diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 1b633f35db..7301257498 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -50,6 +50,8 @@
 #include <AC_PID/AC_PID_2D.h>
 #include <AC_PID/AC_PID_Basic.h>
 #include <AC_PID/AC_PID.h>
+#include <AP_Vehicle/AP_MultiCopter.h>
+
 #include <Filter/NotchFilter.h>
 
 // Configuration
@@ -97,7 +99,7 @@ public:
 private:
 
     // key aircraft parameters passed to multiple libraries
-    AP_Vehicle::MultiCopter aparm;
+    AP_MultiCopter aparm;
 
     // Global parameters are all contained within the 'g' class.
     Parameters g;
diff --git a/Blimp/events.cpp b/Blimp/events.cpp
index b3856bc960..cbd778cd6c 100644
--- a/Blimp/events.cpp
+++ b/Blimp/events.cpp
@@ -5,6 +5,7 @@
  *       boolean failsafe reflects the current state
  */
 
+#include <AP_Vehicle/AP_MultiCopter.h>
 
 bool Blimp::failsafe_option(FailsafeOption opt) const
 {
diff --git a/Blimp/mode.cpp b/Blimp/mode.cpp
index 2b18ff2915..511ac6be5b 100644
--- a/Blimp/mode.cpp
+++ b/Blimp/mode.cpp
@@ -5,6 +5,8 @@
  * flight modes is in control_acro.cpp, control_stabilize.cpp, etc
  */
 
+#include <AP_Vehicle/AP_MultiCopter.h>
+
 /*
   constructor for Mode object
  */
diff --git a/Blimp/mode_velocity.cpp b/Blimp/mode_velocity.cpp
index b099089756..d4868ca222 100644
--- a/Blimp/mode_velocity.cpp
+++ b/Blimp/mode_velocity.cpp
@@ -3,6 +3,8 @@
  * Init and run calls for velocity flight mode
  */
 
+#include <AP_Vehicle/AP_MultiCopter.h>
+
 // Runs the main velocity controller
 void ModeVelocity::run()
 {