diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h
index dcb03bc4e8..61a9d86536 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.h
+++ b/libraries/AP_InertialNav/AP_InertialNav.h
@@ -3,10 +3,10 @@
 #ifndef __AP_INERTIALNAV_H__
 #define __AP_INERTIALNAV_H__
 
-#include <AP_AHRS.h>
-#include <AP_InertialSensor.h>          // ArduPilot Mega IMU Library
-#include <AP_Baro.h>                    // ArduPilot Mega Barometer Library
-#include <AP_Buffer.h>                  // FIFO buffer library
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>          // ArduPilot Mega IMU Library
+#include <AP_Baro/AP_Baro.h>                    // ArduPilot Mega Barometer Library
+#include <AP_Buffer/AP_Buffer.h>                  // FIFO buffer library
 #include "../AP_NavEKF/AP_Nav_Common.h" // definitions shared by inertial and ekf nav filters
 
 /*
diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
index b03b103431..8bd38ebf19 100644
--- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.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_InertialNav.h"
 
 #if AP_AHRS_NAVEKF_AVAILABLE
diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
index e64e342270..cb06111813 100644
--- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
+++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
@@ -10,7 +10,7 @@
 #ifndef __AP_INERTIALNAV_NAVEKF_H__
 #define __AP_INERTIALNAV_NAVEKF_H__
 
-#include <AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters
+#include <AP_NavEKF/AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters
 
 class AP_InertialNav_NavEKF : public AP_InertialNav
 {