diff --git a/libraries/DataFlash/DataFlash.cpp b/libraries/DataFlash/DataFlash.cpp
index 8ddfe6edb9..ae482a4c31 100644
--- a/libraries/DataFlash/DataFlash.cpp
+++ b/libraries/DataFlash/DataFlash.cpp
@@ -1,4 +1,4 @@
-#include <DataFlash.h>
+#include "DataFlash.h"
 
 // start functions pass straight through to backend:
 void DataFlash_Class::WriteBlock(const void *pBuffer, uint16_t size) {
diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index 85866af7c9..eef8294989 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -6,19 +6,19 @@
 #ifndef DataFlash_h
 #define DataFlash_h
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <AP_Param.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Baro.h>
-#include <AP_AHRS.h>
-#include <AP_Vehicle.h>
-#include <AP_Mission.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_Mission/AP_Mission.h>
 #include "../AP_Airspeed/AP_Airspeed.h"
 #include "../AP_BattMonitor/AP_BattMonitor.h"
 #include <stdint.h>
-#include <DataFlash_Backend.h>
+#include "DataFlash_Backend.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
 #include <uORB/topics/esc_status.h>
diff --git a/libraries/DataFlash/DataFlash_APM1.cpp b/libraries/DataFlash/DataFlash_APM1.cpp
index b34b9e9031..6345b13dcb 100644
--- a/libraries/DataFlash/DataFlash_APM1.cpp
+++ b/libraries/DataFlash/DataFlash_APM1.cpp
@@ -35,7 +35,7 @@
  *       Properties:
  *
  */
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash_APM2.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/DataFlash/DataFlash_APM1.h b/libraries/DataFlash/DataFlash_APM1.h
index a517340c4c..0cfc08a85d 100644
--- a/libraries/DataFlash/DataFlash_APM1.h
+++ b/libraries/DataFlash/DataFlash_APM1.h
@@ -6,7 +6,7 @@
 #ifndef __DATAFLASH_APM1_H__
 #define __DATAFLASH_APM1_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash.h"
 
 class DataFlash_APM1 : public DataFlash_Block
diff --git a/libraries/DataFlash/DataFlash_APM2.cpp b/libraries/DataFlash/DataFlash_APM2.cpp
index 79165df22a..d74609db2f 100644
--- a/libraries/DataFlash/DataFlash_APM2.cpp
+++ b/libraries/DataFlash/DataFlash_APM2.cpp
@@ -36,7 +36,7 @@
  *
  */
 
-#include <AP_HAL.h>               // for removing conflict with optical flow sensor on SPI3 bus
+#include <AP_HAL/AP_HAL.h>               // for removing conflict with optical flow sensor on SPI3 bus
 #include "DataFlash_APM2.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/DataFlash/DataFlash_APM2.h b/libraries/DataFlash/DataFlash_APM2.h
index 81151f77b8..8320e205cc 100644
--- a/libraries/DataFlash/DataFlash_APM2.h
+++ b/libraries/DataFlash/DataFlash_APM2.h
@@ -6,7 +6,7 @@
 #ifndef __DATAFLASH_APM2_H__
 #define __DATAFLASH_APM2_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash_Block.h"
 
 class DataFlash_APM2 : public DataFlash_Block
diff --git a/libraries/DataFlash/DataFlash_Backend.h b/libraries/DataFlash/DataFlash_Backend.h
index ab1681df31..342fb75e2f 100644
--- a/libraries/DataFlash/DataFlash_Backend.h
+++ b/libraries/DataFlash/DataFlash_Backend.h
@@ -5,14 +5,14 @@
 #define DATAFLASH_NO_CLI
 #endif
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <AP_Param.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Baro.h>
-#include <AP_AHRS.h>
-#include <AP_Vehicle.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Vehicle/AP_Vehicle.h>
 #include "../AP_Airspeed/AP_Airspeed.h"
 #include "../AP_BattMonitor/AP_BattMonitor.h"
 #include <stdint.h>
diff --git a/libraries/DataFlash/DataFlash_Block.cpp b/libraries/DataFlash/DataFlash_Block.cpp
index 6f0b0eeacc..2139fee214 100644
--- a/libraries/DataFlash/DataFlash_Block.cpp
+++ b/libraries/DataFlash/DataFlash_Block.cpp
@@ -3,7 +3,7 @@
  *       DataFlash.cpp - DataFlash log library generic code
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash.h"
 
 extern AP_HAL::HAL& hal;
diff --git a/libraries/DataFlash/DataFlash_Block.h b/libraries/DataFlash/DataFlash_Block.h
index 4a04108c21..6a2ce8d24b 100644
--- a/libraries/DataFlash/DataFlash_Block.h
+++ b/libraries/DataFlash/DataFlash_Block.h
@@ -7,7 +7,7 @@
 #ifndef DataFlash_block_h
 #define DataFlash_block_h
 
-#include <DataFlash_Backend.h>
+#include "DataFlash_Backend.h"
 
 #include <stdint.h>
 
diff --git a/libraries/DataFlash/DataFlash_Empty.h b/libraries/DataFlash/DataFlash_Empty.h
index 9d5bbf7023..2a81fadc55 100644
--- a/libraries/DataFlash/DataFlash_Empty.h
+++ b/libraries/DataFlash/DataFlash_Empty.h
@@ -6,7 +6,7 @@
 #ifndef __DATAFLASH_EMPTY_H__
 #define __DATAFLASH_EMPTY_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash_Block.h"
 
 class DataFlash_Empty : public DataFlash_Block
diff --git a/libraries/DataFlash/DataFlash_File.cpp b/libraries/DataFlash/DataFlash_File.cpp
index 0e7b9633e7..006292cdba 100644
--- a/libraries/DataFlash/DataFlash_File.cpp
+++ b/libraries/DataFlash/DataFlash_File.cpp
@@ -7,7 +7,7 @@
    given directory
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if HAL_OS_POSIX_IO
 #include "DataFlash.h"
@@ -20,7 +20,7 @@
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <assert.h>
-#include <AP_Math.h>
+#include <AP_Math/AP_Math.h>
 #include <stdio.h>
 #include <time.h>
 #include <dirent.h>
diff --git a/libraries/DataFlash/DataFlash_SITL.cpp b/libraries/DataFlash/DataFlash_SITL.cpp
index 62a342fe41..17b9a12bd1 100644
--- a/libraries/DataFlash/DataFlash_SITL.cpp
+++ b/libraries/DataFlash/DataFlash_SITL.cpp
@@ -3,7 +3,7 @@
   hacked up DataFlash library for Desktop support
 */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 
diff --git a/libraries/DataFlash/DataFlash_SITL.h b/libraries/DataFlash/DataFlash_SITL.h
index 7ad916fdb2..833a3ea0f5 100644
--- a/libraries/DataFlash/DataFlash_SITL.h
+++ b/libraries/DataFlash/DataFlash_SITL.h
@@ -6,7 +6,7 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash_Block.h"
 
 class DataFlash_SITL : public DataFlash_Block
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 9abc27c314..85e2fac3d0 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -1,14 +1,14 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "DataFlash.h"
 #include <stdlib.h>
-#include <AP_Param.h>
-#include <AP_Math.h>
-#include <AP_Baro.h>
-#include <AP_AHRS.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
 #include "../AP_BattMonitor/AP_BattMonitor.h"
-#include <AP_Compass.h>
+#include <AP_Compass/AP_Compass.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp b/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
index 6bdec5b3dc..75496d2daf 100644
--- a/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
+++ b/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
@@ -5,37 +5,37 @@
  */
 
 // Libraries
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Empty.h>
-#include <AP_HAL_PX4.h>
+#include <AP_HAL/AP_HAL.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>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
 
-#include <AP_Common.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_Compass.h>
-#include <Filter.h>
-#include <AP_Declination.h>
-#include <AP_Airspeed.h>
-#include <AP_Baro.h>
-#include <AP_AHRS.h>
-#include <AP_ADC.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_InertialSensor.h>
-#include <AP_GPS.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Notify.h>
-#include <AP_Vehicle.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
-#include <AP_BattMonitor.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Compass/AP_Compass.h>
+#include <Filter/Filter.h>
+#include <AP_Declination/AP_Declination.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_GPS/AP_GPS.h>
+#include <DataFlash/DataFlash.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Mission/AP_Mission.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
 
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;