diff --git a/libraries/AP_HAL_Empty/AP_HAL_Empty.h b/libraries/AP_HAL_Empty/AP_HAL_Empty.h
index 42af84855c..d8ab2353f0 100644
--- a/libraries/AP_HAL_Empty/AP_HAL_Empty.h
+++ b/libraries/AP_HAL_Empty/AP_HAL_Empty.h
@@ -3,7 +3,7 @@
 #define __AP_HAL_EMPTY_H__
 
 /* Your layer exports should depend on AP_HAL.h ONLY. */
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 /**
  * Umbrella header for AP_HAL_Empty module.
diff --git a/libraries/AP_HAL_Empty/AnalogIn.h b/libraries/AP_HAL_Empty/AnalogIn.h
index f215cf5b66..ed3ad6eb73 100644
--- a/libraries/AP_HAL_Empty/AnalogIn.h
+++ b/libraries/AP_HAL_Empty/AnalogIn.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_ANALOGIN_H__
 #define __AP_HAL_EMPTY_ANALOGIN_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyAnalogSource : public AP_HAL::AnalogSource {
 public:
diff --git a/libraries/AP_HAL_Empty/GPIO.h b/libraries/AP_HAL_Empty/GPIO.h
index a85014aa49..1bf209f169 100644
--- a/libraries/AP_HAL_Empty/GPIO.h
+++ b/libraries/AP_HAL_Empty/GPIO.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_GPIO_H__
 #define __AP_HAL_EMPTY_GPIO_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyGPIO : public AP_HAL::GPIO {
 public:
diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
index 560fce2ee6..a5fccd7227 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
@@ -1,5 +1,5 @@
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
 
 #include "HAL_Empty_Class.h"
diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.h b/libraries/AP_HAL_Empty/HAL_Empty_Class.h
index 9c293120b7..29abb45e61 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.h
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_CLASS_H__
 #define __AP_HAL_EMPTY_CLASS_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #include "AP_HAL_Empty_Namespace.h"
 #include "PrivateMember.h"
diff --git a/libraries/AP_HAL_Empty/I2CDriver.cpp b/libraries/AP_HAL_Empty/I2CDriver.cpp
index 09cefaa174..c4f6b8fa83 100644
--- a/libraries/AP_HAL_Empty/I2CDriver.cpp
+++ b/libraries/AP_HAL_Empty/I2CDriver.cpp
@@ -1,5 +1,5 @@
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "I2CDriver.h"
 
 using namespace Empty;
diff --git a/libraries/AP_HAL_Empty/I2CDriver.h b/libraries/AP_HAL_Empty/I2CDriver.h
index b23b9aa495..404643760e 100644
--- a/libraries/AP_HAL_Empty/I2CDriver.h
+++ b/libraries/AP_HAL_Empty/I2CDriver.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_I2CDRIVER_H__
 #define __AP_HAL_EMPTY_I2CDRIVER_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyI2CDriver : public AP_HAL::I2CDriver {
 public:
diff --git a/libraries/AP_HAL_Empty/RCInput.h b/libraries/AP_HAL_Empty/RCInput.h
index 421c26dd19..2761891e1f 100644
--- a/libraries/AP_HAL_Empty/RCInput.h
+++ b/libraries/AP_HAL_Empty/RCInput.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_RCINPUT_H__
 #define __AP_HAL_EMPTY_RCINPUT_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyRCInput : public AP_HAL::RCInput {
 public:
diff --git a/libraries/AP_HAL_Empty/RCOutput.h b/libraries/AP_HAL_Empty/RCOutput.h
index 77f6ea6b3e..7b6f8558a8 100644
--- a/libraries/AP_HAL_Empty/RCOutput.h
+++ b/libraries/AP_HAL_Empty/RCOutput.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_RCOUTPUT_H__
 #define __AP_HAL_EMPTY_RCOUTPUT_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyRCOutput : public AP_HAL::RCOutput {
     void     init(void* machtnichts);
diff --git a/libraries/AP_HAL_Empty/SPIDriver.h b/libraries/AP_HAL_Empty/SPIDriver.h
index dcd0cd6fae..dff86c29df 100644
--- a/libraries/AP_HAL_Empty/SPIDriver.h
+++ b/libraries/AP_HAL_Empty/SPIDriver.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_SPIDRIVER_H__
 #define __AP_HAL_EMPTY_SPIDRIVER_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 #include "Semaphores.h"
 
 class Empty::EmptySPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
diff --git a/libraries/AP_HAL_Empty/Scheduler.h b/libraries/AP_HAL_Empty/Scheduler.h
index 6f8f272343..42d30faea0 100644
--- a/libraries/AP_HAL_Empty/Scheduler.h
+++ b/libraries/AP_HAL_Empty/Scheduler.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_SCHEDULER_H__
 #define __AP_HAL_EMPTY_SCHEDULER_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyScheduler : public AP_HAL::Scheduler {
 public:
diff --git a/libraries/AP_HAL_Empty/Semaphores.h b/libraries/AP_HAL_Empty/Semaphores.h
index 9cd17004fe..46848b1d3a 100644
--- a/libraries/AP_HAL_Empty/Semaphores.h
+++ b/libraries/AP_HAL_Empty/Semaphores.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_SEMAPHORE_H__
 #define __AP_HAL_EMPTY_SEMAPHORE_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptySemaphore : public AP_HAL::Semaphore {
 public:
diff --git a/libraries/AP_HAL_Empty/Storage.h b/libraries/AP_HAL_Empty/Storage.h
index 075ac87d3e..8e185f7710 100644
--- a/libraries/AP_HAL_Empty/Storage.h
+++ b/libraries/AP_HAL_Empty/Storage.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_STORAGE_H__
 #define __AP_HAL_EMPTY_STORAGE_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyStorage : public AP_HAL::Storage {
 public:
diff --git a/libraries/AP_HAL_Empty/UARTDriver.h b/libraries/AP_HAL_Empty/UARTDriver.h
index 4a2ed7047a..a66b690bbb 100644
--- a/libraries/AP_HAL_Empty/UARTDriver.h
+++ b/libraries/AP_HAL_Empty/UARTDriver.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_UARTDRIVER_H__
 #define __AP_HAL_EMPTY_UARTDRIVER_H__
 
-#include <AP_HAL_Empty.h>
+#include "AP_HAL_Empty.h"
 
 class Empty::EmptyUARTDriver : public AP_HAL::UARTDriver {
 public:
diff --git a/libraries/AP_HAL_Empty/Util.h b/libraries/AP_HAL_Empty/Util.h
index ab40fb6b48..44bae3e34f 100644
--- a/libraries/AP_HAL_Empty/Util.h
+++ b/libraries/AP_HAL_Empty/Util.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_EMPTY_UTIL_H__
 #define __AP_HAL_EMPTY_UTIL_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_HAL_Empty_Namespace.h"
 
 class Empty::EmptyUtil : public AP_HAL::Util {
diff --git a/libraries/AP_HAL_Empty/examples/empty_example/empty_example.cpp b/libraries/AP_HAL_Empty/examples/empty_example/empty_example.cpp
index 5b978582da..dc4ecf27da 100644
--- a/libraries/AP_HAL_Empty/examples/empty_example/empty_example.cpp
+++ b/libraries/AP_HAL_Empty/examples/empty_example/empty_example.cpp
@@ -1,14 +1,14 @@
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Param/AP_Param.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Math/AP_Math.h>
 
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Empty.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;