diff --git a/libraries/AP_GPS/AP_GPS_ERB.cpp b/libraries/AP_GPS/AP_GPS_ERB.cpp
index 7468224abd..6185c325e3 100644
--- a/libraries/AP_GPS/AP_GPS_ERB.cpp
+++ b/libraries/AP_GPS/AP_GPS_ERB.cpp
@@ -26,6 +26,8 @@
 
 #define STAT_FIX_VALID 0x01
 
+#include <AP_HAL/AP_HAL.h>
+
 extern const AP_HAL::HAL& hal;
 
 #if ERB_DEBUGGING
diff --git a/libraries/AP_GPS/AP_GPS_ERB.h b/libraries/AP_GPS/AP_GPS_ERB.h
index d07b6f078e..85863f606f 100644
--- a/libraries/AP_GPS/AP_GPS_ERB.h
+++ b/libraries/AP_GPS/AP_GPS_ERB.h
@@ -19,8 +19,6 @@
 
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
-
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
 
diff --git a/libraries/AP_GPS/AP_GPS_ExternalAHRS.h b/libraries/AP_GPS/AP_GPS_ExternalAHRS.h
index 4acd4b4282..b046748034 100644
--- a/libraries/AP_GPS/AP_GPS_ExternalAHRS.h
+++ b/libraries/AP_GPS/AP_GPS_ExternalAHRS.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
 
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
diff --git a/libraries/AP_GPS/AP_GPS_MAV.h b/libraries/AP_GPS/AP_GPS_MAV.h
index bb59400a41..f0c3872d79 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.h
+++ b/libraries/AP_GPS/AP_GPS_MAV.h
@@ -19,8 +19,7 @@
 //
 #pragma once
 
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
 
 #include "AP_GPS.h"
 #include "GPS_Backend.h"