diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 9b31635887..7a9011bbb3 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -5,11 +5,11 @@
 
 // Assorted useful math operations for ArduPilot(Mega)
 
-#include <AP_Common.h>
-#include <AP_Param.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
 #include <math.h>
 #ifdef __AVR__
-# include <AP_Math_AVR_Compat.h>
+# include "AP_Math_AVR_Compat.h"
 #endif
 #include <stdint.h>
 #include "rotations.h"
@@ -20,7 +20,7 @@
 #include "polygon.h"
 #include "edc.h"
 #include "float.h"
-#include "AP_Param.h"
+#include <AP_Param/AP_Param.h>
 
 #ifndef M_PI_F
  #define M_PI_F 3.141592653589793f
diff --git a/libraries/AP_Math/edc.h b/libraries/AP_Math/edc.h
index b8773a0f8a..ebb6fb903c 100644
--- a/libraries/AP_Math/edc.h
+++ b/libraries/AP_Math/edc.h
@@ -20,7 +20,7 @@
 #ifndef __EDC_H_
 #define __EDC_H_
 
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 
 #include <stdint.h>
 
diff --git a/libraries/AP_Math/examples/eulers/eulers.cpp b/libraries/AP_Math/examples/eulers/eulers.cpp
index 05a6c97a43..e5a9896684 100644
--- a/libraries/AP_Math/examples/eulers/eulers.cpp
+++ b/libraries/AP_Math/examples/eulers/eulers.cpp
@@ -3,39 +3,39 @@
 // Unit tests for the AP_Math euler code
 //
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <stdlib.h>
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Empty.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_Math.h>
-#include <Filter.h>
-#include <AP_ADC.h>
-#include <SITL.h>
-#include <AP_Compass.h>
-#include <AP_Baro.h>
-#include <AP_Notify.h>
-#include <AP_InertialSensor.h>
-#include <AP_GPS.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Declination.h>
-#include <AP_AHRS.h>
-#include <AP_NavEKF.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Rally.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Param/AP_Param.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>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_Math/AP_Math.h>
+#include <Filter/Filter.h>
+#include <AP_ADC/AP_ADC.h>
+#include <SITL/SITL.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_GPS/AP_GPS.h>
+#include <DataFlash/DataFlash.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Mission/AP_Mission.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Declination/AP_Declination.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
diff --git a/libraries/AP_Math/examples/location/location.cpp b/libraries/AP_Math/examples/location/location.cpp
index 27ef61b221..288f4cb851 100644
--- a/libraries/AP_Math/examples/location/location.cpp
+++ b/libraries/AP_Math/examples/location/location.cpp
@@ -3,39 +3,39 @@
 // Unit tests for the AP_Math polygon code
 //
 
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <AP_HAL.h>
-#include <AP_Math.h>
-#include <Filter.h>
-#include <AP_ADC.h>
-#include <AP_Notify.h>
-#include <AP_InertialSensor.h>
-#include <AP_GPS.h>
-#include <DataFlash.h>
-#include <AP_Baro.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Declination.h>
-#include <AP_Rally.h>
-#include <AP_OpticalFlow.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <Filter/Filter.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_GPS/AP_GPS.h>
+#include <DataFlash/DataFlash.h>
+#include <AP_Baro/AP_Baro.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Mission/AP_Mission.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Declination/AP_Declination.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_OpticalFlow/AP_OpticalFlow.h>
 
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Empty.h>
-#include <AP_HAL_Linux.h>
-#include <AP_AHRS.h>
-#include <SITL.h>
-#include <AP_NavEKF.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Compass.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.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>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <SITL/SITL.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
diff --git a/libraries/AP_Math/examples/polygon/polygon.cpp b/libraries/AP_Math/examples/polygon/polygon.cpp
index 2a3f7af80d..08b5fb7220 100644
--- a/libraries/AP_Math/examples/polygon/polygon.cpp
+++ b/libraries/AP_Math/examples/polygon/polygon.cpp
@@ -3,14 +3,14 @@
 // Unit tests for the AP_Math polygon code
 //
 
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_Math.h>
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_Linux.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/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
diff --git a/libraries/AP_Math/examples/rotations/rotations.cpp b/libraries/AP_Math/examples/rotations/rotations.cpp
index f3fd66510e..911098a98d 100644
--- a/libraries/AP_Math/examples/rotations/rotations.cpp
+++ b/libraries/AP_Math/examples/rotations/rotations.cpp
@@ -2,40 +2,40 @@
 //
 // Unit tests for the AP_Math rotations code
 //
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <stdlib.h>
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_Empty.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_Math.h>
-#include <Filter.h>
-#include <AP_ADC.h>
-#include <SITL.h>
-#include <AP_Compass.h>
-#include <AP_Baro.h>
-#include <AP_Notify.h>
-#include <AP_InertialSensor.h>
-#include <AP_GPS.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
-#include <AP_AHRS.h>
-#include <AP_NavEKF.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Rally.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
-#include <AP_OpticalFlow.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Param/AP_Param.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>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_Math/AP_Math.h>
+#include <Filter/Filter.h>
+#include <AP_ADC/AP_ADC.h>
+#include <SITL/SITL.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_GPS/AP_GPS.h>
+#include <DataFlash/DataFlash.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Mission/AP_Mission.h>
+#include <StorageManager/StorageManager.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_OpticalFlow/AP_OpticalFlow.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
diff --git a/libraries/AP_Math/location.cpp b/libraries/AP_Math/location.cpp
index f271add324..5d7c81af80 100644
--- a/libraries/AP_Math/location.cpp
+++ b/libraries/AP_Math/location.cpp
@@ -20,7 +20,7 @@
 /*
  *  this module deals with calculations involving struct Location
  */
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <stdlib.h>
 #include "AP_Math.h"