From 0456eccca89d198df99fb2e73e9add9b4d4b70a5 Mon Sep 17 00:00:00 2001
From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
Date: Tue, 11 Aug 2015 16:28:43 +1000
Subject: [PATCH] AP_HAL: standardize inclusion of libaries headers

This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
---
 libraries/AP_HAL/Scheduler.h                  |  2 +-
 libraries/AP_HAL/Semaphores.h                 |  2 +-
 libraries/AP_HAL/UARTDriver.cpp               |  2 +-
 libraries/AP_HAL/Util.cpp                     |  2 +-
 libraries/AP_HAL/Util.h                       |  2 +-
 .../AP_HAL/examples/AnalogIn/AnalogIn.cpp     | 22 +++---
 libraries/AP_HAL/examples/Printf/Printf.cpp   | 64 ++++++++---------
 libraries/AP_HAL/examples/RCInput/RCInput.cpp | 66 +++++++++---------
 .../RCInputToRCOutput/RCInputToRCOutput.cpp   | 66 +++++++++---------
 .../AP_HAL/examples/RCOutput/RCOutput.cpp     | 66 +++++++++---------
 libraries/AP_HAL/examples/Storage/Storage.cpp | 68 +++++++++----------
 .../AP_HAL/examples/UART_test/UART_test.cpp   | 66 +++++++++---------
 libraries/AP_HAL/utility/BetterStream.h       |  2 +-
 libraries/AP_HAL/utility/Print.cpp            |  2 +-
 libraries/AP_HAL/utility/Socket.cpp           |  2 +-
 libraries/AP_HAL/utility/Socket.h             |  2 +-
 libraries/AP_HAL/utility/ftoa_engine.cpp      |  4 +-
 libraries/AP_HAL/utility/ftoa_engine.h        |  2 +-
 libraries/AP_HAL/utility/print_vprintf.cpp    |  4 +-
 libraries/AP_HAL/utility/print_vprintf.h      |  2 +-
 20 files changed, 224 insertions(+), 224 deletions(-)

diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index e9833780e7..ea4cc68f91 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -6,7 +6,7 @@
 #include "AP_HAL_Boards.h"
 
 #include <stdint.h>
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 
 class AP_HAL::Scheduler {
 public:
diff --git a/libraries/AP_HAL/Semaphores.h b/libraries/AP_HAL/Semaphores.h
index b8ce982a4f..6dfa3d0c13 100644
--- a/libraries/AP_HAL/Semaphores.h
+++ b/libraries/AP_HAL/Semaphores.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_SEMAPHORES_H__
 #define __AP_HAL_SEMAPHORES_H__
 
-#include <AP_HAL_Namespace.h>
+#include "AP_HAL_Namespace.h"
 
 #define HAL_SEMAPHORE_BLOCK_FOREVER ((uint32_t) 0xFFFFFFFF)
 
diff --git a/libraries/AP_HAL/UARTDriver.cpp b/libraries/AP_HAL/UARTDriver.cpp
index d121d56284..95a4c53366 100644
--- a/libraries/AP_HAL/UARTDriver.cpp
+++ b/libraries/AP_HAL/UARTDriver.cpp
@@ -14,7 +14,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL.h>
+#include "AP_HAL.h"
 
 #include "utility/print_vprintf.h"
 #include "UARTDriver.h"
diff --git a/libraries/AP_HAL/Util.cpp b/libraries/AP_HAL/Util.cpp
index b0d49bb119..71bd14d2a8 100644
--- a/libraries/AP_HAL/Util.cpp
+++ b/libraries/AP_HAL/Util.cpp
@@ -1,4 +1,4 @@
-#include <AP_HAL.h>
+#include "AP_HAL.h"
 #include "Util.h"
 #include "utility/print_vprintf.h"
 
diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
index 1b7e0d3929..4c36123a7c 100644
--- a/libraries/AP_HAL/Util.h
+++ b/libraries/AP_HAL/Util.h
@@ -4,7 +4,7 @@
 
 #include <stdarg.h>
 #include "AP_HAL_Namespace.h"
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 
 class AP_HAL::Util {
 public:
diff --git a/libraries/AP_HAL/examples/AnalogIn/AnalogIn.cpp b/libraries/AP_HAL/examples/AnalogIn/AnalogIn.cpp
index 6566c47bbd..b421413b55 100644
--- a/libraries/AP_HAL/examples/AnalogIn/AnalogIn.cpp
+++ b/libraries/AP_HAL/examples/AnalogIn/AnalogIn.cpp
@@ -1,15 +1,15 @@
 
-#include <AP_Common.h>
-#include <AP_Math.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Empty.h>
-#include <StorageManager.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <StorageManager/StorageManager.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
diff --git a/libraries/AP_HAL/examples/Printf/Printf.cpp b/libraries/AP_HAL/examples/Printf/Printf.cpp
index 6fcc80bcca..b642d0f301 100644
--- a/libraries/AP_HAL/examples/Printf/Printf.cpp
+++ b/libraries/AP_HAL/examples/Printf/Printf.cpp
@@ -1,35 +1,35 @@
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Common.h>
-#include <AP_Baro.h>
-#include <AP_ADC.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <SITL.h>
-#include <Filter.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.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_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
+#include <Filter/Filter.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_NavEKF/AP_NavEKF.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_HAL/examples/RCInput/RCInput.cpp b/libraries/AP_HAL/examples/RCInput/RCInput.cpp
index c52507dd99..4af3a5ab74 100644
--- a/libraries/AP_HAL/examples/RCInput/RCInput.cpp
+++ b/libraries/AP_HAL/examples/RCInput/RCInput.cpp
@@ -1,40 +1,40 @@
 /*
   simple test of RC input interface
  */
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Common.h>
-#include <AP_Baro.h>
-#include <AP_ADC.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <SITL.h>
-#include <Filter.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.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_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
+#include <Filter/Filter.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 #include <UARTDriver.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.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_HAL/examples/RCInputToRCOutput/RCInputToRCOutput.cpp b/libraries/AP_HAL/examples/RCInputToRCOutput/RCInputToRCOutput.cpp
index f5d652e67d..65d53adce5 100644
--- a/libraries/AP_HAL/examples/RCInputToRCOutput/RCInputToRCOutput.cpp
+++ b/libraries/AP_HAL/examples/RCInputToRCOutput/RCInputToRCOutput.cpp
@@ -4,40 +4,40 @@
     Max update rate 10 Hz
 */
 
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Common.h>
-#include <AP_Baro.h>
-#include <AP_ADC.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <SITL.h>
-#include <Filter.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.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_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
+#include <Filter/Filter.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 #include <UARTDriver.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.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_HAL/examples/RCOutput/RCOutput.cpp b/libraries/AP_HAL/examples/RCOutput/RCOutput.cpp
index 19ca0a5f68..2cb46c557c 100644
--- a/libraries/AP_HAL/examples/RCOutput/RCOutput.cpp
+++ b/libraries/AP_HAL/examples/RCOutput/RCOutput.cpp
@@ -1,40 +1,40 @@
 /*
   simple test of RC output interface
  */
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Common.h>
-#include <AP_Baro.h>
-#include <AP_ADC.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <SITL.h>
-#include <Filter.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.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_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
+#include <Filter/Filter.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 #include <UARTDriver.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.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_HAL/examples/Storage/Storage.cpp b/libraries/AP_HAL/examples/Storage/Storage.cpp
index e56eee15f1..331f39edf5 100644
--- a/libraries/AP_HAL/examples/Storage/Storage.cpp
+++ b/libraries/AP_HAL/examples/Storage/Storage.cpp
@@ -1,41 +1,41 @@
 /*
   simple test of Storage API
  */
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Common.h>
-#include <AP_Baro.h>
-#include <AP_ADC.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <SITL.h>
-#include <Filter.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.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_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
+#include <Filter/Filter.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 #include <UARTDriver.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
-#include <AP_HAL_Boards.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_HAL/AP_HAL_Boards.h>
 
 #if HAL_OS_POSIX_IO
 #include <stdio.h>
diff --git a/libraries/AP_HAL/examples/UART_test/UART_test.cpp b/libraries/AP_HAL/examples/UART_test/UART_test.cpp
index dd74cc3d33..fc38f07eea 100644
--- a/libraries/AP_HAL/examples/UART_test/UART_test.cpp
+++ b/libraries/AP_HAL/examples/UART_test/UART_test.cpp
@@ -1,40 +1,40 @@
 /*
   simple test of UART interfaces
  */
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-#include <AP_HAL_SITL.h>
-#include <AP_HAL_PX4.h>
-#include <AP_HAL_Linux.h>
-#include <AP_HAL_Empty.h>
-#include <AP_Common.h>
-#include <AP_Baro.h>
-#include <AP_ADC.h>
-#include <AP_GPS.h>
-#include <AP_InertialSensor.h>
-#include <AP_Notify.h>
-#include <DataFlash.h>
-#include <GCS_MAVLink.h>
-#include <AP_Mission.h>
-#include <StorageManager.h>
-#include <AP_Terrain.h>
-#include <AP_Compass.h>
-#include <AP_Declination.h>
-#include <SITL.h>
-#include <Filter.h>
-#include <AP_Param.h>
-#include <AP_Progmem.h>
-#include <AP_Math.h>
-#include <AP_AHRS.h>
-#include <AP_Airspeed.h>
-#include <AP_Vehicle.h>
-#include <AP_ADC_AnalogSource.h>
-#include <AP_NavEKF.h>
-#include <AP_Rally.h>
-#include <AP_Scheduler.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_AVR/AP_HAL_AVR.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_PX4/AP_HAL_PX4.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
+#include <AP_HAL_Empty/AP_HAL_Empty.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_ADC/AP_ADC.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_Notify/AP_Notify.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_Compass/AP_Compass.h>
+#include <AP_Declination/AP_Declination.h>
+#include <SITL/SITL.h>
+#include <Filter/Filter.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_Progmem/AP_Progmem.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
+#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_Rally/AP_Rally.h>
+#include <AP_Scheduler/AP_Scheduler.h>
 #include <UARTDriver.h>
-#include <AP_BattMonitor.h>
-#include <AP_RangeFinder.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 
 #if HAL_OS_POSIX_IO
 #include <stdio.h>
diff --git a/libraries/AP_HAL/utility/BetterStream.h b/libraries/AP_HAL/utility/BetterStream.h
index e908f77942..bd2109ac5a 100644
--- a/libraries/AP_HAL/utility/BetterStream.h
+++ b/libraries/AP_HAL/utility/BetterStream.h
@@ -26,7 +26,7 @@
 #include "Stream.h"
 
 /* prog_char_t: */
-#include <AP_Progmem.h>
+#include <AP_Progmem/AP_Progmem.h>
 
 /* AP_HAL::BetterStream is a pure virtual interface. It resembles
  * Michael Smith's BetterStream library for Arduino.
diff --git a/libraries/AP_HAL/utility/Print.cpp b/libraries/AP_HAL/utility/Print.cpp
index 73c6171f4d..522e9c79d6 100644
--- a/libraries/AP_HAL/utility/Print.cpp
+++ b/libraries/AP_HAL/utility/Print.cpp
@@ -24,7 +24,7 @@
 #include <string.h>
 #include <stdint.h>
 
-#include <AP_Math.h>
+#include <AP_Math/AP_Math.h>
 #include "../AP_HAL_Namespace.h"
 #include "Print.h"
 using namespace AP_HAL;
diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 5ecf2b6a04..40ba0b08b5 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -16,7 +16,7 @@
   simple socket handling class for systems with BSD socket API
  */
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if HAL_OS_SOCKETS
 
 #include "Socket.h"
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 96d74027be..adc298605b 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -19,7 +19,7 @@
 #ifndef HAL_SOCKET_H
 #define HAL_SOCKET_H
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #if HAL_OS_SOCKETS
 
 #include <fcntl.h>
diff --git a/libraries/AP_HAL/utility/ftoa_engine.cpp b/libraries/AP_HAL/utility/ftoa_engine.cpp
index 21cba1ea20..954ebb85b0 100644
--- a/libraries/AP_HAL/utility/ftoa_engine.cpp
+++ b/libraries/AP_HAL/utility/ftoa_engine.cpp
@@ -28,8 +28,8 @@
   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   POSSIBILITY OF SUCH DAMAGE. */
 
-#include <AP_HAL.h>
-#include <AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Common/AP_Common.h>
 #include "ftoa_engine.h"
 #include <stdint.h>
 
diff --git a/libraries/AP_HAL/utility/ftoa_engine.h b/libraries/AP_HAL/utility/ftoa_engine.h
index 456e578f6b..ba3c042b33 100644
--- a/libraries/AP_HAL/utility/ftoa_engine.h
+++ b/libraries/AP_HAL/utility/ftoa_engine.h
@@ -31,7 +31,7 @@
 #ifndef	_FTOA_ENGINE_H
 #define	_FTOA_ENGINE_H
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <stdint.h>
 
 int16_t ftoa_engine(float val, char *buf,
diff --git a/libraries/AP_HAL/utility/print_vprintf.cpp b/libraries/AP_HAL/utility/print_vprintf.cpp
index 44c81aa82f..8d9b09025d 100644
--- a/libraries/AP_HAL/utility/print_vprintf.cpp
+++ b/libraries/AP_HAL/utility/print_vprintf.cpp
@@ -38,8 +38,8 @@
 /* $Id: vfprintf.c,v 1.18.2.1 2009/04/01 23:12:06 arcanum Exp $ */
 
 
-#include <AP_HAL.h>
-#include <AP_Progmem.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Progmem/AP_Progmem.h>
 #include <stdarg.h>
 #include <string.h>
 #include <math.h>
diff --git a/libraries/AP_HAL/utility/print_vprintf.h b/libraries/AP_HAL/utility/print_vprintf.h
index e0386a816f..ea7751f7d5 100644
--- a/libraries/AP_HAL/utility/print_vprintf.h
+++ b/libraries/AP_HAL/utility/print_vprintf.h
@@ -2,7 +2,7 @@
 #ifndef __AP_HAL_UTILITY_VPRINTF_H__
 #define __AP_HAL_UTILITY_VPRINTF_H__
 
-#include <AP_HAL.h>
+#include <AP_HAL/AP_HAL.h>
 #include <stdarg.h>
 
 void print_vprintf (AP_HAL::Print *s, unsigned char in_progmem, const char *fmt, va_list ap);