diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
diff --git a/conf/airframes/obsolete/autoplato.xml b/conf/airframes/obsolete/autoplato.xml
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
diff --git a/conf/airframes/obsolete/csc.xml b/conf/airframes/obsolete/csc.xml
diff --git a/conf/airframes/obsolete/csc_ap.xml b/conf/airframes/obsolete/csc_ap.xml
diff --git a/conf/airframes/obsolete/dc_mc.xml b/conf/airframes/obsolete/dc_mc.xml
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
diff --git a/conf/airframes/obsolete/example.xml b/conf/airframes/obsolete/example.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/microjet_raw_makefile.xml → ...frames/obsolete/microjet_raw_makefile.xml b/conf/airframes/microjet_raw_makefile.xml → ...frames/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/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
diff --git a/conf/airframes/obsolete/nova.xml b/conf/airframes/obsolete/nova.xml
diff --git a/conf/airframes/osam_xsens_twog.xml → conf/airframes/obsolete/osam_xsens_twog.xml b/conf/airframes/osam_xsens_twog.xml → 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/test_i2c.xml → conf/airframes/obsolete/test_i2c.xml b/conf/airframes/test_i2c.xml → conf/airframes/obsolete/test_i2c.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/tl.xml b/conf/airframes/obsolete/tl.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/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
diff --git a/conf/airframes/obsolete/vor.xml b/conf/airframes/obsolete/vor.xml
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
diff --git a/conf/airframes/wind_tunnel.xml b/conf/airframes/wind_tunnel.xml
diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
diff --git a/conf/autopilot/lisa_m_test_progs.makefile b/conf/autopilot/lisa_m_test_progs.makefile
diff --git a/conf/autopilot/lisa_m_test_progs.xml b/conf/autopilot/lisa_m_test_progs.xml
diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
diff --git a/conf/autopilot/lisa_l_test_progs.xml → conf/autopilot/lisa_test_progs.xml b/conf/autopilot/lisa_l_test_progs.xml → conf/autopilot/lisa_test_progs.xml
diff --git a/conf/autopilot/logger.makefile b/conf/autopilot/logger.makefile
diff --git a/conf/autopilot/obsolete/booz_test_progs.makefile b/conf/autopilot/obsolete/booz_test_progs.makefile
diff --git a/conf/autopilot/obsolete/booz_test_progs.xml b/conf/autopilot/obsolete/booz_test_progs.xml
diff --git a/conf/autopilot/obsolete/conf_dc_mc.h b/conf/autopilot/obsolete/conf_dc_mc.h
diff --git a/conf/autopilot/obsolete/conf_motor_bench.h b/conf/autopilot/obsolete/conf_motor_bench.h
diff --git a/conf/autopilot/obsolete/conf_wt.h b/conf/autopilot/obsolete/conf_wt.h
diff --git a/conf/autopilot/obsolete/csc.makefile b/conf/autopilot/obsolete/csc.makefile
diff --git a/conf/autopilot/obsolete/csc_ap.makefile b/conf/autopilot/obsolete/csc_ap.makefile
diff --git a/conf/autopilot/obsolete/csc_baro.makefile b/conf/autopilot/obsolete/csc_baro.makefile
diff --git a/conf/autopilot/obsolete/csc_board_v1_0.h b/conf/autopilot/obsolete/csc_board_v1_0.h
diff --git a/conf/autopilot/obsolete/data_logger_1_0.h b/conf/autopilot/obsolete/data_logger_1_0.h
diff --git a/conf/autopilot/obsolete/gps_ugear.makefile b/conf/autopilot/obsolete/gps_ugear.makefile
diff --git a/conf/autopilot/obsolete/lisa_test_progs.makefile b/conf/autopilot/obsolete/lisa_test_progs.makefile
diff --git a/conf/autopilot/obsolete/mercury.makefile b/conf/autopilot/obsolete/mercury.makefile
diff --git a/conf/autopilot/obsolete/mercury_csc.makefile b/conf/autopilot/obsolete/mercury_csc.makefile
diff --git a/conf/autopilot/obsolete/pwm_input.makefile b/conf/autopilot/obsolete/pwm_input.makefile
diff --git a/conf/autopilot/obsolete/sitl.makefile b/conf/autopilot/obsolete/sitl.makefile
diff --git a/conf/autopilot/obsolete/sitl_jsbsim.makefile b/conf/autopilot/obsolete/sitl_jsbsim.makefile
diff --git a/conf/autopilot/obsolete/sitl_link_pprz.makefile b/conf/autopilot/obsolete/sitl_link_pprz.makefile
diff --git a/conf/autopilot/obsolete/sitl_link_xbee.makefile b/conf/autopilot/obsolete/sitl_link_xbee.makefile
diff --git a/conf/autopilot/obsolete/testing.makefile b/conf/autopilot/obsolete/testing.makefile
diff --git a/conf/autopilot/obsolete/tiny.makefile b/conf/autopilot/obsolete/tiny.makefile
diff --git a/conf/autopilot/obsolete/tiny_2_1_1_usb.h b/conf/autopilot/obsolete/tiny_2_1_1_usb.h
diff --git a/conf/autopilot/obsolete/twin_avr.h b/conf/autopilot/obsolete/twin_avr.h
diff --git a/conf/autopilot/obsolete/twin_avr.makefile b/conf/autopilot/obsolete/twin_avr.makefile
diff --git a/conf/autopilot/obsolete/twin_mcu.makefile b/conf/autopilot/obsolete/twin_mcu.makefile
diff --git a/conf/autopilot/obsolete/twin_mcu_avr.makefile b/conf/autopilot/obsolete/twin_mcu_avr.makefile
diff --git a/conf/autopilot/obsolete/twog_booz.h b/conf/autopilot/obsolete/twog_booz.h
diff --git a/conf/autopilot/obsolete/v1_2.h b/conf/autopilot/obsolete/v1_2.h
diff --git a/conf/autopilot/obsolete/v1_2.makefile b/conf/autopilot/obsolete/v1_2.makefile
diff --git a/conf/autopilot/obsolete/v1_2_1.h b/conf/autopilot/obsolete/v1_2_1.h
diff --git a/conf/autopilot/obsolete/v1_2_1.makefile b/conf/autopilot/obsolete/v1_2_1.makefile
diff --git a/conf/autopilot/obsolete/vane_sensor.makefile b/conf/autopilot/obsolete/vane_sensor.makefile
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
diff --git a/conf/autopilot/subsystems/csc_gps.makefile b/conf/autopilot/subsystems/csc_gps.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_xsens.makefile b/conf/autopilot/subsystems/fixedwing/gps_xsens.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile b/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile b/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/imu_aspirin2_i2c.makefile b/conf/autopilot/subsystems/fixedwing/imu_aspirin2_i2c.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/imu_booz.makefile b/conf/autopilot/subsystems/fixedwing/imu_booz.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ins_xsens.makefile b/conf/autopilot/subsystems/fixedwing/ins_xsens.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile b/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile b/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile b/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile b/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile b/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile b/conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile b/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_analog.makefile b/conf/autopilot/subsystems/shared/imu_analog.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile b/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile
diff --git a/...ubsystems/rotorcraft/imu_b2_v1.0.makefile → .../subsystems/shared/imu_b2_common.makefile b/...ubsystems/rotorcraft/imu_b2_v1.0.makefile → .../subsystems/shared/imu_b2_common.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile
diff --git a/...ubsystems/rotorcraft/imu_b2_v1.1.makefile → ...ot/subsystems/shared/imu_b2_v1.1.makefile b/...ubsystems/rotorcraft/imu_b2_v1.1.makefile → ...ot/subsystems/shared/imu_b2_v1.1.makefile
diff --git a/...ubsystems/rotorcraft/imu_b2_v1.2.makefile → ...ot/subsystems/shared/imu_b2_v1.2.makefile b/...ubsystems/rotorcraft/imu_b2_v1.2.makefile → ...ot/subsystems/shared/imu_b2_v1.2.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_yai.makefile b/conf/autopilot/subsystems/shared/imu_yai.makefile
diff --git a/conf/boards/booz_1.0.makefile b/conf/boards/booz_1.0.makefile
diff --git a/conf/boards/hb_1.1.makefile b/conf/boards/hb_1.1.makefile
diff --git a/conf/boards/lisa_l_1.0.makefile b/conf/boards/lisa_l_1.0.makefile
diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile
diff --git a/conf/boards/lisa_m_2.0.makefile b/conf/boards/lisa_m_2.0.makefile
diff --git a/conf/boards/navgo_1.0.makefile b/conf/boards/navgo_1.0.makefile
diff --git a/conf/boards/tiny_2.11.makefile b/conf/boards/tiny_2.11.makefile
diff --git a/conf/boards/umarim_1.0.makefile b/conf/boards/umarim_1.0.makefile
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/creidlitz.xml b/conf/flight_plans/creidlitz.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/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml
diff --git a/conf/flight_plans/hsif.xml b/conf/flight_plans/hsif.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/kv_svalbard.xml b/conf/flight_plans/kv_svalbard.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/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/messages.xml b/conf/messages.xml
diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml
diff --git a/conf/modules/twog_extra_dl.xml → conf/modules/extra_dl.xml b/conf/modules/twog_extra_dl.xml → conf/modules/extra_dl.xml
diff --git a/conf/modules/ins_chimu_spi.xml b/conf/modules/ins_chimu_spi.xml
diff --git a/conf/modules/ins_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml
diff --git a/conf/modules/ins_xsens_MTiG_fixedwing.xml b/conf/modules/ins_xsens_MTiG_fixedwing.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/settings/basic.xml b/conf/settings/basic.xml
diff --git a/conf/settings/basic_infrared.xml b/conf/settings/basic_infrared.xml
diff --git a/conf/settings/basic_ins.xml b/conf/settings/basic_ins.xml
diff --git a/conf/settings/cam.xml b/conf/settings/cam.xml
diff --git a/conf/settings/cam_pitch.xml b/conf/settings/cam_pitch.xml
diff --git a/conf/settings/cam_roll.xml b/conf/settings/cam_roll.xml
diff --git a/conf/settings/csc_ap.xml b/conf/settings/csc_ap.xml
diff --git a/conf/settings/flight_params.xml b/conf/settings/flight_params.xml
diff --git a/conf/settings/infrared.xml b/conf/settings/infrared.xml
diff --git a/conf/settings/ins_arduimu_basic.xml b/conf/settings/ins_arduimu_basic.xml
diff --git a/conf/settings/ins_neutrals.xml b/conf/settings/ins_neutrals.xml
diff --git a/conf/settings/ir_i2c.xml b/conf/settings/ir_i2c.xml
diff --git a/conf/settings/lisa.xml b/conf/settings/lisa.xml
diff --git a/conf/settings/mercury_csc.xml b/conf/settings/mercury_csc.xml
diff --git a/conf/settings/photogrammetry_calculator.xml b/conf/settings/photogrammetry_calculator.xml
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
diff --git a/conf/settings/tuning_ctl_new_airspeed.xml b/conf/settings/tuning_ctl_new_airspeed.xml
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
diff --git a/conf/simulator/nps/nps_sensors_params_aspirin.h b/conf/simulator/nps/nps_sensors_params_aspirin.h
diff --git a/conf/simulator/nps/nps_sensors_params_booz2_a1.h b/conf/simulator/nps/nps_sensors_params_booz2_a1.h
diff --git a/conf/simulator/nps/nps_sensors_params_booz2_a1p.h b/conf/simulator/nps/nps_sensors_params_booz2_a1p.h
diff --git a/conf/telemetry/aerocomm.xml b/conf/telemetry/aerocomm.xml
diff --git a/conf/telemetry/booz.xml b/conf/telemetry/booz.xml
diff --git a/conf/telemetry/csc.xml b/conf/telemetry/csc.xml
diff --git a/conf/telemetry/csc_ap.xml b/conf/telemetry/csc_ap.xml
diff --git a/conf/telemetry/default.xml b/conf/telemetry/default.xml
diff --git a/conf/telemetry/default_fixedwing_imu.xml b/conf/telemetry/default_fixedwing_imu.xml
diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
diff --git a/conf/telemetry/fw_h_ctl_a.xml b/conf/telemetry/fw_h_ctl_a.xml
diff --git a/conf/telemetry/hitl.xml b/conf/telemetry/hitl.xml
diff --git a/conf/telemetry/mercury_csc.xml b/conf/telemetry/mercury_csc.xml
diff --git a/conf/telemetry/minimal.xml b/conf/telemetry/minimal.xml
diff --git a/conf/telemetry/osam_imu.xml b/conf/telemetry/osam_imu.xml
diff --git a/conf/telemetry/telemetry.dtd b/conf/telemetry/telemetry.dtd
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
diff --git a/conf/telemetry/telemetry_jtm.xml b/conf/telemetry/telemetry_jtm.xml
diff --git a/conf/units.xml b/conf/units.xml
diff --git a/sw/airborne/alt_vfilter.h b/sw/airborne/alt_vfilter.h
diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
diff --git a/sw/airborne/arch/avr/ant_v2x.c b/sw/airborne/arch/avr/ant_v2x.c
diff --git a/sw/airborne/arch/avr/mcu_periph/uart_arch.c b/sw/airborne/arch/avr/mcu_periph/uart_arch.c
diff --git a/sw/airborne/arch/avr/modem_hw.h b/sw/airborne/arch/avr/modem_hw.h
diff --git a/sw/airborne/arch/avr/ppm_hw.c b/sw/airborne/arch/avr/ppm_hw.c
diff --git a/sw/airborne/arch/avr/servos_4017.c b/sw/airborne/arch/avr/servos_4017.c
diff --git a/sw/airborne/arch/avr/servos_4017.h b/sw/airborne/arch/avr/servos_4017.h
diff --git a/sw/airborne/arch/avr/modem_hw.c → .../subsystems/datalink/audio_telemetry_hw.c b/sw/airborne/arch/avr/modem_hw.c → .../subsystems/datalink/audio_telemetry_hw.c
diff --git a/sw/airborne/arch/avr/subsystems/datalink/audio_telemetry_hw.h b/sw/airborne/arch/avr/subsystems/datalink/audio_telemetry_hw.h
diff --git a/sw/airborne/arch/avr/sys_time_hw.h b/sw/airborne/arch/avr/sys_time_hw.h
diff --git a/sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c b/sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.c
diff --git a/sw/airborne/booz/test/booz2_test_led.c → ...ne/arch/lpc21/mcu_periph/pwm_input_arch.h b/sw/airborne/booz/test/booz2_test_led.c → ...ne/arch/lpc21/mcu_periph/pwm_input_arch.h
diff --git a/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c b/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.c
diff --git a/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.h b/sw/airborne/arch/lpc21/mcu_periph/sys_time_arch.h
diff --git a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c b/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c
diff --git a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h b/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h
diff --git a/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c b/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c
diff --git a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c
diff --git a/sw/airborne/arch/lpc21/pwm_input.c b/sw/airborne/arch/lpc21/pwm_input.c
diff --git a/sw/airborne/arch/lpc21/pwm_input.h b/sw/airborne/arch/lpc21/pwm_input.h
diff --git a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h b/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h
diff --git a/sw/airborne/arch/lpc21/servos_4015_hw.c b/sw/airborne/arch/lpc21/servos_4015_hw.c
diff --git a/sw/airborne/arch/lpc21/servos_4015_hw.h b/sw/airborne/arch/lpc21/servos_4015_hw.h
diff --git a/sw/airborne/arch/lpc21/servos_4015_hw_new.c b/sw/airborne/arch/lpc21/servos_4015_hw_new.c
diff --git a/sw/airborne/arch/lpc21/servos_4017_hw.h b/sw/airborne/arch/lpc21/servos_4017_hw.h
diff --git a/sw/airborne/arch/lpc21/servos_csc.c b/sw/airborne/arch/lpc21/servos_csc.c
diff --git a/sw/airborne/arch/lpc21/servos_csc.h b/sw/airborne/arch/lpc21/servos_csc.h
diff --git a/sw/airborne/arch/lpc21/servos_direct_hw.h b/sw/airborne/arch/lpc21/servos_direct_hw.h
diff --git a/sw/airborne/arch/lpc21/servos_ppm_hw.h b/sw/airborne/arch/lpc21/servos_ppm_hw.h
diff --git a/sw/airborne/arch/lpc21/modem_hw.c → .../subsystems/datalink/audio_telemetry_hw.c b/sw/airborne/arch/lpc21/modem_hw.c → .../subsystems/datalink/audio_telemetry_hw.c
diff --git a/sw/airborne/arch/lpc21/modem_hw.h → .../subsystems/datalink/audio_telemetry_hw.h b/sw/airborne/arch/lpc21/modem_hw.h → .../subsystems/datalink/audio_telemetry_hw.h
diff --git a/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h b/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
diff --git a/sw/airborne/arch/lpc21/sys_time_hw.c b/sw/airborne/arch/lpc21/sys_time_hw.c
diff --git a/sw/airborne/arch/lpc21/sys_time_hw.h b/sw/airborne/arch/lpc21/sys_time_hw.h
diff --git a/sw/airborne/arch/lpc21/usb_tunnel.c b/sw/airborne/arch/lpc21/usb_tunnel.c
diff --git a/sw/airborne/arch/sim/baro_MS5534A.h b/sw/airborne/arch/sim/baro_MS5534A.h
diff --git a/sw/airborne/arch/sim/ivy_transport.h b/sw/airborne/arch/sim/ivy_transport.h
diff --git a/sw/airborne/arch/sim/jsbsim_ahrs.c b/sw/airborne/arch/sim/jsbsim_ahrs.c
diff --git a/sw/airborne/arch/sim/jsbsim_hw.c b/sw/airborne/arch/sim/jsbsim_hw.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/jsbsim_transport.c b/sw/airborne/arch/sim/jsbsim_transport.c
diff --git a/sw/airborne/arch/sim/led_hw.h b/sw/airborne/arch/sim/led_hw.h
diff --git a/sw/airborne/arch/sim/mcu_arch.h b/sw/airborne/arch/sim/mcu_arch.h
diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.h b/sw/airborne/arch/sim/mcu_periph/i2c_arch.h
diff --git a/sw/airborne/csc/csc_telemetry.c → ...borne/arch/sim/mcu_periph/sys_time_arch.c b/sw/airborne/csc/csc_telemetry.c → ...borne/arch/sim/mcu_periph/sys_time_arch.c
diff --git a/sw/airborne/arch/stm32/sys_time_hw.c → ...borne/arch/sim/mcu_periph/sys_time_arch.h b/sw/airborne/arch/stm32/sys_time_hw.c → ...borne/arch/sim/mcu_periph/sys_time_arch.h
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/servos_nil.h b/sw/airborne/arch/sim/servos_nil.h
diff --git a/sw/airborne/arch/sim/sim_ahrs.c b/sw/airborne/arch/sim/sim_ahrs.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_gps.c b/sw/airborne/arch/sim/sim_gps.c
diff --git a/sw/airborne/arch/sim/sim_ir.c b/sw/airborne/arch/sim/sim_ir.c
diff --git a/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c
diff --git a/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.h b/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_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/sim/subsystems/radio_control/ppm_arch.h b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.h
diff --git a/sw/airborne/arch/sim/sys_time_hw.h b/sw/airborne/arch/sim/sys_time_hw.h
diff --git a/sw/airborne/arch/stm32/led_hw.h b/sw/airborne/arch/stm32/led_hw.h
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/spi_arch.c b/sw/airborne/arch/stm32/mcu_periph/spi_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/spi_arch.h b/sw/airborne/arch/stm32/mcu_periph/spi_arch.h
diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h
diff --git a/sw/airborne/arch/stm32/pprz_baudrate.h b/sw/airborne/arch/stm32/pprz_baudrate.h
diff --git a/sw/airborne/arch/stm32/stm32_vector_table.c b/sw/airborne/arch/stm32/stm32_vector_table.c
diff --git a/sw/airborne/arch/stm32/stm32f103rb_flash.ld b/sw/airborne/arch/stm32/stm32f103rb_flash.ld
diff --git a/sw/airborne/arch/stm32/stm32f103re_flash.ld b/sw/airborne/arch/stm32/stm32f103re_flash.ld
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.c
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.h b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.h
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
diff --git a/sw/airborne/arch/stm32/sys_time_hw.h b/sw/airborne/arch/stm32/sys_time_hw.h
diff --git a/sw/airborne/boards/booz/test_baro.c b/sw/airborne/boards/booz/test_baro.c
diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c
diff --git a/sw/airborne/boards/lisa_l/baro_board.h b/sw/airborne/boards/lisa_l/baro_board.h
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/test_baro.c b/sw/airborne/boards/lisa_m/test_baro.c
diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.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/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