diff --git a/sw/airborne/firmwares/beth/overo_estimator.h b/sw/airborne/firmwares/beth/overo_estimator.h
diff --git a/sw/airborne/firmwares/beth/overo_file_logger.c b/sw/airborne/firmwares/beth/overo_file_logger.c
diff --git a/sw/airborne/firmwares/beth/overo_file_logger.h b/sw/airborne/firmwares/beth/overo_file_logger.h
diff --git a/sw/airborne/firmwares/beth/overo_gcs_com.c b/sw/airborne/firmwares/beth/overo_gcs_com.c
diff --git a/sw/airborne/firmwares/beth/overo_gcs_com.h b/sw/airborne/firmwares/beth/overo_gcs_com.h
diff --git a/sw/airborne/firmwares/beth/overo_sfb_controller.c b/sw/airborne/firmwares/beth/overo_sfb_controller.c
diff --git a/sw/airborne/firmwares/beth/overo_sfb_controller.h b/sw/airborne/firmwares/beth/overo_sfb_controller.h
diff --git a/sw/airborne/firmwares/beth/overo_test_uart.c b/sw/airborne/firmwares/beth/overo_test_uart.c
diff --git a/sw/airborne/firmwares/beth/overo_twist_controller.c b/sw/airborne/firmwares/beth/overo_twist_controller.c
diff --git a/sw/airborne/firmwares/beth/overo_twist_controller.h b/sw/airborne/firmwares/beth/overo_twist_controller.h
diff --git a/sw/airborne/firmwares/beth/rcv_telemetry.c b/sw/airborne/firmwares/beth/rcv_telemetry.c
diff --git a/sw/airborne/firmwares/beth/sys_time_hw.h b/sw/airborne/firmwares/beth/sys_time_hw.h
diff --git a/sw/airborne/firmwares/beth/uart_hw.c b/sw/airborne/firmwares/beth/uart_hw.c
diff --git a/sw/airborne/firmwares/beth/uart_hw.h b/sw/airborne/firmwares/beth/uart_hw.h
diff --git a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
diff --git a/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.c b/sw/airborne/firmwares/fixedwing/chibios-libopencm3/chibios_init.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/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/rotorcraft/autopilot_arming_switch.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_switch.h
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h b/sw/airborne/firmwares/rotorcraft/autopilot_arming_yaw.h
diff --git a/sw/airborne/firmwares/rotorcraft/datalink.c b/sw/airborne/firmwares/rotorcraft/datalink.c
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/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/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_passthrough.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.c
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_indi.h
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.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
diff --git a/sw/airborne/fms/Makefile b/sw/airborne/fms/Makefile
diff --git a/sw/airborne/fms/NOTES b/sw/airborne/fms/NOTES
diff --git a/sw/airborne/fms/fms_autopilot_msg.h b/sw/airborne/fms/fms_autopilot_msg.h
diff --git a/sw/airborne/fms/fms_debug.h b/sw/airborne/fms/fms_debug.h
diff --git a/sw/airborne/fms/fms_gs_com.c b/sw/airborne/fms/fms_gs_com.c
diff --git a/sw/airborne/fms/fms_gs_com.h b/sw/airborne/fms/fms_gs_com.h
diff --git a/sw/airborne/fms/fms_network.c b/sw/airborne/fms/fms_network.c
diff --git a/sw/airborne/fms/fms_network.h b/sw/airborne/fms/fms_network.h
diff --git a/sw/airborne/fms/fms_periodic.c b/sw/airborne/fms/fms_periodic.c
diff --git a/sw/airborne/fms/fms_spi_autopilot_msg.c b/sw/airborne/fms/fms_spi_autopilot_msg.c
diff --git a/sw/airborne/fms/fms_spi_autopilot_msg.h b/sw/airborne/fms/fms_spi_autopilot_msg.h
diff --git a/sw/airborne/fms/fms_spi_link.c b/sw/airborne/fms/fms_spi_link.c
diff --git a/sw/airborne/fms/fms_spi_link.h b/sw/airborne/fms/fms_spi_link.h
diff --git a/sw/airborne/fms/fms_spistream.h b/sw/airborne/fms/fms_spistream.h
diff --git a/sw/airborne/fms/fms_spistream_client.c b/sw/airborne/fms/fms_spistream_client.c
diff --git a/sw/airborne/fms/fms_spistream_daemon.c b/sw/airborne/fms/fms_spistream_daemon.c
diff --git a/sw/airborne/fms/fms_test_datalink.c b/sw/airborne/fms/fms_test_datalink.c
diff --git a/sw/airborne/fms/lpc_test_spi.c b/sw/airborne/fms/lpc_test_spi.c
diff --git a/sw/airborne/fms/onboard_logger.c b/sw/airborne/fms/onboard_logger.c
diff --git a/sw/airborne/fms/onboard_transport.c b/sw/airborne/fms/onboard_transport.c
diff --git a/sw/airborne/fms/onboard_transport.h b/sw/airborne/fms/onboard_transport.h
diff --git a/sw/airborne/fms/overo_blmc_calibrate.c b/sw/airborne/fms/overo_blmc_calibrate.c
diff --git a/sw/airborne/fms/overo_blmc_calibrate.h b/sw/airborne/fms/overo_blmc_calibrate.h
diff --git a/sw/airborne/fms/overo_test_gps_passthrough.c b/sw/airborne/fms/overo_test_gps_passthrough.c
diff --git a/sw/airborne/fms/overo_test_passthrough.c b/sw/airborne/fms/overo_test_passthrough.c
diff --git a/sw/airborne/fms/overo_test_passthrough.h b/sw/airborne/fms/overo_test_passthrough.h
diff --git a/sw/airborne/fms/overo_test_passthrough_telemetry.h b/sw/airborne/fms/overo_test_passthrough_telemetry.h
diff --git a/sw/airborne/fms/overo_test_periodic.c b/sw/airborne/fms/overo_test_periodic.c
diff --git a/sw/airborne/fms/overo_test_spi_link.c b/sw/airborne/fms/overo_test_spi_link.c
diff --git a/sw/airborne/fms/overo_test_telemetry.c b/sw/airborne/fms/overo_test_telemetry.c
diff --git a/sw/airborne/fms/overo_test_telemetry2.c b/sw/airborne/fms/overo_test_telemetry2.c
diff --git a/sw/airborne/fms/packet_header.h b/sw/airborne/fms/packet_header.h
diff --git a/sw/airborne/fms/test_telemetry.c b/sw/airborne/fms/test_telemetry.c
diff --git a/sw/airborne/fms/test_telemetry_2.c b/sw/airborne/fms/test_telemetry_2.c
diff --git a/sw/airborne/fms/udp_transport.c b/sw/airborne/fms/udp_transport.c
diff --git a/sw/airborne/fms/udp_transport.h b/sw/airborne/fms/udp_transport.h
diff --git a/sw/airborne/fms/udp_transport2.c b/sw/airborne/fms/udp_transport2.c
diff --git a/sw/airborne/fms/udp_transport2.h b/sw/airborne/fms/udp_transport2.h
diff --git a/sw/airborne/math/README → sw/airborne/math/README.md b/sw/airborne/math/README → sw/airborne/math/README.md
diff --git a/sw/airborne/math/pprz_algebra.h b/sw/airborne/math/pprz_algebra.h
diff --git a/sw/airborne/math/pprz_algebra_double.h b/sw/airborne/math/pprz_algebra_double.h
diff --git a/sw/airborne/math/pprz_algebra_float.c b/sw/airborne/math/pprz_algebra_float.c
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_algebra_int.h b/sw/airborne/math/pprz_algebra_int.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_double.h b/sw/airborne/math/pprz_geodetic_double.h
diff --git a/sw/airborne/math/pprz_geodetic_float.h b/sw/airborne/math/pprz_geodetic_float.h
diff --git a/sw/airborne/math/pprz_geodetic_int.c b/sw/airborne/math/pprz_geodetic_int.c
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_geodetic_utm.h b/sw/airborne/math/pprz_geodetic_utm.h
diff --git a/sw/airborne/math/pprz_geodetic_wgs84.h b/sw/airborne/math/pprz_geodetic_wgs84.h
diff --git a/sw/airborne/math/pprz_geodetic_wmm2010.h b/sw/airborne/math/pprz_geodetic_wmm2010.h
diff --git a/sw/airborne/math/pprz_isa.h b/sw/airborne/math/pprz_isa.h
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
diff --git a/sw/airborne/mcu.h b/sw/airborne/mcu.h
diff --git a/sw/airborne/mcu_periph/udp.c b/sw/airborne/mcu_periph/udp.c
diff --git a/sw/airborne/modules/ahrs/ahrs_infrared.c b/sw/airborne/modules/ahrs/ahrs_infrared.c
diff --git a/sw/airborne/modules/ahrs/ahrs_infrared.h b/sw/airborne/modules/ahrs/ahrs_infrared.h
diff --git a/sw/airborne/modules/air_data/air_data.c b/sw/airborne/modules/air_data/air_data.c
diff --git a/sw/airborne/modules/air_data/air_data.h b/sw/airborne/modules/air_data/air_data.h
diff --git a/sw/airborne/modules/computer_vision/cv/color.h b/sw/airborne/modules/computer_vision/cv/color.h
diff --git a/sw/airborne/modules/computer_vision/cv/framerate.c b/sw/airborne/modules/computer_vision/cv/framerate.c
diff --git a/sw/airborne/modules/computer_vision/cv/framerate.h b/sw/airborne/modules/computer_vision/cv/framerate.h
diff --git a/sw/airborne/modules/computer_vision/cv/opticflow/fast9/LICENSE b/sw/airborne/modules/computer_vision/cv/opticflow/fast9/LICENSE
diff --git a/sw/airborne/modules/computer_vision/cv/opticflow/fast9/fastRosten.c b/sw/airborne/modules/computer_vision/cv/opticflow/fast9/fastRosten.c
diff --git a/sw/airborne/modules/computer_vision/cv/opticflow/optic_flow_int.c b/sw/airborne/modules/computer_vision/cv/opticflow/optic_flow_int.c
diff --git a/sw/airborne/modules/computer_vision/cv/opticflow/optic_flow_int.h b/sw/airborne/modules/computer_vision/cv/opticflow/optic_flow_int.h
diff --git a/sw/airborne/modules/computer_vision/cv/resize.h b/sw/airborne/modules/computer_vision/cv/resize.h
diff --git a/sw/airborne/modules/computer_vision/cv/trig.c b/sw/airborne/modules/computer_vision/cv/trig.c
diff --git a/sw/airborne/modules/computer_vision/cv/trig.h b/sw/airborne/modules/computer_vision/cv/trig.h
diff --git a/...odules/computer_vision/cv/encoding/jpeg.c → ...dules/computer_vision/lib/encoding/jpeg.c b/...odules/computer_vision/cv/encoding/jpeg.c → ...dules/computer_vision/lib/encoding/jpeg.c
diff --git a/...odules/computer_vision/cv/encoding/jpeg.h → ...dules/computer_vision/lib/encoding/jpeg.h b/...odules/computer_vision/cv/encoding/jpeg.h → ...dules/computer_vision/lib/encoding/jpeg.h
diff --git a/...modules/computer_vision/cv/encoding/rtp.c → ...odules/computer_vision/lib/encoding/rtp.c b/...modules/computer_vision/cv/encoding/rtp.c → ...odules/computer_vision/lib/encoding/rtp.c
diff --git a/...modules/computer_vision/cv/encoding/rtp.h → ...odules/computer_vision/lib/encoding/rtp.h b/...modules/computer_vision/cv/encoding/rtp.h → ...odules/computer_vision/lib/encoding/rtp.h
diff --git a/sw/airborne/modules/computer_vision/lib/udp/socket.c b/sw/airborne/modules/computer_vision/lib/udp/socket.c
diff --git a/sw/airborne/modules/computer_vision/lib/udp/socket.h b/sw/airborne/modules/computer_vision/lib/udp/socket.h
diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.c
diff --git a/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h b/sw/airborne/modules/computer_vision/lib/v4l/v4l2.h
diff --git a/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c b/sw/airborne/modules/computer_vision/lib/vision/fast_rosten.c
diff --git a/...er_vision/cv/opticflow/fast9/fastRosten.h → .../computer_vision/lib/vision/fast_rosten.h b/...er_vision/cv/opticflow/fast9/fastRosten.h → .../computer_vision/lib/vision/fast_rosten.h
diff --git a/sw/airborne/modules/computer_vision/lib/vision/image.c b/sw/airborne/modules/computer_vision/lib/vision/image.c
diff --git a/sw/airborne/modules/computer_vision/lib/vision/image.h b/sw/airborne/modules/computer_vision/lib/vision/image.h
diff --git a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
diff --git a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.h b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.h
diff --git a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
diff --git a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
diff --git a/sw/airborne/modules/computer_vision/opticflow/inter_thread_data.h b/sw/airborne/modules/computer_vision/opticflow/inter_thread_data.h
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.c b/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.c
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.h b/sw/airborne/modules/computer_vision/opticflow/opticflow_thread.h
diff --git a/sw/airborne/modules/computer_vision/opticflow/stabilization_opticflow.c b/sw/airborne/modules/computer_vision/opticflow/stabilization_opticflow.c
diff --git a/sw/airborne/modules/computer_vision/opticflow/stabilization_opticflow.h b/sw/airborne/modules/computer_vision/opticflow/stabilization_opticflow.h
diff --git a/sw/airborne/modules/computer_vision/opticflow/visual_estimator.c b/sw/airborne/modules/computer_vision/opticflow/visual_estimator.c
diff --git a/sw/airborne/modules/computer_vision/opticflow/visual_estimator.h b/sw/airborne/modules/computer_vision/opticflow/visual_estimator.h
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.h b/sw/airborne/modules/computer_vision/opticflow_module.h
diff --git a/sw/airborne/modules/computer_vision/viewvideo.c b/sw/airborne/modules/computer_vision/viewvideo.c
diff --git a/sw/airborne/modules/computer_vision/viewvideo.h b/sw/airborne/modules/computer_vision/viewvideo.h
diff --git a/...modules/gain_scheduling/gain_scheduling.c → sw/airborne/modules/ctrl/gain_scheduling.c b/...modules/gain_scheduling/gain_scheduling.c → sw/airborne/modules/ctrl/gain_scheduling.c
diff --git a/...modules/gain_scheduling/gain_scheduling.h → sw/airborne/modules/ctrl/gain_scheduling.h b/...modules/gain_scheduling/gain_scheduling.h → sw/airborne/modules/ctrl/gain_scheduling.h
diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
diff --git a/sw/airborne/modules/deploy_sonar_buoy/deploy_sonar_buoy.c b/sw/airborne/modules/deploy_sonar_buoy/deploy_sonar_buoy.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/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/gpio_cam_ctrl.c b/sw/airborne/modules/digital_cam/gpio_cam_ctrl.c
diff --git a/sw/airborne/modules/digital_cam/gpio_cam_ctrl.h b/sw/airborne/modules/digital_cam/gpio_cam_ctrl.h
diff --git a/sw/airborne/modules/digital_cam/hackhd.c b/sw/airborne/modules/digital_cam/hackhd.c
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/digital_cam/uart_cam_ctrl.c b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
diff --git a/sw/airborne/modules/digital_cam/uart_cam_ctrl.h b/sw/airborne/modules/digital_cam/uart_cam_ctrl.h
diff --git a/sw/airborne/modules/max7456/max7456.c → sw/airborne/modules/display/max7456.c b/sw/airborne/modules/max7456/max7456.c → sw/airborne/modules/display/max7456.c
diff --git a/sw/airborne/modules/max7456/max7456.h → sw/airborne/modules/display/max7456.h b/sw/airborne/modules/max7456/max7456.h → sw/airborne/modules/display/max7456.h
diff --git a/sw/airborne/modules/max7456/max7456_regs.h → sw/airborne/modules/display/max7456_regs.h b/sw/airborne/modules/max7456/max7456_regs.h → sw/airborne/modules/display/max7456_regs.h
diff --git a/sw/airborne/modules/MPPT/MPPT.c → sw/airborne/modules/energy/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c → sw/airborne/modules/energy/MPPT.c
diff --git a/sw/airborne/modules/MPPT/MPPT.h → sw/airborne/modules/energy/MPPT.h b/sw/airborne/modules/MPPT/MPPT.h → sw/airborne/modules/energy/MPPT.h
diff --git a/...irborne/modules/bat_checker/bat_checker.c → sw/airborne/modules/energy/bat_checker.c b/...irborne/modules/bat_checker/bat_checker.c → sw/airborne/modules/energy/bat_checker.c
diff --git a/...irborne/modules/bat_checker/bat_checker.h → sw/airborne/modules/energy/bat_checker.h b/...irborne/modules/bat_checker/bat_checker.h → sw/airborne/modules/energy/bat_checker.h
diff --git a/sw/airborne/modules/MPPT/sim_MPPT.c → sw/airborne/modules/energy/sim_MPPT.c b/sw/airborne/modules/MPPT/sim_MPPT.c → sw/airborne/modules/energy/sim_MPPT.c
diff --git a/sw/airborne/modules/gps_i2c/gps_i2c.c → sw/airborne/modules/gps/gps_i2c.c b/sw/airborne/modules/gps_i2c/gps_i2c.c → sw/airborne/modules/gps/gps_i2c.c
diff --git a/sw/airborne/modules/gps_i2c/gps_i2c.h → sw/airborne/modules/gps/gps_i2c.h b/sw/airborne/modules/gps_i2c/gps_i2c.h → sw/airborne/modules/gps/gps_i2c.h
diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c
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/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c
diff --git a/...les/led_safety_status/led_safety_status.c → ...irborne/modules/light/led_safety_status.c b/...les/led_safety_status/led_safety_status.c → ...irborne/modules/light/led_safety_status.c
diff --git a/...les/led_safety_status/led_safety_status.h → ...irborne/modules/light/led_safety_status.h b/...les/led_safety_status/led_safety_status.h → ...irborne/modules/light/led_safety_status.h
diff --git a/sw/airborne/modules/loggers/flight_recorder.c b/sw/airborne/modules/loggers/flight_recorder.c
diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.c b/sw/airborne/modules/meteo/meteo_france_DAQ.c
diff --git a/sw/airborne/modules/meteo/meteo_stick.c b/sw/airborne/modules/meteo/meteo_stick.c
diff --git a/sw/airborne/modules/meteo/mf_ptu.c b/sw/airborne/modules/meteo/mf_ptu.c
diff --git a/sw/airborne/modules/mission/mission_common.c b/sw/airborne/modules/mission/mission_common.c
diff --git a/sw/airborne/modules/mission/mission_rotorcraft_nav.c b/sw/airborne/modules/mission/mission_rotorcraft_nav.c
diff --git a/sw/airborne/modules/multi/formation.c b/sw/airborne/modules/multi/formation.c
diff --git a/sw/airborne/modules/multi/formation.h b/sw/airborne/modules/multi/formation.h
diff --git a/sw/airborne/modules/nav/nav_gls.c b/sw/airborne/modules/nav/nav_gls.c
diff --git a/sw/airborne/modules/poles/nav_poles.c → sw/airborne/modules/nav/nav_poles.c b/sw/airborne/modules/poles/nav_poles.c → sw/airborne/modules/nav/nav_poles.c
diff --git a/sw/airborne/fms/fms_periodic.h → sw/airborne/modules/nav/nav_poles.h b/sw/airborne/fms/fms_periodic.h → sw/airborne/modules/nav/nav_poles.h
diff --git a/sw/airborne/modules/nav/nav_spiral.c b/sw/airborne/modules/nav/nav_spiral.c
diff --git a/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c b/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c
diff --git a/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h b/sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h
diff --git a/sw/airborne/modules/poles/nav_poles.h b/sw/airborne/modules/poles/nav_poles.h
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_amsys.h b/sw/airborne/modules/sensors/airspeed_amsys.h
diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
diff --git a/sw/airborne/boards/ardrone/electrical_raw.c → ...ne/modules/sensors/bat_voltage_ardrone2.c b/sw/airborne/boards/ardrone/electrical_raw.c → ...ne/modules/sensors/bat_voltage_ardrone2.c
diff --git a/sw/airborne/boards/ardrone/electrical_raw.h → ...ne/modules/sensors/bat_voltage_ardrone2.h b/sw/airborne/boards/ardrone/electrical_raw.h → ...ne/modules/sensors/bat_voltage_ardrone2.h
diff --git a/sw/airborne/modules/sensors/imu_aspirin2.c b/sw/airborne/modules/sensors/imu_aspirin2.c
diff --git a/sw/airborne/modules/sensors/imu_aspirin2.h b/sw/airborne/modules/sensors/imu_aspirin2.h
diff --git a/sw/airborne/modules/sonar/sonar_bebop.c b/sw/airborne/modules/sonar/sonar_bebop.c
diff --git a/...les/deploy_sonar_buoy/deploy_sonar_buoy.h → sw/airborne/modules/sonar/sonar_bebop.h b/...les/deploy_sonar_buoy/deploy_sonar_buoy.h → sw/airborne/modules/sonar/sonar_bebop.h
diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h
diff --git a/sw/airborne/peripherals/mpu60x0_i2c.c b/sw/airborne/peripherals/mpu60x0_i2c.c
diff --git a/sw/airborne/peripherals/mpu60x0_i2c.h b/sw/airborne/peripherals/mpu60x0_i2c.h
diff --git a/sw/airborne/peripherals/mpu60x0_spi.c b/sw/airborne/peripherals/mpu60x0_spi.c
diff --git a/sw/airborne/peripherals/mpu60x0_spi.h b/sw/airborne/peripherals/mpu60x0_spi.h
diff --git a/sw/airborne/peripherals/sdcard_spi.c b/sw/airborne/peripherals/sdcard_spi.c
diff --git a/sw/airborne/peripherals/sdcard_spi.h b/sw/airborne/peripherals/sdcard_spi.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_common.h b/sw/airborne/subsystems/abi_common.h
diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h
diff --git a/sw/airborne/subsystems/actuators/motor_mixing.c b/sw/airborne/subsystems/actuators/motor_mixing.c
diff --git a/sw/airborne/subsystems/actuators/motor_mixing.h b/sw/airborne/subsystems/actuators/motor_mixing.h
diff --git a/sw/airborne/subsystems/actuators/motor_mixing_types.h b/sw/airborne/subsystems/actuators/motor_mixing_types.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c b/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_ardrone2.h b/sw/airborne/subsystems/ahrs/ahrs_ardrone2.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_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
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_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h b/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.h b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.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_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler_wrapper.c
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_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
diff --git a/sw/airborne/subsystems/chibios-libopencm3/ffconf.h b/sw/airborne/subsystems/chibios-libopencm3/ffconf.h
diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdLog.c b/sw/airborne/subsystems/chibios-libopencm3/sdLog.c
diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdLog.h b/sw/airborne/subsystems/chibios-libopencm3/sdLog.h
diff --git a/sw/airborne/subsystems/chibios-libopencm3/sdio.c b/sw/airborne/subsystems/chibios-libopencm3/sdio.c
diff --git a/sw/airborne/subsystems/chibios-libopencm3/usbStorage.c b/sw/airborne/subsystems/chibios-libopencm3/usbStorage.c
diff --git a/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.c b/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.c
diff --git a/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.h b/sw/airborne/subsystems/chibios-libopencm3/varLengthMsgQ.h
diff --git a/sw/airborne/subsystems/datalink/downlink.h b/sw/airborne/subsystems/datalink/downlink.h
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
diff --git a/sw/airborne/subsystems/gps/gps_ardrone2.c b/sw/airborne/subsystems/gps/gps_ardrone2.c
diff --git a/sw/airborne/subsystems/gps/gps_ardrone2.h b/sw/airborne/subsystems/gps/gps_ardrone2.h
diff --git a/sw/airborne/subsystems/gps/gps_datalink.c b/sw/airborne/subsystems/gps/gps_datalink.c
diff --git a/sw/airborne/subsystems/gps/gps_datalink.h b/sw/airborne/subsystems/gps/gps_datalink.h
diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c
diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/subsystems/gps/gps_mtk.h
diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c
diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.h
diff --git a/sw/airborne/subsystems/gps/gps_piksi.c b/sw/airborne/subsystems/gps/gps_piksi.c
diff --git a/sw/airborne/subsystems/gps/gps_piksi.h b/sw/airborne/subsystems/gps/gps_piksi.h
diff --git a/sw/airborne/subsystems/gps/gps_sim.c b/sw/airborne/subsystems/gps/gps_sim.c
diff --git a/sw/airborne/subsystems/gps/gps_sim.h b/sw/airborne/subsystems/gps/gps_sim.h
diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.c b/sw/airborne/subsystems/gps/gps_sim_hitl.c
diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.h b/sw/airborne/subsystems/gps/gps_sim_hitl.h
diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/subsystems/gps/gps_sim_nps.c
diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/subsystems/gps/gps_sim_nps.h
diff --git a/sw/airborne/subsystems/gps/gps_sirf.c b/sw/airborne/subsystems/gps/gps_sirf.c
diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/subsystems/gps/gps_sirf.h
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/subsystems/gps/gps_skytraq.c
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/subsystems/gps/gps_skytraq.h
diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/subsystems/gps/gps_ubx.h
diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/subsystems/gps/gps_udp.c
diff --git a/sw/airborne/subsystems/gps/gps_udp.h b/sw/airborne/subsystems/gps/gps_udp.h
diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c
diff --git a/sw/airborne/subsystems/imu/imu_analog.c b/sw/airborne/subsystems/imu/imu_analog.c
diff --git a/sw/airborne/subsystems/imu/imu_analog.h b/sw/airborne/subsystems/imu/imu_analog.h
diff --git a/...irborne/subsystems/imu/imu_ardrone2_raw.c → sw/airborne/subsystems/imu/imu_ardrone2.c b/...irborne/subsystems/imu/imu_ardrone2_raw.c → sw/airborne/subsystems/imu/imu_ardrone2.c
diff --git a/...irborne/subsystems/imu/imu_ardrone2_raw.h → sw/airborne/subsystems/imu/imu_ardrone2.h b/...irborne/subsystems/imu/imu_ardrone2_raw.h → sw/airborne/subsystems/imu/imu_ardrone2.h
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_sdk.c b/sw/airborne/subsystems/imu/imu_ardrone2_sdk.c
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_sdk.h b/sw/airborne/subsystems/imu/imu_ardrone2_sdk.h
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.h b/sw/airborne/subsystems/imu/imu_aspirin.h
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.h b/sw/airborne/subsystems/imu/imu_aspirin_i2c.h
diff --git a/sw/airborne/subsystems/imu/imu_b2.c b/sw/airborne/subsystems/imu/imu_b2.c
diff --git a/sw/airborne/subsystems/imu/imu_b2.h b/sw/airborne/subsystems/imu/imu_b2.h
diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c
diff --git a/sw/airborne/subsystems/imu/imu_bebop.h b/sw/airborne/subsystems/imu/imu_bebop.h
diff --git a/sw/airborne/subsystems/imu/imu_crista.c b/sw/airborne/subsystems/imu/imu_crista.c
diff --git a/sw/airborne/subsystems/imu/imu_crista.h b/sw/airborne/subsystems/imu/imu_crista.h
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
diff --git a/sw/airborne/subsystems/imu/imu_gl1.c b/sw/airborne/subsystems/imu/imu_gl1.c
diff --git a/sw/airborne/subsystems/imu/imu_gl1.h b/sw/airborne/subsystems/imu/imu_gl1.h
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.c b/sw/airborne/subsystems/imu/imu_mpu6000.c
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.h b/sw/airborne/subsystems/imu/imu_mpu6000.h
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
diff --git a/...irborne/boards/ardrone/electrical_dummy.c → sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h b/...irborne/boards/ardrone/electrical_dummy.c → sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
diff --git a/sw/airborne/subsystems/imu/imu_navstik.c b/sw/airborne/subsystems/imu/imu_navstik.c
diff --git a/sw/airborne/subsystems/imu/imu_navstik.h b/sw/airborne/subsystems/imu/imu_navstik.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/imu/imu_nps.h b/sw/airborne/subsystems/imu/imu_nps.h
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c b/sw/airborne/subsystems/imu/imu_ppzuav.c
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.h b/sw/airborne/subsystems/imu/imu_ppzuav.h
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c b/sw/airborne/subsystems/imu/imu_px4fmu.c
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.h b/sw/airborne/subsystems/imu/imu_px4fmu.h
diff --git a/sw/airborne/subsystems/imu/imu_um6.c b/sw/airborne/subsystems/imu/imu_um6.c
diff --git a/sw/airborne/subsystems/imu/imu_um6.h b/sw/airborne/subsystems/imu/imu_um6.h