diff --git a/libraries/AP_Radio/AP_Radio.h b/libraries/AP_Radio/AP_Radio.h
index 231f11504f..0095457de2 100644
--- a/libraries/AP_Radio/AP_Radio.h
+++ b/libraries/AP_Radio/AP_Radio.h
@@ -18,9 +18,8 @@
  * base class for direct attached radios
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
-#include <GCS_MAVLink/GCS.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
 
 class AP_Radio_backend;
 
diff --git a/libraries/AP_Radio/AP_Radio_backend.h b/libraries/AP_Radio/AP_Radio_backend.h
index e6c3bda92b..a1fd9e168e 100644
--- a/libraries/AP_Radio/AP_Radio_backend.h
+++ b/libraries/AP_Radio/AP_Radio_backend.h
@@ -21,6 +21,8 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Radio.h"
 
+#include <AP_Math/AP_Math.h>
+
 class AP_Radio_backend
 {
 public:
diff --git a/libraries/AP_Radio/AP_Radio_cc2500.cpp b/libraries/AP_Radio/AP_Radio_cc2500.cpp
index 999ed188f7..a4e43744a4 100644
--- a/libraries/AP_Radio/AP_Radio_cc2500.cpp
+++ b/libraries/AP_Radio/AP_Radio_cc2500.cpp
@@ -16,7 +16,7 @@
 #include <stdio.h>
 #include <StorageManager/StorageManager.h>
 #include <AP_Notify/AP_Notify.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <GCS_MAVLink/GCS.h>
 #include <AP_Math/crc.h>
 #include <AP_Param/AP_Param.h>
 
diff --git a/libraries/AP_Radio/AP_Radio_cypress.cpp b/libraries/AP_Radio/AP_Radio_cypress.cpp
index a9f08f7375..a66de15358 100644
--- a/libraries/AP_Radio/AP_Radio_cypress.cpp
+++ b/libraries/AP_Radio/AP_Radio_cypress.cpp
@@ -11,7 +11,7 @@
 #include <AP_Math/crc.h>
 #include "telem_structure.h"
 #include <AP_Notify/AP_Notify.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <GCS_MAVLink/GCS.h>
 
 /*
   driver for CYRF6936 radio