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/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/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/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/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/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/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/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/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/.../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/paparazzi_version b/paparazzi_version
diff --git a/sw/airborne/Makefile b/sw/airborne/Makefile
diff --git a/sw/airborne/arch/lpc21/lpcusb/Makefile b/sw/airborne/arch/lpc21/lpcusb/Makefile
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/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.h b/sw/airborne/arch/stm32/servos_direct_hw.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_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.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/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
diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.h b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.h
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h b/sw/airborne/firmwares/fixedwing/guidance/guidance_common.h
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.h b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.h
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c
diff --git a/sw/airborne/firmwares/motor_bench/main_turntable.c b/sw/airborne/firmwares/motor_bench/main_turntable.c
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h b/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
diff --git a/sw/airborne/firmwares/vor/Makefile b/sw/airborne/firmwares/vor/Makefile
diff --git a/sw/airborne/fms/Makefile b/sw/airborne/fms/Makefile
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
diff --git a/sw/airborne/lisa/test_led.c b/sw/airborne/lisa/test_led.c
diff --git a/sw/airborne/math/pprz_algebra.h b/sw/airborne/math/pprz_algebra.h
diff --git a/sw/airborne/math/pprz_algebra_float.h b/sw/airborne/math/pprz_algebra_float.h
diff --git a/sw/airborne/math/pprz_geodetic.h b/sw/airborne/math/pprz_geodetic.h
diff --git a/sw/airborne/math/pprz_geodetic_int.h b/sw/airborne/math/pprz_geodetic_int.h
diff --git a/sw/airborne/math/pprz_orientation_conversion.c b/sw/airborne/math/pprz_orientation_conversion.c
diff --git a/sw/airborne/math/pprz_orientation_conversion.h b/sw/airborne/math/pprz_orientation_conversion.h
diff --git a/sw/airborne/math/pprz_stat.h b/sw/airborne/math/pprz_stat.h
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
diff --git a/sw/airborne/modules/airborne_ant_track/airborne_ant_track.c b/sw/airborne/modules/airborne_ant_track/airborne_ant_track.c
diff --git a/sw/airborne/modules/benchmark/flight_benchmark.c b/sw/airborne/modules/benchmark/flight_benchmark.c
diff --git a/sw/airborne/modules/cam_control/booz_cam.c b/sw/airborne/modules/cam_control/booz_cam.c
diff --git a/sw/airborne/modules/cam_control/booz_cam.h b/sw/airborne/modules/cam_control/booz_cam.h
diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c
diff --git a/sw/airborne/modules/cam_control/cam_roll.c b/sw/airborne/modules/cam_control/cam_roll.c
diff --git a/sw/airborne/modules/cam_control/cam_segment.c b/sw/airborne/modules/cam_control/cam_segment.c
diff --git a/sw/airborne/modules/cam_control/cam_track.c b/sw/airborne/modules/cam_control/cam_track.c
diff --git a/sw/airborne/modules/cartography/cartography.c b/sw/airborne/modules/cartography/cartography.c
diff --git a/sw/airborne/modules/cartography/photogrammetry_calculator.c b/sw/airborne/modules/cartography/photogrammetry_calculator.c
diff --git a/sw/airborne/modules/cartography/photogrammetry_calculator.h b/sw/airborne/modules/cartography/photogrammetry_calculator.h
diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c
diff --git a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
diff --git a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.h b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.h
diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c
diff --git a/sw/airborne/modules/digital_cam/dc.h b/sw/airborne/modules/digital_cam/dc.h
diff --git a/sw/airborne/modules/digital_cam/led_cam_ctrl.c b/sw/airborne/modules/digital_cam/led_cam_ctrl.c
diff --git a/sw/airborne/modules/digital_cam/led_cam_ctrl.h b/sw/airborne/modules/digital_cam/led_cam_ctrl.h
diff --git a/sw/airborne/modules/digital_cam/servo_cam_ctrl.c b/sw/airborne/modules/digital_cam/servo_cam_ctrl.c
diff --git a/sw/airborne/modules/digital_cam/servo_cam_ctrl.h b/sw/airborne/modules/digital_cam/servo_cam_ctrl.h
diff --git a/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
diff --git a/sw/airborne/modules/enose/anemotaxis.c b/sw/airborne/modules/enose/anemotaxis.c
diff --git a/sw/airborne/modules/enose/chemotaxis.c b/sw/airborne/modules/enose/chemotaxis.c
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
diff --git a/sw/airborne/modules/ins/ins_chimu_spi.c → sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ins_chimu_spi.c → sw/airborne/modules/ins/ahrs_chimu_spi.c
diff --git a/sw/airborne/modules/ins/ins_chimu_uart.c → sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ins_chimu_uart.c → sw/airborne/modules/ins/ahrs_chimu_uart.c
diff --git a/sw/airborne/modules/ins/fw_ins_vn100.c b/sw/airborne/modules/ins/fw_ins_vn100.c
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c
diff --git a/sw/airborne/modules/ins/ins_vn100.h b/sw/airborne/modules/ins/ins_vn100.h
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
diff --git a/sw/airborne/modules/ins/ins_xsens.h b/sw/airborne/modules/ins/ins_xsens.h
diff --git a/sw/airborne/modules/multi/formation.c b/sw/airborne/modules/multi/formation.c
diff --git a/sw/airborne/modules/multi/potential.c b/sw/airborne/modules/multi/potential.c
diff --git a/sw/airborne/modules/multi/tcas.c b/sw/airborne/modules/multi/tcas.c
diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h
diff --git a/sw/airborne/modules/sensors/AOA_adc.c b/sw/airborne/modules/sensors/AOA_adc.c
diff --git a/sw/airborne/modules/sensors/airspeed_adc.c b/sw/airborne/modules/sensors/airspeed_adc.c
diff --git a/sw/airborne/modules/sensors/airspeed_amsys.c b/sw/airborne/modules/sensors/airspeed_amsys.c
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.h b/sw/airborne/modules/sensors/baro_MS5534A.h
diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
diff --git a/sw/airborne/modules/sensors/baro_amsys.h b/sw/airborne/modules/sensors/baro_amsys.h
diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
diff --git a/sw/airborne/modules/sensors/baro_bmp.h b/sw/airborne/modules/sensors/baro_bmp.h
diff --git a/sw/airborne/modules/sensors/baro_board_module.c b/sw/airborne/modules/sensors/baro_board_module.c
diff --git a/sw/airborne/modules/sensors/baro_board_module.h b/sw/airborne/modules/sensors/baro_board_module.h
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h
diff --git a/sw/airborne/modules/sensors/baro_hca.c b/sw/airborne/modules/sensors/baro_hca.c
diff --git a/sw/airborne/modules/sensors/baro_hca.h b/sw/airborne/modules/sensors/baro_hca.h
diff --git a/sw/airborne/modules/sensors/baro_scp.h b/sw/airborne/modules/sensors/baro_scp.h
diff --git a/sw/airborne/modules/sensors/mag_hmc5843.c b/sw/airborne/modules/sensors/mag_hmc5843.c
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h
diff --git a/sw/airborne/peripherals/ms5611.h b/sw/airborne/peripherals/ms5611.h
diff --git a/sw/airborne/rc_settings.c b/sw/airborne/rc_settings.c
diff --git a/sw/airborne/rc_settings.h b/sw/airborne/rc_settings.h
diff --git a/sw/airborne/state.c b/sw/airborne/state.c
diff --git a/sw/airborne/state.h b/sw/airborne/state.h
diff --git a/sw/airborne/subsystems/abi.h b/sw/airborne/subsystems/abi.h
diff --git a/sw/airborne/subsystems/abi_common.h b/sw/airborne/subsystems/abi_common.h
diff --git a/sw/airborne/subsystems/ahrs.c b/sw/airborne/subsystems/ahrs.c
diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/subsystems/ahrs.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.c b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.h b/sw/airborne/subsystems/ahrs/ahrs_infrared.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.c b/sw/airborne/subsystems/ahrs/ahrs_sim.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.h b/sw/airborne/subsystems/ahrs/ahrs_sim.h
diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/subsystems/gps.h
diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.c b/sw/airborne/subsystems/imu/imu_aspirin2.c
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.h b/sw/airborne/subsystems/imu/imu_aspirin2.h
diff --git a/sw/airborne/subsystems/imu/imu_nps.c b/sw/airborne/subsystems/imu/imu_nps.c
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c
diff --git a/sw/airborne/subsystems/ins/hf_float.h b/sw/airborne/subsystems/ins/hf_float.h