diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 14d5f7fd6b..fb499bcee8 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -17,6 +17,8 @@
   parent class for aircraft simulators
 */
 
+#include <AP_HAL.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <AP_Common.h>
 #include "SIM_Aircraft.h"
 #include <unistd.h>
@@ -243,3 +245,4 @@ void Aircraft::set_speedup(float speedup)
 {
     setup_frame_time(rate_hz, speedup);
 }
+#endif // CONFIG_HAL_BOARD
diff --git a/libraries/SITL/SIM_Helicopter.cpp b/libraries/SITL/SIM_Helicopter.cpp
index b43897991d..6b99024246 100644
--- a/libraries/SITL/SIM_Helicopter.cpp
+++ b/libraries/SITL/SIM_Helicopter.cpp
@@ -17,6 +17,8 @@
   helicopter simulator class
 */
 
+#include <AP_HAL.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "SIM_Helicopter.h"
 #include <stdio.h>
 
@@ -148,3 +150,4 @@ void Helicopter::update(const struct sitl_input &input)
     // update lat/lon/altitude
     update_position();
 }
+#endif // CONFIG_HAL_BOARD
diff --git a/libraries/SITL/SIM_Multicopter.cpp b/libraries/SITL/SIM_Multicopter.cpp
index f5dcf8b1f8..4bf6d390b4 100644
--- a/libraries/SITL/SIM_Multicopter.cpp
+++ b/libraries/SITL/SIM_Multicopter.cpp
@@ -17,6 +17,8 @@
   multicopter simulator class
 */
 
+#include <AP_HAL.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "SIM_Multicopter.h"
 #include <stdio.h>
 
@@ -219,3 +221,4 @@ void MultiCopter::update(const struct sitl_input &input)
     // update lat/lon/altitude
     update_position();
 }
+#endif // CONFIG_HAL_BOARD
diff --git a/libraries/SITL/SIM_Rover.cpp b/libraries/SITL/SIM_Rover.cpp
index 87c98af8dc..8386bff735 100644
--- a/libraries/SITL/SIM_Rover.cpp
+++ b/libraries/SITL/SIM_Rover.cpp
@@ -17,6 +17,8 @@
   rover simulator class
 */
 
+#include <AP_HAL.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "SIM_Rover.h"
 #include <stdio.h>
 #include <string.h>
@@ -155,3 +157,4 @@ void Rover::update(const struct sitl_input &input)
     // update lat/lon/altitude
     update_position();
 }
+#endif // CONFIG_HAL_BOARD