diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index 960acbb7fe..03d4bdb5c4 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -18,6 +18,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include "AP_MotorsHeli_RSC.h"
 #include <AP_RPM/AP_RPM.h>
+#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index d7f97bdeb8..ac61f4c65c 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -4,7 +4,7 @@
 #include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <RC_Channel/RC_Channel.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include <AP_Logger/AP_Logger.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 // default main rotor speed (ch8 out) as a number from 0 ~ 100
 #define AP_MOTORS_HELI_RSC_SETPOINT             70
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp b/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
index b5293de186..b49fb73dcb 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
@@ -16,6 +16,7 @@
 #include <stdlib.h>
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_Logger/AP_Logger.h>
 
 #include "AP_MotorsHeli_Swash.h"
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Swash.h b/libraries/AP_Motors/AP_MotorsHeli_Swash.h
index a1c84b21a2..4f12ba2f19 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Swash.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Swash.h
@@ -5,7 +5,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <AP_Param/AP_Param.h>
-#include <AP_Logger/AP_Logger.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 // swashplate types
 enum SwashPlateType {