diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
diff --git a/conf/airframes/examples/twinjet.xml b/conf/airframes/examples/twinjet.xml
diff --git a/conf/airframes/examples/twinstar.xml b/conf/airframes/examples/twinstar.xml
diff --git a/conf/airframes/examples/twog_analogimu.xml b/conf/airframes/examples/twog_analogimu.xml
diff --git a/conf/airframes/examples/umarim_lite_v2.xml b/conf/airframes/examples/umarim_lite_v2.xml
diff --git a/conf/airframes/examples/yapaChimuSpi.xml b/conf/airframes/examples/yapaChimuSpi.xml
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
diff --git a/conf/airframes/obsolete/ENAC/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
diff --git a/conf/airframes/obsolete/ENAC/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
diff --git a/conf/airframes/Poine/antenna.xml → conf/airframes/obsolete/Poine/antenna.xml b/conf/airframes/Poine/antenna.xml → conf/airframes/obsolete/Poine/antenna.xml
diff --git a/conf/airframes/Poine/beth.xml → conf/airframes/obsolete/Poine/beth.xml b/conf/airframes/Poine/beth.xml → conf/airframes/obsolete/Poine/beth.xml
diff --git a/conf/airframes/Poine/bl_mc.xml → conf/airframes/obsolete/Poine/bl_mc.xml b/conf/airframes/Poine/bl_mc.xml → conf/airframes/obsolete/Poine/bl_mc.xml
diff --git a/conf/airframes/Poine/booz2_a1.xml → conf/airframes/obsolete/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml → conf/airframes/obsolete/Poine/booz2_a1.xml
diff --git a/conf/airframes/Poine/booz2_a7.xml → conf/airframes/obsolete/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml → conf/airframes/obsolete/Poine/booz2_a7.xml
diff --git a/conf/airframes/Poine/booz2_a8.xml → conf/airframes/obsolete/Poine/booz2_a8.xml b/conf/airframes/Poine/booz2_a8.xml → conf/airframes/obsolete/Poine/booz2_a8.xml
diff --git a/conf/airframes/Poine/easy_glider1.xml → ...airframes/obsolete/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml → ...airframes/obsolete/Poine/easy_glider1.xml
diff --git a/conf/airframes/Poine/funjet42.xml → conf/airframes/obsolete/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml → conf/airframes/obsolete/Poine/funjet42.xml
diff --git a/conf/airframes/Poine/h_hex.xml → conf/airframes/obsolete/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml → conf/airframes/obsolete/Poine/h_hex.xml
diff --git a/conf/airframes/Poine/motor_bench.xml → .../airframes/obsolete/Poine/motor_bench.xml b/conf/airframes/Poine/motor_bench.xml → .../airframes/obsolete/Poine/motor_bench.xml
diff --git a/conf/airframes/Poine/pt_ant.xml → conf/airframes/obsolete/Poine/pt_ant.xml b/conf/airframes/Poine/pt_ant.xml → conf/airframes/obsolete/Poine/pt_ant.xml
diff --git a/conf/airframes/Poine/swift_1.xml → conf/airframes/obsolete/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml → conf/airframes/obsolete/Poine/swift_1.xml
diff --git a/conf/airframes/Poine/test_libeknav.xml → ...irframes/obsolete/Poine/test_libeknav.xml b/conf/airframes/Poine/test_libeknav.xml → ...irframes/obsolete/Poine/test_libeknav.xml
diff --git a/conf/airframes/Poine/test_settings.xml → ...irframes/obsolete/Poine/test_settings.xml b/conf/airframes/Poine/test_settings.xml → ...irframes/obsolete/Poine/test_settings.xml
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
diff --git a/conf/airframes/obsolete/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
diff --git a/conf/airframes/mm/extra/logger_sd_adc.xml → ...rames/obsolete/mm/extra/logger_sd_adc.xml b/conf/airframes/mm/extra/logger_sd_adc.xml → ...rames/obsolete/mm/extra/logger_sd_adc.xml
diff --git a/conf/airframes/mm/extra/logger_sd_twog.xml → ...ames/obsolete/mm/extra/logger_sd_twog.xml b/conf/airframes/mm/extra/logger_sd_twog.xml → ...ames/obsolete/mm/extra/logger_sd_twog.xml
diff --git a/conf/airframes/mm/extra/press_t.xml → conf/airframes/obsolete/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml → conf/airframes/obsolete/mm/extra/press_t.xml
diff --git a/conf/airframes/mm/extra/probe_t.xml → conf/airframes/obsolete/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml → conf/airframes/obsolete/mm/extra/probe_t.xml
diff --git a/conf/airframes/mm/extra/quiet.xml → conf/airframes/obsolete/mm/extra/quiet.xml b/conf/airframes/mm/extra/quiet.xml → conf/airframes/obsolete/mm/extra/quiet.xml
diff --git a/conf/airframes/mm/extra/rctx.xml → conf/airframes/obsolete/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml → conf/airframes/obsolete/mm/extra/rctx.xml
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml → ...mes/obsolete/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml → ...mes/obsolete/mm/extra/turbine_trigger.xml
diff --git a/conf/airframes/mm/fixed-wing/drops.xml → ...irframes/obsolete/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml → ...irframes/obsolete/mm/fixed-wing/drops.xml
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml → ...rames/obsolete/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml → ...rames/obsolete/mm/fixed-wing/funjet43.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml → ...ames/obsolete/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml → ...ames/obsolete/mm/fixed-wing/funjetdca.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml → ...ames/obsolete/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml → ...ames/obsolete/mm/fixed-wing/funjetdcb.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml → ...ames/obsolete/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml → ...ames/obsolete/mm/fixed-wing/funjetdcc.xml
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml → ...mes/obsolete/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml → ...mes/obsolete/mm/fixed-wing/funjeteth1.xml
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml → ...mes/obsolete/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml → ...mes/obsolete/mm/fixed-wing/funjeteth2.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml → ...mes/obsolete/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml → ...mes/obsolete/mm/fixed-wing/funjetfmi1.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml → ...mes/obsolete/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml → ...mes/obsolete/mm/fixed-wing/funjetfmi2.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml → ...mes/obsolete/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml → ...mes/obsolete/mm/fixed-wing/funjetfmi3.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi1.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi3.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi4.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi5.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi6.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi7.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi8.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml → ...mes/obsolete/mm/fixed-wing/funjetgfi9.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml → ...mes/obsolete/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml → ...mes/obsolete/mm/fixed-wing/funjetlisa.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml → ...es/obsolete/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml → ...es/obsolete/mm/fixed-wing/funjetlisam.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml → ...rames/obsolete/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml → ...rames/obsolete/mm/fixed-wing/funjetmm.xml
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml → ...ames/obsolete/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml → ...ames/obsolete/mm/fixed-wing/funjetmm2.xml
diff --git a/...irframes/mm/fixed-wing/fw_ins_arduimu.xml → ...obsolete/mm/fixed-wing/fw_ins_arduimu.xml b/...irframes/mm/fixed-wing/fw_ins_arduimu.xml → ...obsolete/mm/fixed-wing/fw_ins_arduimu.xml
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml → ...rframes/obsolete/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml → ...rframes/obsolete/mm/fixed-wing/merlin.xml
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml → ...rames/obsolete/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml → ...rames/obsolete/mm/fixed-wing/miniwing.xml
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml → ...rames/obsolete/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml → ...rames/obsolete/mm/fixed-wing/slowfast.xml
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml → ...ames/obsolete/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml → ...ames/obsolete/mm/fixed-wing/slowfast2.xml
diff --git a/conf/airframes/mm/fixed-wing/trojan.xml → ...rframes/obsolete/mm/fixed-wing/trojan.xml b/conf/airframes/mm/fixed-wing/trojan.xml → ...rframes/obsolete/mm/fixed-wing/trojan.xml
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml → ...mes/obsolete/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml → ...mes/obsolete/mm/fixed-wing/twinstarmm.xml
diff --git a/conf/airframes/mm/hangar/black_one.xml → ...irframes/obsolete/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml → ...irframes/obsolete/mm/hangar/black_one.xml
diff --git a/conf/airframes/mm/hangar/glass_one1.xml → ...rframes/obsolete/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml → ...rframes/obsolete/mm/hangar/glass_one1.xml
diff --git a/conf/airframes/mm/hangar/glass_one2.xml → ...rframes/obsolete/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml → ...rframes/obsolete/mm/hangar/glass_one2.xml
diff --git a/conf/airframes/mm/hangar/glass_one3.xml → ...rframes/obsolete/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml → ...rframes/obsolete/mm/hangar/glass_one3.xml
diff --git a/conf/airframes/mm/hangar/lila.xml → conf/airframes/obsolete/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml → conf/airframes/obsolete/mm/hangar/lila.xml
diff --git a/conf/airframes/mm/hangar/mac06a.xml → conf/airframes/obsolete/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml → conf/airframes/obsolete/mm/hangar/mac06a.xml
diff --git a/conf/airframes/mm/hangar/red_one.xml → .../airframes/obsolete/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml → .../airframes/obsolete/mm/hangar/red_one.xml
diff --git a/conf/airframes/mm/rotor/qmk1.xml → conf/airframes/obsolete/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml → conf/airframes/obsolete/mm/rotor/qmk1.xml
diff --git a/...rframes/mm/rotor/quadrotor_lisa_l_mkk.xml → ...bsolete/mm/rotor/quadrotor_lisa_l_mkk.xml b/...rframes/mm/rotor/quadrotor_lisa_l_mkk.xml → ...bsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
diff --git a/...rames/mm/rotor/quadrotor_lisa_m_1_pwm.xml → ...olete/mm/rotor/quadrotor_lisa_m_1_pwm.xml b/...rames/mm/rotor/quadrotor_lisa_m_1_pwm.xml → ...olete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
diff --git a/...rames/mm/rotor/quadrotor_lisa_m_2_pwm.xml → ...olete/mm/rotor/quadrotor_lisa_m_2_pwm.xml b/...rames/mm/rotor/quadrotor_lisa_m_2_pwm.xml → ...olete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
diff --git a/conf/airframes/obsolete/osam_xsens_twog.xml b/conf/airframes/obsolete/osam_xsens_twog.xml
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
diff --git a/conf/airframes/obsolete/test_hb.xml b/conf/airframes/obsolete/test_hb.xml
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
diff --git a/conf/airframes/Poine/turntable.xml → conf/airframes/turntable.xml b/conf/airframes/Poine/turntable.xml → conf/airframes/turntable.xml
diff --git a/conf/airframes/turntable_usb.xml b/conf/airframes/turntable_usb.xml
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
diff --git a/conf/boards/classix.makefile b/conf/boards/classix.makefile
diff --git a/conf/boards/lisa_l_1.1.makefile b/conf/boards/lisa_l_1.1.makefile
diff --git a/conf/boards/lisa_m_2.0.makefile b/conf/boards/lisa_m_2.0.makefile
diff --git a/conf/boards/umarim_1.0.makefile b/conf/boards/umarim_1.0.makefile
diff --git a/conf/boards/umarim_lite_2.0.makefile b/conf/boards/umarim_lite_2.0.makefile
diff --git a/conf/conf.xml.adelaide b/conf/conf.xml.adelaide
diff --git a/conf/conf.xml.example b/conf/conf.xml.example
diff --git a/conf/conf.xml.nova b/conf/conf.xml.nova
diff --git a/conf/control_panel.xml.adelaide b/conf/control_panel.xml.adelaide
diff --git a/conf/control_panel.xml.example b/conf/control_panel.xml.example
diff --git a/conf/control_panel.xml.example.booz b/conf/control_panel.xml.example.booz
diff --git a/conf/firmwares/fixedwing.xml b/conf/firmwares/fixedwing.xml
diff --git a/conf/firmwares/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/control.makefile b/conf/firmwares/subsystems/fixedwing/control.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/control_adaptive.makefile b/conf/firmwares/subsystems/fixedwing/control_adaptive.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/control_energy.makefile b/conf/firmwares/subsystems/fixedwing/control_energy.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/control_new.makefile b/conf/firmwares/subsystems/fixedwing/control_new.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile b/conf/firmwares/subsystems/fixedwing/imu_xsens.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ins_alt_float.makefile b/conf/firmwares/subsystems/fixedwing/ins_alt_float.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ins_gps_passthrough.makefile b/conf/firmwares/subsystems/fixedwing/ins_gps_passthrough.makefile
diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/ins.makefile b/conf/firmwares/subsystems/rotorcraft/ins.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile b/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/ins_hff.makefile b/conf/firmwares/subsystems/rotorcraft/ins_hff.makefile
diff --git a/conf/firmwares/subsystems/shared/actuators_direct.makefile b/conf/firmwares/subsystems/shared/actuators_direct.makefile
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
diff --git a/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
diff --git a/conf/flight_plans/EMAV2008.xml b/conf/flight_plans/EMAV2008.xml
diff --git a/conf/flight_plans/EMAV2009.xml b/conf/flight_plans/EMAV2009.xml
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
diff --git a/conf/flight_plans/basic.xml b/conf/flight_plans/basic.xml
diff --git a/conf/flight_plans/ccc_gl.xml b/conf/flight_plans/ccc_gl.xml
diff --git a/conf/flight_plans/corsica.xml b/conf/flight_plans/corsica.xml
diff --git a/conf/flight_plans/creidlitz.xml b/conf/flight_plans/creidlitz.xml
diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
diff --git a/conf/flight_plans/form_follow.xml b/conf/flight_plans/form_follow.xml
diff --git a/conf/flight_plans/form_leader.xml b/conf/flight_plans/form_leader.xml
diff --git a/conf/flight_plans/fp_tp_auto.xml b/conf/flight_plans/fp_tp_auto.xml
diff --git a/conf/flight_plans/generic.xml b/conf/flight_plans/generic.xml
diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml
diff --git a/conf/flight_plans/grosslobke_kreise.xml b/conf/flight_plans/grosslobke_kreise.xml
diff --git a/conf/flight_plans/hsif.xml b/conf/flight_plans/hsif.xml
diff --git a/conf/flight_plans/huit.xml b/conf/flight_plans/huit.xml
diff --git a/conf/flight_plans/ingolfsskali.xml b/conf/flight_plans/ingolfsskali.xml
diff --git a/conf/flight_plans/joystick.xml b/conf/flight_plans/joystick.xml
diff --git a/conf/flight_plans/kalscott.xml b/conf/flight_plans/kalscott.xml
diff --git a/conf/flight_plans/kv_svalbard.xml b/conf/flight_plans/kv_svalbard.xml
diff --git a/conf/flight_plans/landing.xml b/conf/flight_plans/landing.xml
diff --git a/conf/flight_plans/mav06.xml b/conf/flight_plans/mav06.xml
diff --git a/conf/flight_plans/mav07.xml b/conf/flight_plans/mav07.xml
diff --git a/conf/flight_plans/mav08.xml b/conf/flight_plans/mav08.xml
diff --git a/conf/flight_plans/muret_for.xml b/conf/flight_plans/muret_for.xml
diff --git a/conf/flight_plans/nordlys.xml b/conf/flight_plans/nordlys.xml
diff --git a/conf/flight_plans/poles.xml b/conf/flight_plans/poles.xml
diff --git a/conf/flight_plans/rotorcraft_basic.xml b/conf/flight_plans/rotorcraft_basic.xml
diff --git a/conf/flight_plans/sinsat.xml b/conf/flight_plans/sinsat.xml
diff --git a/conf/flight_plans/slayer_training.xml b/conf/flight_plans/slayer_training.xml
diff --git a/conf/flight_plans/snav.xml b/conf/flight_plans/snav.xml
diff --git a/conf/flight_plans/tcas.xml b/conf/flight_plans/tcas.xml
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
diff --git a/conf/flight_plans/versatile_airspeed.xml b/conf/flight_plans/versatile_airspeed.xml
diff --git a/conf/flight_plans/versatile_carto_fixe_muret.xml b/conf/flight_plans/versatile_carto_fixe_muret.xml
diff --git a/conf/flight_plans/xsens_cachejunction.xml b/conf/flight_plans/xsens_cachejunction.xml
diff --git a/conf/gps/Makefile b/conf/gps/Makefile
diff --git a/conf/gui.xml b/conf/gui.xml
diff --git a/conf/messages.xml b/conf/messages.xml
diff --git a/conf/modules/ins_chimu_spi.xml → conf/modules/ahrs_chimu_spi.xml b/conf/modules/ins_chimu_spi.xml → conf/modules/ahrs_chimu_spi.xml
diff --git a/conf/modules/ins_chimu_uart.xml → conf/modules/ahrs_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml → conf/modules/ahrs_chimu_uart.xml
diff --git a/conf/modules/airspeed_adc.xml b/conf/modules/airspeed_adc.xml
diff --git a/conf/modules/baro_bmp.xml b/conf/modules/baro_bmp.xml
diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml
diff --git a/conf/modules/baro_hca.xml b/conf/modules/baro_hca.xml
diff --git a/conf/modules/digital_cam.xml b/conf/modules/digital_cam.xml
diff --git a/conf/modules/digital_cam_i2c.xml b/conf/modules/digital_cam_i2c.xml
diff --git a/conf/modules/digital_cam_servo.xml b/conf/modules/digital_cam_servo.xml
diff --git a/conf/modules/ezcurrent.xml b/conf/modules/ezcurrent.xml
diff --git a/conf/modules/geo_mag.xml b/conf/modules/geo_mag.xml
diff --git a/conf/modules/ins_vn100.xml b/conf/modules/ins_vn100.xml
diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml
diff --git a/conf/modules/ins_xsens_MTiG_Uart0.xml b/conf/modules/ins_xsens_MTiG_Uart0.xml
diff --git a/conf/modules/ins_xsens_MTi_Uart0.xml b/conf/modules/ins_xsens_MTi_Uart0.xml
diff --git a/conf/modules/pwm_meas.xml b/conf/modules/pwm_meas.xml
diff --git a/conf/modules/xtend_rssi.xml b/conf/modules/xtend_rssi.xml
diff --git a/conf/radios/FlyElectricRx25.xml b/conf/radios/FlyElectricRx25.xml
diff --git a/conf/radios/FlyElectricRx25_MODE_AUX2.xml b/conf/radios/FlyElectricRx25_MODE_AUX2.xml
diff --git a/conf/radios/FlyElectricRx31.xml b/conf/radios/FlyElectricRx31.xml
diff --git a/conf/radios/FlyElectricRx31_DX6.xml b/conf/radios/FlyElectricRx31_DX6.xml
diff --git a/conf/radios/FrSky_TFR4.xml b/conf/radios/FrSky_TFR4.xml
diff --git a/conf/radios/T9cap.xml b/conf/radios/T9cap.xml
diff --git a/conf/radios/TGY9x.xml b/conf/radios/TGY9x.xml
diff --git a/conf/radios/ezuhf.xml b/conf/radios/ezuhf.xml
diff --git a/conf/settings/beth/beth.xml → conf/settings/beth_test_bench/beth.xml b/conf/settings/beth/beth.xml → conf/settings/beth_test_bench/beth.xml
diff --git a/conf/settings/beth/beth_full.xml → conf/settings/beth_test_bench/beth_full.xml b/conf/settings/beth/beth_full.xml → conf/settings/beth_test_bench/beth_full.xml
diff --git a/conf/settings/beth/beth_pid.xml → conf/settings/beth_test_bench/beth_pid.xml b/conf/settings/beth/beth_pid.xml → conf/settings/beth_test_bench/beth_pid.xml
diff --git a/conf/settings/beth/beth_reduced.xml → ...settings/beth_test_bench/beth_reduced.xml b/conf/settings/beth/beth_reduced.xml → ...settings/beth_test_bench/beth_reduced.xml
diff --git a/conf/settings/beth/beth_sfb.xml → conf/settings/beth_test_bench/beth_sfb.xml b/conf/settings/beth/beth_sfb.xml → conf/settings/beth_test_bench/beth_sfb.xml
diff --git a/conf/settings/beth/beth_twist.xml → conf/settings/beth_test_bench/beth_twist.xml b/conf/settings/beth/beth_twist.xml → conf/settings/beth_test_bench/beth_twist.xml
diff --git a/conf/settings/beth/beth_twist_old.xml → ...ttings/beth_test_bench/beth_twist_old.xml b/conf/settings/beth/beth_twist_old.xml → ...ttings/beth_test_bench/beth_twist_old.xml
diff --git a/conf/settings/control/ctl_adaptive.xml b/conf/settings/control/ctl_adaptive.xml
diff --git a/conf/settings/control/ctl_basic.xml b/conf/settings/control/ctl_basic.xml
diff --git a/conf/settings/control/ctl_energy.xml b/conf/settings/control/ctl_energy.xml
diff --git a/conf/settings/control/ctl_new.xml b/conf/settings/control/ctl_new.xml
diff --git a/conf/settings/control/ctl_new_airspeed.xml b/conf/settings/control/ctl_new_airspeed.xml
diff --git a/conf/settings/control/nav_catapult.xml b/conf/settings/control/nav_catapult.xml
diff --git a/conf/settings/control/rotorcraft_guidance.xml b/conf/settings/control/rotorcraft_guidance.xml
diff --git a/conf/settings/control/stabilization_att_int.xml b/conf/settings/control/stabilization_att_int.xml
diff --git a/conf/settings/control/tune_agr_climb.xml b/conf/settings/control/tune_agr_climb.xml
diff --git a/conf/settings/demo5_settings.xml b/conf/settings/demo5_settings.xml
diff --git a/conf/settings/estimation/ac_char.xml b/conf/settings/estimation/ac_char.xml
diff --git a/conf/settings/estimation/fw_baro_kalman.xml b/conf/settings/estimation/fw_baro_kalman.xml
diff --git a/conf/settings/estimation/infrared.xml b/conf/settings/estimation/infrared.xml
diff --git a/conf/settings/estimation/ins_sonar.xml b/conf/settings/estimation/ins_sonar.xml
diff --git a/conf/settings/fixedwing_basic.xml b/conf/settings/fixedwing_basic.xml
diff --git a/conf/settings/modules/MPPT_settings.xml → conf/settings/modules/MPPT.xml b/conf/settings/modules/MPPT_settings.xml → conf/settings/modules/MPPT.xml
diff --git a/conf/settings/modules/antenna_settings.xml → conf/settings/modules/antenna.xml b/conf/settings/modules/antenna_settings.xml → conf/settings/modules/antenna.xml
diff --git a/conf/settings/modules/dc.xml b/conf/settings/modules/dc.xml
diff --git a/conf/settings/modules/enose.xml b/conf/settings/modules/enose.xml
diff --git a/conf/settings/modules/photogrammetry_calculator.xml b/conf/settings/modules/photogrammetry_calculator.xml
diff --git a/conf/settings/modules/poles.xml b/conf/settings/modules/poles.xml
diff --git a/conf/settings/modules/pt_ant_settings.xml → conf/settings/modules/pt_ant.xml b/conf/settings/modules/pt_ant_settings.xml → conf/settings/modules/pt_ant.xml
diff --git a/.../simulator/jsbsim/aircraft/Quad_LisaM.xml → ...imulator/jsbsim/aircraft/Quad_LisaM_2.xml b/.../simulator/jsbsim/aircraft/Quad_LisaM.xml → ...imulator/jsbsim/aircraft/Quad_LisaM_2.xml
diff --git a/conf/simulator/jsbsim/aircraft/reset00.xml b/conf/simulator/jsbsim/aircraft/reset00.xml
diff --git a/conf/telemetry/default_fixedwing.xml b/conf/telemetry/default_fixedwing.xml
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
diff --git a/conf/tests_conf.xml b/conf/tests_conf.xml
diff --git a/conf/units.xml b/conf/units.xml
diff --git a/create_module b/create_module
diff --git a/data/maps/Makefile b/data/maps/Makefile
diff --git a/doc/manual/math.dox b/doc/manual/math.dox
diff --git a/doc/manual/style.dox b/doc/manual/style.dox
diff --git a/paparazzi_version b/paparazzi_version
diff --git a/sw/airborne/Makefile b/sw/airborne/Makefile
diff --git a/sw/airborne/actuators.c b/sw/airborne/actuators.c
diff --git a/sw/airborne/arch/lpc21/lpcusb/Makefile b/sw/airborne/arch/lpc21/lpcusb/Makefile
diff --git a/sw/airborne/arch/lpc21/servos_direct_hw.c → ...subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/lpc21/servos_direct_hw.c → ...subsystems/actuators/actuators_pwm_arch.c
diff --git a/sw/airborne/arch/lpc21/servos_direct_hw.h → ...subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/lpc21/servos_direct_hw.h → ...subsystems/actuators/actuators_pwm_arch.h
diff --git a/sw/airborne/arch/lpc21/test/Makefile b/sw/airborne/arch/lpc21/test/Makefile
diff --git a/sw/airborne/arch/lpc21/test/bootloader/Makefile b/sw/airborne/arch/lpc21/test/bootloader/Makefile
diff --git a/sw/airborne/arch/lpc21/uart_tunnel.c b/sw/airborne/arch/lpc21/uart_tunnel.c
diff --git a/sw/airborne/arch/sim/jsbsim_gps.c b/sw/airborne/arch/sim/jsbsim_gps.c
diff --git a/sw/airborne/arch/sim/jsbsim_hw.h b/sw/airborne/arch/sim/jsbsim_hw.h
diff --git a/sw/airborne/arch/sim/jsbsim_ir.c b/sw/airborne/arch/sim/jsbsim_ir.c
diff --git a/sw/airborne/arch/sim/modules/ins/ins_arduimu.c b/sw/airborne/arch/sim/modules/ins/ins_arduimu.c
diff --git a/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c b/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c
diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
diff --git a/sw/airborne/arch/sim/sim_baro.c b/sw/airborne/arch/sim/sim_baro.c
diff --git a/sw/airborne/arch/sim/sim_gps.c b/sw/airborne/arch/sim/sim_gps.c
diff --git a/...t/actuators/arch/sim/actuators_pwm_arch.c → ...subsystems/actuators/actuators_pwm_arch.c b/...t/actuators/arch/sim/actuators_pwm_arch.c → ...subsystems/actuators/actuators_pwm_arch.c
diff --git a/...t/actuators/arch/sim/actuators_pwm_arch.h → ...subsystems/actuators/actuators_pwm_arch.h b/...t/actuators/arch/sim/actuators_pwm_arch.h → ...subsystems/actuators/actuators_pwm_arch.h
diff --git a/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_arch.c b/sw/airborne/arch/stm32/mcu_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
diff --git a/sw/airborne/arch/stm32/servos_direct_hw.c b/sw/airborne/arch/stm32/servos_direct_hw.c
diff --git a/sw/airborne/arch/stm32/servos_direct_hw.h b/sw/airborne/arch/stm32/servos_direct_hw.h
diff --git a/...actuators/arch/stm32/actuators_pwm_arch.c → ...subsystems/actuators/actuators_pwm_arch.c b/...actuators/arch/stm32/actuators_pwm_arch.c → ...subsystems/actuators/actuators_pwm_arch.c
diff --git a/...actuators/arch/stm32/actuators_pwm_arch.h → ...subsystems/actuators/actuators_pwm_arch.h b/...actuators/arch/stm32/actuators_pwm_arch.h → ...subsystems/actuators/actuators_pwm_arch.h
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
diff --git a/sw/airborne/boards/lisa_l/test_baro.c b/sw/airborne/boards/lisa_l/test_baro.c
diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c
diff --git a/sw/airborne/boards/lisa_m/test_baro.c b/sw/airborne/boards/lisa_m/test_baro.c
diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h
diff --git a/sw/airborne/boards/navgo/baro_board.c b/sw/airborne/boards/navgo/baro_board.c
diff --git a/sw/airborne/boards/navgo/baro_board.h b/sw/airborne/boards/navgo/baro_board.h
diff --git a/sw/airborne/boards/navgo/imu_navgo.c b/sw/airborne/boards/navgo/imu_navgo.c
diff --git a/sw/airborne/boards/navgo_1.0.h b/sw/airborne/boards/navgo_1.0.h
diff --git a/sw/airborne/boards/tiny_2.1.h b/sw/airborne/boards/tiny_2.1.h
diff --git a/sw/airborne/boards/umarim/baro_board.c b/sw/airborne/boards/umarim/baro_board.c
diff --git a/sw/airborne/boards/umarim/baro_board.h b/sw/airborne/boards/umarim/baro_board.h
diff --git a/sw/airborne/boards/umarim_lite_2.0.h b/sw/airborne/boards/umarim_lite_2.0.h
diff --git a/sw/airborne/booz/test/Makefile b/sw/airborne/booz/test/Makefile
diff --git a/sw/airborne/estimator.h b/sw/airborne/estimator.h
diff --git a/sw/airborne/filters/median_filter.h b/sw/airborne/filters/median_filter.h
diff --git a/sw/airborne/firmwares/fixedwing/actuators.h b/sw/airborne/firmwares/fixedwing/actuators.h
diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
diff --git a/sw/airborne/firmwares/fixedwing/datalink.c b/sw/airborne/firmwares/fixedwing/datalink.c
diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c