diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index abd4b4bae4..269e609b6e 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -14,8 +14,8 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_Math.h>
-#include <AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index 9e66082387..503b0e020b 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -2,7 +2,7 @@
 #ifndef AP_Compass_AK8963_H
 #define AP_Compass_AK8963_H
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "../AP_Common/AP_Common.h"
 #include "../AP_Math/AP_Math.h"
 
diff --git a/libraries/AP_Compass/AP_Compass_Backend.cpp b/libraries/AP_Compass/AP_Compass_Backend.cpp
index 94bd929442..6bfa716a48 100644
--- a/libraries/AP_Compass/AP_Compass_Backend.cpp
+++ b/libraries/AP_Compass/AP_Compass_Backend.cpp
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "Compass.h"
 #include "AP_Compass_Backend.h"
 
diff --git a/libraries/AP_Compass/AP_Compass_HIL.cpp b/libraries/AP_Compass/AP_Compass_HIL.cpp
index d46f84e1e2..68e9bc82a4 100644
--- a/libraries/AP_Compass/AP_Compass_HIL.cpp
+++ b/libraries/AP_Compass/AP_Compass_HIL.cpp
@@ -20,7 +20,7 @@
  */
 
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "AP_Compass_HIL.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index bcebd07761..4418efeebc 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -24,8 +24,8 @@
  */
 
 // AVR LibC Includes
-#include <AP_Math.h>
-#include <AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_HAL/AP_HAL.h>
 
 #include "AP_Compass_HMC5843.h"
 
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.h b/libraries/AP_Compass/AP_Compass_HMC5843.h
index 26c295c754..4d900568b4 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.h
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.h
@@ -2,7 +2,7 @@
 #ifndef AP_Compass_HMC5843_H
 #define AP_Compass_HMC5843_H
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include "../AP_Common/AP_Common.h"
 #include "../AP_Math/AP_Math.h"
 
diff --git a/libraries/AP_Compass/AP_Compass_PX4.cpp b/libraries/AP_Compass/AP_Compass_PX4.cpp
index 2d602e4b9d..dce1764475 100644
--- a/libraries/AP_Compass/AP_Compass_PX4.cpp
+++ b/libraries/AP_Compass/AP_Compass_PX4.cpp
@@ -20,7 +20,7 @@
  */
 
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #include "AP_Compass_PX4.h"
diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp
index 2d8cef2e75..5104c37768 100644
--- a/libraries/AP_Compass/Compass.cpp
+++ b/libraries/AP_Compass/Compass.cpp
@@ -1,8 +1,8 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-#include <AP_HAL.h>
-#include <AP_Progmem.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Progmem/AP_Progmem.h>
 #include "Compass.h"
-#include <AP_Vehicle.h>
+#include <AP_Vehicle/AP_Vehicle.h>
 
 extern AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_Compass/Compass.h b/libraries/AP_Compass/Compass.h
index dee91b6466..229fe48124 100644
--- a/libraries/AP_Compass/Compass.h
+++ b/libraries/AP_Compass/Compass.h
@@ -3,11 +3,11 @@
 #define Compass_h
 
 #include <inttypes.h>
-#include <AP_Common.h>
-#include <AP_Param.h>
-#include <AP_Math.h>
-#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
-#include <AP_HAL.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
+#include <AP_HAL/AP_HAL.h>
 #include "AP_Compass_Backend.h"
 
 // compass product id
diff --git a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
index dc8dfcbfb8..c28bc89809 100644
--- a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
+++ b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
@@ -3,40 +3,40 @@
  *       Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
  */
 
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_FLYMAPLE.h>
-#include <AP_HAL_Empty.h>
-#include <AP_HAL_VRBRAIN.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_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_HAL_VRBRAIN/AP_HAL_VRBRAIN.h>
 
-#include <AP_Math.h>    // ArduPilot Mega Vector/Matrix math Library
-#include <AP_Declination.h>
-#include <AP_Compass.h> // Compass Library
-#include <GCS_MAVLink.h>
-#include <AP_Scheduler.h>
-#include <DataFlash.h>
-#include <AP_GPS.h>
-#include <AP_Vehicle.h>
-#include <AP_InertialSensor.h>
-#include <Filter.h>
-#include <AP_Baro.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_NavEKF.h>
-#include <AP_ADC.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_Notify.h>
-#include <AP_Mission.h>
-#include <AP_Terrain.h>
-#include <AP_Rally.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
+#include <AP_Math/AP_Math.h>    // ArduPilot Mega Vector/Matrix math Library
+#include <AP_Declination/AP_Declination.h>
+#include <AP_Compass/AP_Compass.h> // Compass Library
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Scheduler/AP_Scheduler.h>
+#include <DataFlash/DataFlash.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <Filter/Filter.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_Notify/AP_Notify.h>
+#include <AP_Mission/AP_Mission.h>
+#include <AP_Terrain/AP_Terrain.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;