diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index fa0f98e16f..d1f79f0ead 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -45,13 +45,11 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 #ifdef CONFIG_ARCH_ARM
-#include <systemlib/err.h>
 #else
-#include<ros_error.h>
 #include <cmath>
-//#define isfinite std::isfinite
 using namespace std;
 #endif
 
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 640940c99a..30176f92fb 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -45,11 +45,10 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 #ifdef CONFIG_ARCH_ARM
-#include <systemlib/err.h>
 #else
-#include<ros_error.h>
 #include <cmath>
 using namespace std;
 #endif
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 5f01cecf9a..1b4d8486c5 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -44,11 +44,10 @@
 #include <geo/geo.h>
 #include <ecl/ecl.h>
 #include <mathlib/mathlib.h>
+#include <systemlib/err.h>
 
 #ifdef CONFIG_ARCH_ARM
-#include <systemlib/err.h>
 #else
-#include<ros_error.h>
 #include <cmath>
 using namespace std;
 #endif