diff --git a/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat_transition.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
diff --git a/conf/firmwares/subsystems/rotorcraft/stabilization_quaternion.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_quaternion.makefile
diff --git a/...rotorcraft/telemetry_transparent.makefile → ...rotorcraft/telemetry_transparent.makefile b/...rotorcraft/telemetry_transparent.makefile → ...rotorcraft/telemetry_transparent.makefile
diff --git a/...rcraft/telemetry_transparent_usb.makefile → ...rcraft/telemetry_transparent_usb.makefile b/...rcraft/telemetry_transparent_usb.makefile → ...rcraft/telemetry_transparent_usb.makefile
diff --git a/...ms/rotorcraft/telemetry_xbee_api.makefile → ...ms/rotorcraft/telemetry_xbee_api.makefile b/...ms/rotorcraft/telemetry_xbee_api.makefile → ...ms/rotorcraft/telemetry_xbee_api.makefile
diff --git a/...subsystems/shared/actuators_4015.makefile → ...subsystems/shared/actuators_4015.makefile b/...subsystems/shared/actuators_4015.makefile → ...subsystems/shared/actuators_4015.makefile
diff --git a/...subsystems/shared/actuators_4017.makefile → ...subsystems/shared/actuators_4017.makefile b/...subsystems/shared/actuators_4017.makefile → ...subsystems/shared/actuators_4017.makefile
diff --git a/...bsystems/shared/actuators_direct.makefile → ...bsystems/shared/actuators_direct.makefile b/...bsystems/shared/actuators_direct.makefile → ...bsystems/shared/actuators_direct.makefile
diff --git a/.../subsystems/shared/actuators_ppm.makefile → .../subsystems/shared/actuators_ppm.makefile b/.../subsystems/shared/actuators_ppm.makefile → .../subsystems/shared/actuators_ppm.makefile
diff --git a/...lot/subsystems/shared/i2c_select.makefile → ...res/subsystems/shared/i2c_select.makefile b/...lot/subsystems/shared/i2c_select.makefile → ...res/subsystems/shared/i2c_select.makefile
diff --git a/...lot/subsystems/shared/imu_analog.makefile → ...res/subsystems/shared/imu_analog.makefile b/...lot/subsystems/shared/imu_analog.makefile → ...res/subsystems/shared/imu_analog.makefile
diff --git a/...ot/subsystems/shared/imu_aspirin.makefile → ...es/subsystems/shared/imu_aspirin.makefile b/...ot/subsystems/shared/imu_aspirin.makefile → ...es/subsystems/shared/imu_aspirin.makefile
diff --git a/...ystems/shared/imu_aspirin_common.makefile → ...ystems/shared/imu_aspirin_common.makefile b/...ystems/shared/imu_aspirin_common.makefile → ...ystems/shared/imu_aspirin_common.makefile
diff --git a/...bsystems/shared/imu_aspirin_v1.0.makefile → ...bsystems/shared/imu_aspirin_v1.0.makefile b/...bsystems/shared/imu_aspirin_v1.0.makefile → ...bsystems/shared/imu_aspirin_v1.0.makefile
diff --git a/...bsystems/shared/imu_aspirin_v1.5.makefile → ...bsystems/shared/imu_aspirin_v1.5.makefile b/...bsystems/shared/imu_aspirin_v1.5.makefile → ...bsystems/shared/imu_aspirin_v1.5.makefile
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.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/firmwares/subsystems/shared/imu_b2_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
diff --git a/...ubsystems/rotorcraft/imu_b2_v1.1.makefile → ...es/subsystems/shared/imu_b2_v1.1.makefile b/...ubsystems/rotorcraft/imu_b2_v1.1.makefile → ...es/subsystems/shared/imu_b2_v1.1.makefile
diff --git a/...ubsystems/rotorcraft/imu_b2_v1.2.makefile → ...es/subsystems/shared/imu_b2_v1.2.makefile b/...ubsystems/rotorcraft/imu_b2_v1.2.makefile → ...es/subsystems/shared/imu_b2_v1.2.makefile
diff --git a/...ilot/subsystems/shared/imu_navgo.makefile → ...ares/subsystems/shared/imu_navgo.makefile b/...ilot/subsystems/shared/imu_navgo.makefile → ...ares/subsystems/shared/imu_navgo.makefile
diff --git a/...lot/subsystems/shared/imu_umarim.makefile → ...res/subsystems/shared/imu_umarim.makefile b/...lot/subsystems/shared/imu_umarim.makefile → ...res/subsystems/shared/imu_umarim.makefile
diff --git a/conf/firmwares/subsystems/shared/imu_yai.makefile b/conf/firmwares/subsystems/shared/imu_yai.makefile
diff --git a/...systems/shared/radio_control_ppm.makefile → ...systems/shared/radio_control_ppm.makefile b/...systems/shared/radio_control_ppm.makefile → ...systems/shared/radio_control_ppm.makefile
diff --git a/...ms/shared/radio_control_spektrum.makefile → ...ms/shared/radio_control_spektrum.makefile b/...ms/shared/radio_control_spektrum.makefile → ...ms/shared/radio_control_spektrum.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/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/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/gps/Tiny_LEA-4P-v6_POSLLH.txt b/conf/gps/Tiny_LEA-4P-v6_POSLLH.txt
diff --git a/conf/messages.xml b/conf/messages.xml
diff --git a/conf/modules/AOA_adc.xml b/conf/modules/AOA_adc.xml
diff --git a/conf/modules/MPPT.xml b/conf/modules/MPPT.xml
diff --git a/conf/modules/adc_generic.xml b/conf/modules/adc_generic.xml
diff --git a/conf/modules/airborne_ant_track.xml b/conf/modules/airborne_ant_track.xml
diff --git a/conf/modules/airspeed_adc.xml b/conf/modules/airspeed_adc.xml
diff --git a/conf/modules/airspeed_ads1114.xml b/conf/modules/airspeed_ads1114.xml
diff --git a/conf/modules/airspeed_amsys.xml b/conf/modules/airspeed_amsys.xml
diff --git a/conf/modules/airspeed_ets.xml b/conf/modules/airspeed_ets.xml
diff --git a/conf/modules/alt_filter.xml b/conf/modules/alt_filter.xml
diff --git a/conf/modules/alt_srf08.xml b/conf/modules/alt_srf08.xml
diff --git a/conf/modules/baro_MS5534A.xml b/conf/modules/baro_MS5534A.xml
diff --git a/conf/modules/baro_amsys.xml b/conf/modules/baro_amsys.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_ets.xml b/conf/modules/baro_ets.xml
diff --git a/conf/modules/baro_ms5611_i2c.xml b/conf/modules/baro_ms5611_i2c.xml
diff --git a/conf/modules/baro_scp.xml b/conf/modules/baro_scp.xml
diff --git a/conf/modules/baro_scp_i2c.xml b/conf/modules/baro_scp_i2c.xml
diff --git a/conf/modules/bat_checker.xml b/conf/modules/bat_checker.xml
diff --git a/conf/modules/booz_cam.xml b/conf/modules/booz_cam.xml
diff --git a/conf/modules/booz_drop.xml b/conf/modules/booz_drop.xml
diff --git a/conf/modules/booz_extra_dl.xml b/conf/modules/booz_extra_dl.xml
diff --git a/conf/modules/booz_pwm.xml b/conf/modules/booz_pwm.xml
diff --git a/conf/modules/cam_point.xml b/conf/modules/cam_point.xml
diff --git a/conf/modules/cam_roll.xml b/conf/modules/cam_roll.xml
diff --git a/conf/modules/cam_segment.xml b/conf/modules/cam_segment.xml
diff --git a/conf/modules/cartography.xml b/conf/modules/cartography.xml
diff --git a/conf/modules/charge_sens.xml b/conf/modules/charge_sens.xml
diff --git a/conf/modules/demo_module.xml b/conf/modules/demo_module.xml
diff --git a/conf/modules/deploy_sonar_buoy.xml b/conf/modules/deploy_sonar_buoy.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/dust_gp2y.xml b/conf/modules/dust_gp2y.xml
diff --git a/conf/modules/enose.xml b/conf/modules/enose.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/flight_benchmark.xml b/conf/modules/flight_benchmark.xml
diff --git a/conf/modules/formation_flight.xml b/conf/modules/formation_flight.xml
diff --git a/conf/modules/geiger_counter.xml b/conf/modules/geiger_counter.xml
diff --git a/conf/modules/generic_com.xml b/conf/modules/generic_com.xml
diff --git a/conf/modules/gps_i2c.xml b/conf/modules/gps_i2c.xml
diff --git a/conf/modules/gps_ubx_uart.xml b/conf/modules/gps_ubx_uart.xml
diff --git a/conf/modules/gps_ubx_ucenter.xml b/conf/modules/gps_ubx_ucenter.xml
diff --git a/conf/modules/gsm.xml b/conf/modules/gsm.xml
diff --git a/conf/modules/humid_dpicco.xml b/conf/modules/humid_dpicco.xml
diff --git a/conf/modules/humid_hih.xml b/conf/modules/humid_hih.xml
diff --git a/conf/modules/humid_htm_b71.xml b/conf/modules/humid_htm_b71.xml
diff --git a/conf/modules/humid_pcap01.xml b/conf/modules/humid_pcap01.xml
diff --git a/conf/modules/humid_sht.xml b/conf/modules/humid_sht.xml
diff --git a/conf/modules/humid_sht_i2c.xml b/conf/modules/humid_sht_i2c.xml
diff --git a/conf/modules/i2c_abuse_test.xml b/conf/modules/i2c_abuse_test.xml
diff --git a/conf/modules/imu_aspirin_i2c.xml b/conf/modules/imu_aspirin_i2c.xml
diff --git a/conf/modules/imu_ppzuav.xml b/conf/modules/imu_ppzuav.xml
diff --git a/conf/modules/infrared_adc.xml b/conf/modules/infrared_adc.xml
diff --git a/conf/modules/infrared_i2c.xml b/conf/modules/infrared_i2c.xml
diff --git a/conf/modules/ins_arduimu.xml b/conf/modules/ins_arduimu.xml
diff --git a/conf/modules/ins_arduimu_basic.xml b/conf/modules/ins_arduimu_basic.xml
diff --git a/conf/modules/ins_aspirin_via_i2c.xml b/conf/modules/ins_aspirin_via_i2c.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_osam_ugear.xml b/conf/modules/ins_osam_ugear.xml
diff --git a/conf/modules/ins_ppzuavimu.xml b/conf/modules/ins_ppzuavimu.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/ir_mlx.xml b/conf/modules/ir_mlx.xml
diff --git a/conf/modules/lcd_dogm.xml b/conf/modules/lcd_dogm.xml
diff --git a/conf/modules/light.xml b/conf/modules/light.xml
diff --git a/conf/modules/light_solar.xml b/conf/modules/light_solar.xml
diff --git a/conf/modules/light_temt.xml b/conf/modules/light_temt.xml
diff --git a/conf/modules/mag_hmc5843.xml b/conf/modules/mag_hmc5843.xml
diff --git a/conf/modules/mag_micromag_fw.xml b/conf/modules/mag_micromag_fw.xml
diff --git a/conf/modules/max11040.xml b/conf/modules/max11040.xml
diff --git a/conf/modules/max3100.xml b/conf/modules/max3100.xml
diff --git a/conf/modules/mcp355x.xml b/conf/modules/mcp355x.xml
diff --git a/conf/modules/module.dtd b/conf/modules/module.dtd
diff --git a/conf/modules/nav_catapult.xml b/conf/modules/nav_catapult.xml
diff --git a/conf/modules/openlog.xml b/conf/modules/openlog.xml
diff --git a/conf/modules/pbn.xml b/conf/modules/pbn.xml
diff --git a/conf/modules/photogrammetry_calculator.xml b/conf/modules/photogrammetry_calculator.xml
diff --git a/conf/modules/poles.xml b/conf/modules/poles.xml
diff --git a/conf/modules/potential.xml b/conf/modules/potential.xml
diff --git a/conf/modules/pwm_meas.xml b/conf/modules/pwm_meas.xml
diff --git a/conf/modules/servo_switch.xml b/conf/modules/servo_switch.xml
diff --git a/conf/modules/sonar_maxbotix_booz.xml b/conf/modules/sonar_maxbotix_booz.xml
diff --git a/conf/modules/sys_mon.xml b/conf/modules/sys_mon.xml
diff --git a/conf/modules/tcas.xml b/conf/modules/tcas.xml
diff --git a/conf/modules/temp_lm75.xml b/conf/modules/temp_lm75.xml
diff --git a/conf/modules/temp_tcouple_adc.xml b/conf/modules/temp_tcouple_adc.xml
diff --git a/conf/modules/temp_temod.xml b/conf/modules/temp_temod.xml
diff --git a/conf/modules/temp_tmp102.xml b/conf/modules/temp_tmp102.xml
diff --git a/conf/modules/trig_test.xml b/conf/modules/trig_test.xml
diff --git a/conf/modules/trigger_ext.xml b/conf/modules/trigger_ext.xml
diff --git a/conf/modules/vehicle_interface_datalink.xml b/conf/modules/vehicle_interface_datalink.xml
diff --git a/conf/modules/vehicle_interface_overo_link.xml b/conf/modules/vehicle_interface_overo_link.xml
diff --git a/conf/modules/wind_gfi.xml b/conf/modules/wind_gfi.xml
diff --git a/conf/modules/windturbine.xml b/conf/modules/windturbine.xml
diff --git a/conf/modules/xtend_rssi.xml b/conf/modules/xtend_rssi.xml
diff --git a/conf/radios/R6107SP_7ch.xml b/conf/radios/R6107SP_7ch.xml
diff --git a/conf/radios/TGY9x_jeti.xml b/conf/radios/TGY9x_jeti.xml
diff --git a/conf/radios/mc24r.xml b/conf/radios/mc24r.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/settings_beth.xml → conf/settings/beth/beth.xml b/conf/settings/settings_beth.xml → conf/settings/beth/beth.xml
diff --git a/conf/settings/settings_beth_full.xml → conf/settings/beth/beth_full.xml b/conf/settings/settings_beth_full.xml → conf/settings/beth/beth_full.xml
diff --git a/conf/settings/settings_beth_pid.xml → conf/settings/beth/beth_pid.xml b/conf/settings/settings_beth_pid.xml → conf/settings/beth/beth_pid.xml
diff --git a/conf/settings/settings_beth_reduced.xml → conf/settings/beth/beth_reduced.xml b/conf/settings/settings_beth_reduced.xml → conf/settings/beth/beth_reduced.xml
diff --git a/conf/settings/settings_beth_sfb.xml → conf/settings/beth/beth_sfb.xml b/conf/settings/settings_beth_sfb.xml → conf/settings/beth/beth_sfb.xml
diff --git a/conf/settings/settings_beth_twist.xml → conf/settings/beth/beth_twist.xml b/conf/settings/settings_beth_twist.xml → conf/settings/beth/beth_twist.xml
diff --git a/conf/settings/settings_beth_twist_old.xml → conf/settings/beth/beth_twist_old.xml b/conf/settings/settings_beth_twist_old.xml → conf/settings/beth/beth_twist_old.xml
diff --git a/conf/settings/tuning_ctl_adaptive.xml → conf/settings/control/ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml → conf/settings/control/ctl_adaptive.xml
diff --git a/conf/settings/control/ctl_adaptive_h_ff.xml b/conf/settings/control/ctl_adaptive_h_ff.xml
diff --git a/conf/settings/control/ctl_new.xml b/conf/settings/control/ctl_new.xml
diff --git a/conf/settings/tuning_ctl_new.xml → conf/settings/control/ctl_new_airspeed.xml b/conf/settings/tuning_ctl_new.xml → conf/settings/control/ctl_new_airspeed.xml
diff --git a/conf/settings/gyro.xml → conf/settings/control/ctl_rate.xml b/conf/settings/gyro.xml → conf/settings/control/ctl_rate.xml
diff --git a/conf/settings/nav_cube.xml → conf/settings/control/nav_cube.xml b/conf/settings/nav_cube.xml → conf/settings/control/nav_cube.xml
diff --git a/conf/settings/control/rotorcraft_guidance.xml b/conf/settings/control/rotorcraft_guidance.xml
diff --git a/conf/settings/snav.xml → conf/settings/control/snav.xml b/conf/settings/snav.xml → conf/settings/control/snav.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/stabilization_rate.xml b/conf/settings/control/stabilization_rate.xml
diff --git a/conf/settings/tune_agr_climb.xml → conf/settings/control/tune_agr_climb.xml b/conf/settings/tune_agr_climb.xml → conf/settings/control/tune_agr_climb.xml
diff --git a/conf/settings/csc_ap.xml b/conf/settings/csc_ap.xml
diff --git a/conf/settings/estimation/ahrs_float_dcm.xml b/conf/settings/estimation/ahrs_float_dcm.xml
diff --git a/conf/settings/settings_booz2_ahrs_cmpl.xml → ...ttings/estimation/ahrs_int_cmpl_euler.xml b/conf/settings/settings_booz2_ahrs_cmpl.xml → ...ttings/estimation/ahrs_int_cmpl_euler.xml
diff --git a/conf/settings/settings_booz2_ahrs_lkf.xml → conf/settings/estimation/booz2_ahrs_lkf.xml b/conf/settings/settings_booz2_ahrs_lkf.xml → conf/settings/estimation/booz2_ahrs_lkf.xml
diff --git a/...ettings/settings_rotorcraft_booz_baro.xml → conf/settings/estimation/booz_baro.xml b/...ettings/settings_rotorcraft_booz_baro.xml → conf/settings/estimation/booz_baro.xml
diff --git a/conf/settings/baro.xml → conf/settings/estimation/fw_baro_MS5534.xml b/conf/settings/baro.xml → conf/settings/estimation/fw_baro_MS5534.xml
diff --git a/conf/settings/estimation/fw_baro_kalman.xml b/conf/settings/estimation/fw_baro_kalman.xml
diff --git a/conf/settings/infrared.xml → conf/settings/estimation/infrared.xml b/conf/settings/infrared.xml → conf/settings/estimation/infrared.xml
diff --git a/conf/settings/estimation/ins_neutrals.xml b/conf/settings/estimation/ins_neutrals.xml
diff --git a/conf/settings/estimation/wind.xml b/conf/settings/estimation/wind.xml
diff --git a/conf/settings/external.xml b/conf/settings/external.xml
diff --git a/conf/settings/basic.xml → conf/settings/fixedwing_basic.xml b/conf/settings/basic.xml → conf/settings/fixedwing_basic.xml
diff --git a/conf/settings/tuning.xml → conf/settings/fixedwing_tuning.xml b/conf/settings/tuning.xml → conf/settings/fixedwing_tuning.xml
diff --git a/conf/settings/flight_params.xml b/conf/settings/flight_params.xml
diff --git a/conf/settings/fw_h_ctl_a_settings.xml b/conf/settings/fw_h_ctl_a_settings.xml
diff --git a/conf/settings/ihm.xml b/conf/settings/ihm.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/joystick.xml b/conf/settings/joystick.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/AOA_adc.xml → conf/settings/modules/AOA_adc.xml b/conf/settings/AOA_adc.xml → conf/settings/modules/AOA_adc.xml
diff --git a/conf/settings/MPPT_settings.xml → conf/settings/modules/MPPT_settings.xml b/conf/settings/MPPT_settings.xml → conf/settings/modules/MPPT_settings.xml
diff --git a/conf/settings/airspeed_amsys.xml → conf/settings/modules/airspeed_amsys.xml b/conf/settings/airspeed_amsys.xml → conf/settings/modules/airspeed_amsys.xml
diff --git a/conf/settings/antenna_settings.xml → conf/settings/modules/antenna_settings.xml b/conf/settings/antenna_settings.xml → conf/settings/modules/antenna_settings.xml
diff --git a/conf/settings/baro_amsys.xml → conf/settings/modules/baro_amsys.xml b/conf/settings/baro_amsys.xml → conf/settings/modules/baro_amsys.xml
diff --git a/conf/settings/benchmark.xml → conf/settings/modules/benchmark.xml b/conf/settings/benchmark.xml → conf/settings/modules/benchmark.xml
diff --git a/conf/settings/booz_cam.xml → conf/settings/modules/booz_cam.xml b/conf/settings/booz_cam.xml → conf/settings/modules/booz_cam.xml
diff --git a/conf/settings/booz_dc.xml → conf/settings/modules/booz_dc.xml b/conf/settings/booz_dc.xml → conf/settings/modules/booz_dc.xml
diff --git a/conf/settings/settings_booz_drop.xml → conf/settings/modules/booz_drop.xml b/conf/settings/settings_booz_drop.xml → conf/settings/modules/booz_drop.xml
diff --git a/conf/settings/cam.xml → conf/settings/modules/cam.xml b/conf/settings/cam.xml → conf/settings/modules/cam.xml
diff --git a/conf/settings/cam_pitch.xml → conf/settings/modules/cam_pitch.xml b/conf/settings/cam_pitch.xml → conf/settings/modules/cam_pitch.xml
diff --git a/conf/settings/cam_roll.xml → conf/settings/modules/cam_roll.xml b/conf/settings/cam_roll.xml → conf/settings/modules/cam_roll.xml
diff --git a/conf/settings/dc.xml → conf/settings/modules/dc.xml b/conf/settings/dc.xml → conf/settings/modules/dc.xml
diff --git a/conf/settings/settings_deploy_sonar_buoy.xml → conf/settings/modules/deploy_sonar_buoy.xml b/conf/settings/settings_deploy_sonar_buoy.xml → conf/settings/modules/deploy_sonar_buoy.xml
diff --git a/conf/settings/enose.xml → conf/settings/modules/enose.xml b/conf/settings/enose.xml → conf/settings/modules/enose.xml
diff --git a/conf/settings/formation.xml → conf/settings/modules/formation.xml b/conf/settings/formation.xml → conf/settings/modules/formation.xml
diff --git a/conf/settings/gps_ubx_ucenter.xml → conf/settings/modules/gps_ubx_ucenter.xml b/conf/settings/gps_ubx_ucenter.xml → conf/settings/modules/gps_ubx_ucenter.xml
diff --git a/conf/settings/modules/ins_arduimu_basic.xml b/conf/settings/modules/ins_arduimu_basic.xml
diff --git a/conf/settings/ir_i2c.xml → conf/settings/modules/ir_i2c.xml b/conf/settings/ir_i2c.xml → conf/settings/modules/ir_i2c.xml
diff --git a/conf/settings/light.xml → conf/settings/modules/light.xml b/conf/settings/light.xml → conf/settings/modules/light.xml
diff --git a/conf/settings/pbn.xml → conf/settings/modules/pbn.xml b/conf/settings/pbn.xml → conf/settings/modules/pbn.xml
diff --git a/conf/settings/photogrammetry_calculator.xml → ...ngs/modules/photogrammetry_calculator.xml b/conf/settings/photogrammetry_calculator.xml → ...ngs/modules/photogrammetry_calculator.xml
diff --git a/conf/settings/poles.xml → conf/settings/modules/poles.xml b/conf/settings/poles.xml → conf/settings/modules/poles.xml
diff --git a/conf/settings/pt_ant_settings.xml → conf/settings/modules/pt_ant_settings.xml b/conf/settings/pt_ant_settings.xml → conf/settings/modules/pt_ant_settings.xml
diff --git a/conf/settings/settings_servo_switch.xml → conf/settings/modules/servo_switch.xml b/conf/settings/settings_servo_switch.xml → conf/settings/modules/servo_switch.xml
diff --git a/conf/settings/settings_rotorcraft_vi.xml → conf/settings/modules/vehicle_interface.xml b/conf/settings/settings_rotorcraft_vi.xml → conf/settings/modules/vehicle_interface.xml
diff --git a/conf/settings/motor_bench_settings.xml → conf/settings/motor_bench.xml b/conf/settings/motor_bench_settings.xml → conf/settings/motor_bench.xml
diff --git a/conf/settings/nova_settings.xml b/conf/settings/nova_settings.xml
diff --git a/conf/settings/settings_booz2_sim.xml → conf/settings/nps.xml b/conf/settings/settings_booz2_sim.xml → conf/settings/nps.xml
diff --git a/conf/settings/switch.xml → conf/settings/power_switch.xml b/conf/settings/switch.xml → conf/settings/power_switch.xml
diff --git a/conf/settings/tuning_rc.xml → conf/settings/rc_settings_infrared.xml b/conf/settings/tuning_rc.xml → conf/settings/rc_settings_infrared.xml
diff --git a/conf/settings/tuning_ins_rc.xml → conf/settings/rc_settings_ins.xml b/conf/settings/tuning_ins_rc.xml → conf/settings/rc_settings_ins.xml
diff --git a/conf/settings/rotorcraft_basic.xml b/conf/settings/rotorcraft_basic.xml
diff --git a/conf/settings/settings_UofAdelaide.xml b/conf/settings/settings_UofAdelaide.xml
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
diff --git a/conf/settings/settings_booz2_fms_ts.xml b/conf/settings/settings_booz2_fms_ts.xml
diff --git a/conf/settings/settings_booz2_jtm.xml b/conf/settings/settings_booz2_jtm.xml
diff --git a/conf/settings/settings_whirly.xml b/conf/settings/settings_whirly.xml
diff --git a/conf/settings/settings_wt.xml b/conf/settings/settings_wt.xml
diff --git a/conf/settings/settings_booz2_asctec.xml → conf/settings/test_actuators_asctec.xml b/conf/settings/settings_booz2_asctec.xml → conf/settings/test_actuators_asctec.xml
diff --git a/...tings/settings_booz2_test_motors_hexa.xml → conf/settings/test_booz2_motors_hexa.xml b/...tings/settings_booz2_test_motors_hexa.xml → conf/settings/test_booz2_motors_hexa.xml
diff --git a/conf/settings/actuators.xml → conf/settings/test_fixedwing_actuators.xml b/conf/settings/actuators.xml → conf/settings/test_fixedwing_actuators.xml
diff --git a/conf/settings/settings_lisa_test_boards.xml → conf/settings/test_lisa_board.xml b/conf/settings/settings_lisa_test_boards.xml → conf/settings/test_lisa_board.xml
diff --git a/conf/settings/settings_test_passthrough.xml → conf/settings/test_passthrough.xml b/conf/settings/settings_test_passthrough.xml → conf/settings/test_passthrough.xml
diff --git a/conf/settings/settings_test.xml → conf/settings/test_settings.xml b/conf/settings/settings_test.xml → conf/settings/test_settings.xml
diff --git a/conf/settings/tl.xml b/conf/settings/tl.xml
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.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/settings/twisted.xml b/conf/settings/twisted.xml
diff --git a/conf/settings/ugv.xml b/conf/settings/ugv.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/system/udev/rules/50-paparazzi.rules b/conf/system/udev/rules/50-paparazzi.rules
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/booz_minimal.xml b/conf/telemetry/booz_minimal.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 → conf/telemetry/default_fixedwing.xml b/conf/telemetry/default.xml → conf/telemetry/default_fixedwing.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/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
diff --git a/conf/telemetry/telemetry_wt.xml → conf/telemetry/dummy.xml b/conf/telemetry/telemetry_wt.xml → conf/telemetry/dummy.xml
diff --git a/conf/telemetry/fw_h_ctl_a.xml → conf/telemetry/fixedwing_control_new.xml b/conf/telemetry/fw_h_ctl_a.xml → conf/telemetry/fixedwing_control_new.xml
diff --git a/conf/telemetry/hitl.xml → conf/telemetry/hitl_fixedwing.xml b/conf/telemetry/hitl.xml → conf/telemetry/hitl_fixedwing.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/nova_telemetry.xml b/conf/telemetry/nova_telemetry.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/telemetry/telemetry_whirly.xml b/conf/telemetry/telemetry_whirly.xml
diff --git a/conf/telemetry/tl.xml b/conf/telemetry/tl.xml
diff --git a/conf/telemetry/ugv.xml b/conf/telemetry/ugv.xml
diff --git a/conf/telemetry/xbee868.xml b/conf/telemetry/xbee868.xml
diff --git a/conf/units.xml b/conf/units.xml
diff --git a/data/srtm/Makefile b/data/srtm/Makefile
diff --git a/data/srtm/srtm.data.bz2 b/data/srtm/srtm.data.bz2
diff --git a/paparazzi-make b/paparazzi-make
diff --git a/sw/airborne/Makefile b/sw/airborne/Makefile
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/i2c_arch.c b/sw/airborne/arch/avr/mcu_periph/i2c_arch.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/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
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/peripherals/ms2100_arch.c b/sw/airborne/arch/lpc21/peripherals/ms2100_arch.c
diff --git a/sw/airborne/arch/lpc21/peripherals/ms2100_arch.h b/sw/airborne/arch/lpc21/peripherals/ms2100_arch.h
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