ -14,7 +14,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #include "AP_RangeFinder_PX4.h"
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
index 8ec2d8f00b..3512581eb2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
@@ -14,7 +14,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #include "AP_RangeFinder_PX4_PWM.h"
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
index af8483b1fb..a40b290e3a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
@@ -15,7 +15,7 @@
  */
 
 #include "AP_RangeFinder_PulsedLightLRF.h"
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
index c88b72d325..2e9eee3f8a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
@@ -19,9 +19,9 @@
  *
  */
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Math/AP_Math.h>
 #include "RangeFinder.h"
 #include "AP_RangeFinder_analog.h"
 
diff --git a/libraries/AP_RangeFinder/RangeFinder.h b/libraries/AP_RangeFinder/RangeFinder.h
index 19eb4d6d25..e1de23ff6b 100644
--- a/libraries/AP_RangeFinder/RangeFinder.h
+++ b/libraries/AP_RangeFinder/RangeFinder.h
@@ -17,10 +17,10 @@
 #ifndef __RANGEFINDER_H__
 #define __RANGEFINDER_H__
 
-#include <AP_Common.h>
-#include <AP_HAL.h>
-#include <AP_Param.h>
-#include <AP_Math.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
 
 // Maximum number of range finder instances available on this platform
 #define RANGEFINDER_MAX_INSTANCES 2
diff --git a/libraries/AP_RangeFinder/RangeFinder_Backend.cpp b/libraries/AP_RangeFinder/RangeFinder_Backend.cpp
index 07dcc82739..b27253ac66 100644
--- a/libraries/AP_RangeFinder/RangeFinder_Backend.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder_Backend.cpp
@@ -14,8 +14,8 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_Common.h>
-#include <AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
 #include "RangeFinder.h"
 #include "RangeFinder_Backend.h"
 
diff --git a/libraries/AP_RangeFinder/RangeFinder_Backend.h b/libraries/AP_RangeFinder/RangeFinder_Backend.h
index 90beee5f62..3ff5d18c69 100644
--- a/libraries/AP_RangeFinder/RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/RangeFinder_Backend.h
@@ -17,8 +17,8 @@
 #ifndef __AP_RANGEFINDER_BACKEND_H__
 #define __AP_RANGEFINDER_BACKEND_H__
 
-#include <AP_Common.h>
-#include <AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
 #include "RangeFinder.h"
 
 class AP_RangeFinder_Backend
diff --git a/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp b/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp
index bca352d10e..af9d3e4e83 100644
--- a/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp
+++ b/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp
@@ -2,38 +2,38 @@
  *  RangeFinder test code
  */
  
-#include <AP_RangeFinder.h>
-#include <AP_Common.h>
-#include <AP_HAL.h>
-#include <Filter.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_Param.h>
-#include <GCS_MAVLink.h>
-#include <AP_HAL_Empty.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <DataFlash.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_ADC.h>
-#include <AP_Baro.h>
-#include <AP_AHRS.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_NavEKF.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Notify.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Scheduler.h>
-#include <AP_BattMonitor.h>
-#include <AP_Rally.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <Filter/Filter.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Param/AP_Param.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <DataFlash/DataFlash.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_Mission/AP_Mission.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_Rally/AP_Rally.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;