diff --git a/libraries/AP_CANManager/AP_CANDriver.cpp b/libraries/AP_CANManager/AP_CANDriver.cpp
index 97bc7c82fc..5e602b1a78 100644
--- a/libraries/AP_CANManager/AP_CANDriver.cpp
+++ b/libraries/AP_CANManager/AP_CANDriver.cpp
@@ -17,7 +17,7 @@
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
 #include "AP_CANManager.h"
-#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <AP_PiccoloCAN/AP_PiccoloCAN.h>
diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index 29221d0465..b51a0d15c9 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -22,7 +22,8 @@
 
 #if HAL_CANMANAGER_ENABLED
 
-#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <AP_SerialManager/AP_SerialManager.h>
diff --git a/libraries/AP_CANManager/AP_CANTester.cpp b/libraries/AP_CANManager/AP_CANTester.cpp
index a643a73782..806713f893 100644
--- a/libraries/AP_CANManager/AP_CANTester.cpp
+++ b/libraries/AP_CANManager/AP_CANTester.cpp
@@ -24,7 +24,7 @@
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED && HAL_ENABLE_CANTESTER
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <stdio.h>
-#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <uavcan/protocol/dynamic_node_id_client.hpp>
 #include <uavcan/equipment/esc/Status.hpp>
diff --git a/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp b/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
index 31737eb68e..5afe166576 100644
--- a/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
+++ b/libraries/AP_CANManager/AP_CANTester_KDECAN.cpp
@@ -24,7 +24,7 @@
 #include "AP_CANManager.h"
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/utility/sparse-endian.h>
-#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #define debug_can(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "TestKDECAN",  fmt, ##args); } while (0)
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_CANManager/AP_SLCANIface.cpp b/libraries/AP_CANManager/AP_SLCANIface.cpp
index 8688ae6507..df1327c9ed 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.cpp
+++ b/libraries/AP_CANManager/AP_SLCANIface.cpp
@@ -27,7 +27,7 @@
 
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <stdio.h>
-#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #define LOG_TAG "SLCAN"