diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 70f0b58f9a2..7a5c0c08a9d 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -35,8 +35,12 @@
 #include "AP_Baro_KellerLD.h"
 #include "AP_Baro_MS5611.h"
 #include "AP_Baro_LPS25H.h"
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 #include "AP_Baro_qflight.h"
+#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
 #include "AP_Baro_QURT.h"
+#endif
 #if HAL_WITH_UAVCAN
 #include "AP_Baro_UAVCAN.h"
 #endif
diff --git a/libraries/AP_Baro/AP_Baro_QURT.cpp b/libraries/AP_Baro/AP_Baro_QURT.cpp
index 1e957158d18..37ffd5800ed 100644
--- a/libraries/AP_Baro/AP_Baro_QURT.cpp
+++ b/libraries/AP_Baro/AP_Baro_QURT.cpp
@@ -12,12 +12,12 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include "AP_Baro_QURT.h"
-
-#include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_QURT
+#include "AP_Baro_QURT.h"
+
+#include <AP_Common/AP_Common.h>
 
 extern const AP_HAL::HAL &hal;
 
diff --git a/libraries/AP_Baro/AP_Baro_QURT.h b/libraries/AP_Baro/AP_Baro_QURT.h
index e016cf7afe2..7c2fd7167a6 100644
--- a/libraries/AP_Baro/AP_Baro_QURT.h
+++ b/libraries/AP_Baro/AP_Baro_QURT.h
@@ -1,9 +1,9 @@
 #pragma once
 
 #include "AP_Baro_Backend.h"
-#include <AP_HAL_QURT/Semaphores.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_QURT
+#include <AP_HAL_QURT/Semaphores.h>
 extern "C" {
 #include "bmp280_api.h"
 }