From 785dc36f20347631743961f00ecdd07de0ab49b2 Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Tue, 11 Aug 2015 16:28:43 +1000
Subject: [PATCH] AP_InertialSensor: standardize inclusion of libaries headers

This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
---
 .../AP_InertialSensor/AP_InertialSensor.cpp   | 12 ++--
 .../AP_InertialSensor/AP_InertialSensor.h     |  6 +-
 .../AP_InertialSensor_Backend.cpp             |  2 +-
 .../AP_InertialSensor_Flymaple.cpp            |  2 +-
 .../AP_InertialSensor_Flymaple.h              |  6 +-
 .../AP_InertialSensor_HIL.cpp                 |  2 +-
 .../AP_InertialSensor_L3G4200D.cpp            |  4 +-
 .../AP_InertialSensor_L3G4200D.h              |  6 +-
 .../AP_InertialSensor_LSM9DS0.cpp             |  2 +-
 .../AP_InertialSensor_LSM9DS0.h               |  2 +-
 .../AP_InertialSensor_MPU6000.cpp             |  2 +-
 .../AP_InertialSensor_MPU6000.h               | 10 +--
 .../AP_InertialSensor_MPU9150.cpp             |  4 +-
 .../AP_InertialSensor_MPU9150.h               |  8 +--
 .../AP_InertialSensor_MPU9250.cpp             |  2 +-
 .../AP_InertialSensor_MPU9250.h               | 10 +--
 .../AP_InertialSensor_Oilpan.cpp              |  4 +-
 .../AP_InertialSensor_Oilpan.h                |  2 +-
 .../AP_InertialSensor_PX4.cpp                 |  4 +-
 .../AP_InertialSensor/AP_InertialSensor_PX4.h |  8 +--
 .../AP_InertialSensor_UserInteract.h          |  2 +-
 ...AP_InertialSensor_UserInteract_MAVLink.cpp |  6 +-
 .../AP_InertialSensor_UserInteract_MAVLink.h  |  4 +-
 .../AP_InertialSensor_UserInteract_Stream.cpp |  2 +-
 .../AP_InertialSensor_UserInteract_Stream.h   |  2 +-
 .../examples/INS_generic/INS_generic.cpp      | 70 +++++++++----------
 .../examples/VibTest/VibTest.cpp              | 66 ++++++++---------
 27 files changed, 125 insertions(+), 125 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index d9163a61b9..3b1b18bc73 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1,13 +1,13 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 #include "AP_InertialSensor.h"
 
-#include <AP_Common.h>
-#include <AP_HAL.h>
-#include <AP_Notify.h>
-#include <AP_Vehicle.h>
-#include <AP_Math.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_Math/AP_Math.h>
 
 /*
   enable TIMING_DEBUG to track down scheduling issues with the main
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index f715f5af0f..99049dd86a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -26,10 +26,10 @@
 
 
 #include <stdint.h>
-#include <AP_HAL.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 #include "AP_InertialSensor_UserInteract.h"
-#include <LowPassFilter.h>
+#include <Filter/LowPassFilter.h>
 
 class AP_InertialSensor_Backend;
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 068f79bd1b..4ec9a60bb5 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_Backend.h"
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
index cd356266b8..134c11826c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
@@ -21,7 +21,7 @@
 // ITG3205 Gyroscope  http://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf
 // ADXL345 Accelerometer http://www.analog.com/static/imported-files/data_sheets/ADXL345.pdf
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 
 #include "AP_InertialSensor_Flymaple.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
index 8c0aa1447b..108c385dee 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h
@@ -3,12 +3,12 @@
 #ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
 #define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 
 #include "AP_InertialSensor.h"
-#include <Filter.h>
-#include <LowPassFilter2p.h>
+#include <Filter/Filter.h>
+#include <Filter/LowPassFilter2p.h>
 
 class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
 {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
index 50bfb4d6b6..edbac91fad 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor_HIL.h"
 
 const extern AP_HAL::HAL& hal;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
index abc062cba6..c001a8c3d6 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
@@ -28,10 +28,10 @@ Datasheets:
   L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf
 */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include <AP_Math.h>
+#include <AP_Math/AP_Math.h>
 #include "AP_InertialSensor_L3G4200D.h"
 #include <stdio.h>
 #include <unistd.h>
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
index 3c0da976cd..d6fbea9ab0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
@@ -3,14 +3,14 @@
 #ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__
 #define __AP_INERTIAL_SENSOR_L3G4200D_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
 #include <pthread.h>
 
 #include "AP_InertialSensor.h"
-#include <Filter.h>
-#include <LowPassFilter2p.h>
+#include <Filter/Filter.h>
+#include <Filter/LowPassFilter2p.h>
 
 class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
 {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index b01ff757e2..2d7a70d88e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -15,7 +15,7 @@
  *  -- Adapted from Victor Mayoral Vilches's legacy driver under folder LSM9DS0
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
index d963116c15..0f01e31d33 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
@@ -4,7 +4,7 @@
 
 #define LSM9DS0_DEBUG 0
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor.h"
 
 class AP_InertialSensor_LSM9DS0 : public AP_InertialSensor_Backend
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index b1fa54e8e3..3361c43da2 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor_MPU6000.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index 905e39c402..e5d7392ef9 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -4,9 +4,9 @@
 #define __AP_INERTIAL_SENSOR_MPU6000_H__
 
 #include <stdint.h>
-#include <AP_HAL.h>
-#include <AP_Math.h>
-#include <AP_Progmem.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Progmem/AP_Progmem.h>
 #include "AP_InertialSensor.h"
 
 // enable debug to see a register dump on startup
@@ -20,8 +20,8 @@
 #endif
 
 #if MPU6000_FAST_SAMPLING
-#include <Filter.h>
-#include <LowPassFilter2p.h>
+#include <Filter/Filter.h>
+#include <Filter/LowPassFilter2p.h>
 #endif
 
 #define MPU6000_SAMPLE_SIZE 12
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
index ca244b0e6a..7a31ff73ab 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
@@ -25,10 +25,10 @@
      unmaintained 
 */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include <AP_Math.h>
+#include <AP_Math/AP_Math.h>
 #include "AP_InertialSensor_MPU9150.h"
 #include <stdio.h>
 #include <unistd.h>
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
index ffb30d6770..aba5e6c76e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
@@ -3,13 +3,13 @@
 #ifndef __AP_INERTIAL_SENSOR_MPU9150_H__
 #define __AP_INERTIAL_SENSOR_MPU9150_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 #include "AP_InertialSensor.h"
-#include <Filter.h>
-#include <LowPassFilter2p.h>
+#include <Filter/Filter.h>
+#include <Filter/LowPassFilter2p.h>
 
 
 class AP_InertialSensor_MPU9150 : public AP_InertialSensor_Backend
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 5ab4260e2d..34d760a594 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -16,7 +16,7 @@
     -- Coded by Victor Mayoral Vilches --
 */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
 #include "AP_InertialSensor_MPU9250.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
index ec3664915d..dd2ab8be86 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
@@ -4,11 +4,11 @@
 #define __AP_INERTIAL_SENSOR_MPU9250_H__
 
 #include <stdint.h>
-#include <AP_HAL.h>
-#include <AP_Math.h>
-#include <AP_Progmem.h>
-#include <Filter.h>
-#include <LowPassFilter2p.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <Filter/Filter.h>
+#include <Filter/LowPassFilter2p.h>
 #include "AP_InertialSensor.h"
 
 // enable debug to see a register dump on startup
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
index 2ef92e0eaf..f62e5bbaaa 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
@@ -1,10 +1,10 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 #include "AP_InertialSensor_Oilpan.h"
-#include <AP_ADC.h>
+#include <AP_ADC/AP_ADC.h>
 
 const extern AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
index e00169424c..3a785b1afe 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
@@ -3,7 +3,7 @@
 #ifndef __AP_INERTIAL_SENSOR_OILPAN_H__
 #define __AP_INERTIAL_SENSOR_OILPAN_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor.h"
 
 class AP_InertialSensor_Oilpan : public AP_InertialSensor_Backend
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
index f1a73412b8..7b1ee8b314 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
@@ -1,13 +1,13 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#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_InertialSensor_PX4.h"
 
 const extern AP_HAL::HAL& hal;
 
-#include <DataFlash.h>
+#include <DataFlash/DataFlash.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
index 223a36cabe..879711c10b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
@@ -3,18 +3,18 @@
 #ifndef __AP_INERTIAL_SENSOR_PX4_H__
 #define __AP_INERTIAL_SENSOR_PX4_H__
 
-#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_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 #include "AP_InertialSensor.h"
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 
-#include <Filter.h>
-#include <LowPassFilter2p.h>
+#include <Filter/Filter.h>
+#include <Filter/LowPassFilter2p.h>
 
 class AP_InertialSensor_PX4 : public AP_InertialSensor_Backend
 {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h
index baf2d95284..117704a817 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h
@@ -2,7 +2,7 @@
 #ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_H__
 #define __AP_INERTIAL_SENSOR_USER_INTERACT_H__
 
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 
 /* Pure virtual interface class */
 class AP_InertialSensor_UserInteract {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.cpp
index e9a40016ef..8ebf1a7e31 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.cpp
@@ -1,10 +1,10 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 #include <stdarg.h>
-#include <AP_HAL.h>
-#include <GCS_MAVLink.h>
+#include <AP_HAL/AP_HAL.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
 #include "AP_InertialSensor_UserInteract_MAVLink.h"
-#include <GCS.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.h b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.h
index dfeb59ae76..521ab0faeb 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.h
@@ -2,8 +2,8 @@
 #ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
 #define __AP_INERTIAL_SENSOR_USER_INTERACT_MAVLINK_H__
 
-#include <AP_HAL.h>
-#include <GCS_MAVLink.h>
+#include <AP_HAL/AP_HAL.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
 #include "AP_InertialSensor_UserInteract.h"
 
 class GCS_MAVLINK;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.cpp
index 31f01273f8..00fbb58c02 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.cpp
@@ -1,5 +1,5 @@
 #include <stdarg.h>
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor_UserInteract_Stream.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h
index d445846ef5..65f01d79c7 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h
@@ -2,7 +2,7 @@
 #ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
 #define __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_InertialSensor_UserInteract.h"
 
 /**
diff --git a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
index 621c304a7c..ef3716ed62 100644
--- a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
+++ b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
@@ -5,41 +5,41 @@
 //
 
 #include <stdarg.h>
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_FLYMAPLE.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Math.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_ADC.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <AP_GPS.h>
-#include <AP_Baro.h>
-#include <Filter.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <AP_NavEKF.h>
-#include <AP_HAL_Linux.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.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_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Param/AP_Param.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Baro/AP_Baro.h>
+#include <Filter/Filter.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_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
diff --git a/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp b/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
index 954c7fb98b..e43f548353 100644
--- a/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
+++ b/libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp
@@ -5,39 +5,39 @@
 //
 
 #include <stdarg.h>
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Math.h>
-#include <AP_Param.h>
-#include <AP_ADC.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <AP_GPS.h>
-#include <AP_Baro.h>
-#include <Filter.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Compass.h>
-#include <AP_Scheduler.h>
-#include <AP_Declination.h>
-#include <AP_Notify.h>
-#include <AP_NavEKF.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
-#include <AP_Rally.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.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_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Baro/AP_Baro.h>
+#include <Filter/Filter.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_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <AP_Declination/AP_Declination.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_Rally/AP_Rally.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4