diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index e19eebf3dd..ede84d300d 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -48,10 +48,6 @@
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
 #include <AP_Mission/AP_Mission.h>         // Mission command library
-#include <AC_PID/AC_P.h>               // P library
-#include <AC_PID/AC_PID.h>             // PID library
-#include <AC_PID/AC_PI_2D.h>           // PI library (2-axis)
-#include <AC_PID/AC_PID_2D.h>          // PID library (2-axis)
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
 #include <AC_AttitudeControl/AC_PosControl_Sub.h>      // Position control library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library