diff --git a/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c b/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
index ffd798ece9..cff04af304 100644
--- a/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
+++ b/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
@@ -30,7 +30,7 @@
 #include "uart.h"
 #include "booz_radio_control.h"
 #include "booz_radio_control_spektrum_arch.h"
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 
 
 #define SPEKTRUM_CHANNELS_PER_FRAME 7
diff --git a/sw/airborne/booz/booz2_navigation.c b/sw/airborne/booz/booz2_navigation.c
index 831c35229e..e7c000151e 100644
--- a/sw/airborne/booz/booz2_navigation.c
+++ b/sw/airborne/booz/booz2_navigation.c
@@ -29,7 +29,7 @@
 #include "booz_gps.h"
 #include <firmwares/rotorcraft/ins.h>
 
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 #include "modules.h"
 #include "flight_plan.h"
 
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index e85fce6f72..1aa68a2d3b 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -34,7 +34,7 @@
 #include "booz_radio_control.h"
 #endif
 
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 #include <firmwares/rotorcraft/guidance.h>
 
 #include <firmwares/rotorcraft/actuators.h>
@@ -472,7 +472,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
   }
 
 #ifdef USE_VFF
-#include "ins/vf_float.h"
+#include <firmwares/rotorcraft/ins/vf_float.h>
 #define PERIODIC_SEND_VFF(_chan) {		\
     DOWNLINK_SEND_VFF(_chan,			\
 			    &vff_z_meas,		\
@@ -488,7 +488,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 #endif
 
 #ifdef USE_HFF
-#include "ins/hf_float.h"
+#include  <firmwares/rotorcraft/ins/hf_float.h>
 #define PERIODIC_SEND_HFF(_chan) {	\
     DOWNLINK_SEND_HFF(_chan,		\
                             &b2_hff_state.x,			\
@@ -561,7 +561,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
   }
 
 #ifdef USE_GPS
-#include "ins/hf_float.h"
+#include <firmwares/rotorcraft/ins/hf_float.h>
 #define PERIODIC_SEND_INS3(_chan) {				\
     DOWNLINK_SEND_INS3(_chan,					\
 			     &b2ins_meas_gps_pos_ned.x,			\
diff --git a/sw/airborne/booz/booz_fms.h b/sw/airborne/booz/booz_fms.h
index de5c793c27..31fcdbc530 100644
--- a/sw/airborne/booz/booz_fms.h
+++ b/sw/airborne/booz/booz_fms.h
@@ -26,7 +26,7 @@
 
 #include "std.h"
 #include "math/pprz_algebra_int.h"
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 #include <firmwares/rotorcraft/guidance.h>
 
 struct Booz_fms_imu_info {
diff --git a/sw/airborne/csc/mercury_ap.c b/sw/airborne/csc/mercury_ap.c
index 6c7d79bff5..7ee0c72034 100644
--- a/sw/airborne/csc/mercury_ap.c
+++ b/sw/airborne/csc/mercury_ap.c
@@ -26,7 +26,7 @@
 #include <inttypes.h>
 #include "commands.h"
 #include "mercury_xsens.h"
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 #include "booz_stabilization.h"
 #include "stabilization/booz_stabilization_attitude.h"
 #include "led.h"
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index a8e4a80135..f269c82ad3 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 
 #include "booz_radio_control.h"
 #include "booz2_commands.h"
diff --git a/sw/airborne/modules/vehicle_interface/vi.h b/sw/airborne/modules/vehicle_interface/vi.h
index 20754939f9..0c6c804d86 100644
--- a/sw/airborne/modules/vehicle_interface/vi.h
+++ b/sw/airborne/modules/vehicle_interface/vi.h
@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "math/pprz_algebra_int.h"
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 #include "booz/booz_stabilization.h"
 #include <firmwares/rotorcraft/guidance.h>
 #include "booz/booz2_navigation.h"