diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index d5acf286a3..7e5032ae6b 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -48,8 +48,6 @@
 #include "firmwares/rotorcraft/stabilization/stabilization_rate.h"
 #endif
 
-#include "firmwares/rotorcraft/autopilot_guided.h"
-
 #include "generated/settings.h"
 
 #if USE_GPS
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
index c12206962e..1632fecb0e 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.h
@@ -32,6 +32,7 @@
 #include "std.h"
 #include "generated/airframe.h"
 #include "state.h"
+#include "autopilot_guided.h"
 
 #define AP_MODE_KILL              0
 #define AP_MODE_FAILSAFE          1
diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
index 550d8f72fc..1f3fa43e07 100644
--- a/sw/airborne/modules/datalink/mavlink.c
+++ b/sw/airborne/modules/datalink/mavlink.c
@@ -49,6 +49,7 @@
 #include "subsystems/electrical.h"
 #include "state.h"
 #include "pprz_version.h"
+#include "autopilot.h"
 
 #if defined RADIO_CONTROL
 #include "subsystems/radio_control.h"