diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 0a26b16be3..13f7e70520 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -33,9 +33,9 @@
    just need to be able to enter and exit AUTOTUNE mode
 */
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
-#include <AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Math/AP_Math.h>
 #include "AP_AutoTune.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index bfbfd754c2..37b2a075d6 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -3,9 +3,9 @@
 #ifndef __AP_AUTOTUNE_H__
 #define __AP_AUTOTUNE_H__
 
-#include <AP_HAL.h>
-#include <AP_Param.h>
-#include <DataFlash.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Param/AP_Param.h>
+#include <DataFlash/DataFlash.h>
 
 class AP_AutoTune {
 public:
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index fd37f67ae5..146db57c15 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -17,7 +17,7 @@
 //	Initial Code by Jon Challinger
 //  Modified by Paul Riseborough
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_PitchController.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index 99784dab1f..cf6ac553c4 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -3,12 +3,12 @@
 #ifndef __AP_PITCH_CONTROLLER_H__
 #define __AP_PITCH_CONTROLLER_H__
 
-#include <AP_AHRS.h>
-#include <AP_Common.h>
-#include <AP_Vehicle.h>
-#include <AP_AutoTune.h>
-#include <DataFlash.h>
-#include <AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include "AP_AutoTune.h"
+#include <DataFlash/DataFlash.h>
+#include <AP_Math/AP_Math.h>
 
 class AP_PitchController {
 public:
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index fb267ebffa..3147364a22 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -18,7 +18,7 @@
 //  Modified by Paul Riseborough
 //
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_RollController.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index f1aeda6bf9..ad39a1a0f9 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -3,12 +3,12 @@
 #ifndef __AP_ROLL_CONTROLLER_H__
 #define __AP_ROLL_CONTROLLER_H__
 
-#include <AP_AHRS.h>
-#include <AP_Common.h>
-#include <AP_Vehicle.h>
-#include <AP_AutoTune.h>
-#include <DataFlash.h>
-#include <AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include "AP_AutoTune.h"
+#include <DataFlash/DataFlash.h>
+#include <AP_Math/AP_Math.h>
 
 class AP_RollController {
 public:
diff --git a/libraries/APM_Control/AP_SteerController.cpp b/libraries/APM_Control/AP_SteerController.cpp
index 7c5f8dcc30..99f518e895 100644
--- a/libraries/APM_Control/AP_SteerController.cpp
+++ b/libraries/APM_Control/AP_SteerController.cpp
@@ -18,8 +18,8 @@
 //  Based upon the roll controller by Paul Riseborough and Jon Challinger
 //
 
-#include <AP_Math.h>
-#include <AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_SteerController.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/APM_Control/AP_SteerController.h b/libraries/APM_Control/AP_SteerController.h
index 54844f217d..e2063cff95 100644
--- a/libraries/APM_Control/AP_SteerController.h
+++ b/libraries/APM_Control/AP_SteerController.h
@@ -3,10 +3,10 @@
 #ifndef __AP_STEER_CONTROLLER_H__
 #define __AP_STEER_CONTROLLER_H__
 
-#include <AP_AHRS.h>
-#include <AP_Common.h>
-#include <AP_Vehicle.h>
-#include <DataFlash.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <DataFlash/DataFlash.h>
 
 class AP_SteerController {
 public:
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 317434888e..5fde166630 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -18,7 +18,7 @@
 //  Modified by Paul Riseborough to implement a three loop autopilot
 //  topology
 //
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_YawController.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h
index cf4cb6db28..9bb0f8b50d 100644
--- a/libraries/APM_Control/AP_YawController.h
+++ b/libraries/APM_Control/AP_YawController.h
@@ -3,10 +3,10 @@
 #ifndef __AP_YAW_CONTROLLER_H__
 #define __AP_YAW_CONTROLLER_H__
 
-#include <AP_AHRS.h>
-#include <AP_Common.h>
-#include <AP_Vehicle.h>
-#include <DataFlash.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <DataFlash/DataFlash.h>
 #include <math.h>
 
 class AP_YawController {