diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 330d94a152..620c1d2608 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -23,7 +23,6 @@
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_NavEKF/AP_Nav_Common.h>
-#include <AP_Baro/AP_Baro.h>
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index 9638942104..7b4b477472 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -7,6 +7,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_RangeFinder/RangeFinder_Backend.h>
 #include <AP_GPS/AP_GPS.h>
+#include <AP_Baro/AP_Baro.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 700cda8745..5ec8c799e0 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -7,6 +7,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_RangeFinder/RangeFinder_Backend.h>
 #include <AP_GPS/AP_GPS.h>
+#include <AP_Baro/AP_Baro.h>
 
 extern const AP_HAL::HAL& hal;