diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 01ecc7df9b..dfd2aa7b6d 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1,3 +1,5 @@
+#include "AP_NavEKF2.h"
+
 #include "AP_NavEKF2_core.h"
 
 #include <AP_DAL/AP_DAL.h>
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 009a59f358..cdd25bc133 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -1,14 +1,13 @@
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_NavEKF2_core.h"
+
+#include "AP_NavEKF2.h"
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_DAL/AP_DAL.h>
 #include <AP_InternalError/AP_InternalError.h>
 
 #if AP_RANGEFINDER_ENABLED
 
-extern const AP_HAL::HAL& hal;
-
 
 /********************************************************
 *              OPT FLOW AND RANGE FINDER                *
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
index 8653ad4a7e..859930bdd0 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -1,5 +1,7 @@
 #include "AP_NavEKF2_core.h"
 
+#include "AP_NavEKF2.h"
+
 #include <AP_DAL/AP_DAL.h>
 
 /* Monitor GPS data to see if quality is good enough to initialise the EKF
diff --git a/libraries/AP_NavEKF2/LogStructure.h b/libraries/AP_NavEKF2/LogStructure.h
index 753d9ceb0f..a7f1a88625 100644
--- a/libraries/AP_NavEKF2/LogStructure.h
+++ b/libraries/AP_NavEKF2/LogStructure.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <AP_Logger/LogStructure.h>
-#include <AP_AHRS/AP_AHRS.h>
+#include <AP_AHRS/AP_AHRS_config.h>
 
 #define LOG_IDS_FROM_NAVEKF2 \
     LOG_NKF0_MSG,  \