diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h → sw/airborne/modules/imu/imu_mpu9250_i2c.h b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h → sw/airborne/modules/imu/imu_mpu9250_i2c.h
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c → sw/airborne/modules/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c → sw/airborne/modules/imu/imu_mpu9250_spi.c
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h → sw/airborne/modules/imu/imu_mpu9250_spi.h b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h → sw/airborne/modules/imu/imu_mpu9250_spi.h
diff --git a/sw/airborne/subsystems/imu/imu_navstik.c → sw/airborne/modules/imu/imu_navstik.c b/sw/airborne/subsystems/imu/imu_navstik.c → sw/airborne/modules/imu/imu_navstik.c
diff --git a/sw/airborne/subsystems/imu/imu_navstik.h → sw/airborne/modules/imu/imu_navstik.h b/sw/airborne/subsystems/imu/imu_navstik.h → sw/airborne/modules/imu/imu_navstik.h
diff --git a/sw/airborne/subsystems/imu/imu_nps.c → sw/airborne/modules/imu/imu_nps.c b/sw/airborne/subsystems/imu/imu_nps.c → sw/airborne/modules/imu/imu_nps.c
diff --git a/sw/airborne/subsystems/imu/imu_nps.h → sw/airborne/modules/imu/imu_nps.h b/sw/airborne/subsystems/imu/imu_nps.h → sw/airborne/modules/imu/imu_nps.h
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c → sw/airborne/modules/imu/imu_ppzuav.c b/sw/airborne/subsystems/imu/imu_ppzuav.c → sw/airborne/modules/imu/imu_ppzuav.c
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.h → sw/airborne/modules/imu/imu_ppzuav.h b/sw/airborne/subsystems/imu/imu_ppzuav.h → sw/airborne/modules/imu/imu_ppzuav.h
diff --git a/...irborne/subsystems/imu/imu_px4_defaults.h → sw/airborne/modules/imu/imu_px4_defaults.h b/...irborne/subsystems/imu/imu_px4_defaults.h → sw/airborne/modules/imu/imu_px4_defaults.h
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c → sw/airborne/modules/imu/imu_px4fmu.c b/sw/airborne/subsystems/imu/imu_px4fmu.c → sw/airborne/modules/imu/imu_px4fmu.c
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.h → sw/airborne/modules/imu/imu_px4fmu.h b/sw/airborne/subsystems/imu/imu_px4fmu.h → sw/airborne/modules/imu/imu_px4fmu.h
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c → sw/airborne/modules/imu/imu_px4fmu_v2.4.c b/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c → sw/airborne/modules/imu/imu_px4fmu_v2.4.c
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.h → sw/airborne/modules/imu/imu_px4fmu_v2.4.h b/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.h → sw/airborne/modules/imu/imu_px4fmu_v2.4.h
diff --git a/sw/airborne/subsystems/imu/imu_swing.c → sw/airborne/modules/imu/imu_swing.c b/sw/airborne/subsystems/imu/imu_swing.c → sw/airborne/modules/imu/imu_swing.c
diff --git a/sw/airborne/subsystems/imu/imu_swing.h → sw/airborne/modules/imu/imu_swing.h b/sw/airborne/subsystems/imu/imu_swing.h → sw/airborne/modules/imu/imu_swing.h
diff --git a/sw/airborne/subsystems/imu/imu_um6.c → sw/airborne/modules/imu/imu_um6.c b/sw/airborne/subsystems/imu/imu_um6.c → sw/airborne/modules/imu/imu_um6.c
diff --git a/sw/airborne/subsystems/imu/imu_um6.h → sw/airborne/modules/imu/imu_um6.h b/sw/airborne/subsystems/imu/imu_um6.h → sw/airborne/modules/imu/imu_um6.h
diff --git a/sw/airborne/modules/imu/imu_vectornav.c b/sw/airborne/modules/imu/imu_vectornav.c
diff --git a/sw/airborne/modules/imu/imu_vectornav.h b/sw/airborne/modules/imu/imu_vectornav.h
diff --git a/sw/airborne/modules/ins/alt_filter.c b/sw/airborne/modules/ins/alt_filter.c
diff --git a/sw/airborne/subsystems/ins/hf_float.c → sw/airborne/modules/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c → sw/airborne/modules/ins/hf_float.c
diff --git a/sw/airborne/subsystems/ins/hf_float.h → sw/airborne/modules/ins/hf_float.h b/sw/airborne/subsystems/ins/hf_float.h → sw/airborne/modules/ins/hf_float.h
diff --git a/sw/airborne/modules/ins/imu_temp_ctrl.c b/sw/airborne/modules/ins/imu_temp_ctrl.c
diff --git a/sw/airborne/modules/ins/imu_xsens.c b/sw/airborne/modules/ins/imu_xsens.c
diff --git a/sw/airborne/modules/ins/imu_xsens.h b/sw/airborne/modules/ins/imu_xsens.h
diff --git a/sw/airborne/subsystems/ins.c → sw/airborne/modules/ins/ins.c b/sw/airborne/subsystems/ins.c → sw/airborne/modules/ins/ins.c
diff --git a/sw/airborne/subsystems/ins.h → sw/airborne/modules/ins/ins.h b/sw/airborne/subsystems/ins.h → sw/airborne/modules/ins/ins.h
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c → sw/airborne/modules/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c → sw/airborne/modules/ins/ins_alt_float.c
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.h → sw/airborne/modules/ins/ins_alt_float.h b/sw/airborne/subsystems/ins/ins_alt_float.h → sw/airborne/modules/ins/ins_alt_float.h
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c
diff --git a/sw/airborne/subsystems/ins/ins_ekf2.cpp → sw/airborne/modules/ins/ins_ekf2.cpp b/sw/airborne/subsystems/ins/ins_ekf2.cpp → sw/airborne/modules/ins/ins_ekf2.cpp
diff --git a/sw/airborne/subsystems/ins/ins_ekf2.h → sw/airborne/modules/ins/ins_ekf2.h b/sw/airborne/subsystems/ins/ins_ekf2.h → sw/airborne/modules/ins/ins_ekf2.h
diff --git a/...orne/subsystems/ins/ins_float_invariant.c → ...irborne/modules/ins/ins_float_invariant.c b/...orne/subsystems/ins/ins_float_invariant.c → ...irborne/modules/ins/ins_float_invariant.c
diff --git a/...orne/subsystems/ins/ins_float_invariant.h → ...irborne/modules/ins/ins_float_invariant.h b/...orne/subsystems/ins/ins_float_invariant.h → ...irborne/modules/ins/ins_float_invariant.h
diff --git a/...systems/ins/ins_float_invariant_wrapper.c → ...modules/ins/ins_float_invariant_wrapper.c b/...systems/ins/ins_float_invariant_wrapper.c → ...modules/ins/ins_float_invariant_wrapper.c
diff --git a/...systems/ins/ins_float_invariant_wrapper.h → ...modules/ins/ins_float_invariant_wrapper.h b/...systems/ins/ins_float_invariant_wrapper.h → ...modules/ins/ins_float_invariant_wrapper.h
diff --git a/...orne/subsystems/ins/ins_gps_passthrough.c → ...irborne/modules/ins/ins_gps_passthrough.c b/...orne/subsystems/ins/ins_gps_passthrough.c → ...irborne/modules/ins/ins_gps_passthrough.c
diff --git a/...orne/subsystems/ins/ins_gps_passthrough.h → ...irborne/modules/ins/ins_gps_passthrough.h b/...orne/subsystems/ins/ins_gps_passthrough.h → ...irborne/modules/ins/ins_gps_passthrough.h
diff --git a/.../subsystems/ins/ins_gps_passthrough_utm.c → ...rne/modules/ins/ins_gps_passthrough_utm.c b/.../subsystems/ins/ins_gps_passthrough_utm.c → ...rne/modules/ins/ins_gps_passthrough_utm.c
diff --git a/sw/airborne/subsystems/ins/ins_int.c → sw/airborne/modules/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c → sw/airborne/modules/ins/ins_int.c
diff --git a/sw/airborne/subsystems/ins/ins_int.h → sw/airborne/modules/ins/ins_int.h b/sw/airborne/subsystems/ins/ins_int.h → sw/airborne/modules/ins/ins_int.h
diff --git a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
diff --git a/sw/airborne/modules/ins/ins_skeleton.c b/sw/airborne/modules/ins/ins_skeleton.c
diff --git a/sw/airborne/modules/ins/ins_skeleton.h b/sw/airborne/modules/ins/ins_skeleton.h
diff --git a/sw/airborne/subsystems/ins/ins_vectornav.c → sw/airborne/modules/ins/ins_vectornav.c b/sw/airborne/subsystems/ins/ins_vectornav.c → sw/airborne/modules/ins/ins_vectornav.c
diff --git a/sw/airborne/subsystems/ins/ins_vectornav.h → sw/airborne/modules/ins/ins_vectornav.h b/sw/airborne/subsystems/ins/ins_vectornav.h → sw/airborne/modules/ins/ins_vectornav.h
diff --git a/...ne/subsystems/ins/ins_vectornav_wrapper.c → ...borne/modules/ins/ins_vectornav_wrapper.c b/...ne/subsystems/ins/ins_vectornav_wrapper.c → ...borne/modules/ins/ins_vectornav_wrapper.c
diff --git a/...ne/subsystems/ins/ins_vectornav_wrapper.h → ...borne/modules/ins/ins_vectornav_wrapper.h b/...ne/subsystems/ins/ins_vectornav_wrapper.h → ...borne/modules/ins/ins_vectornav_wrapper.h
diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c
diff --git a/...rborne/subsystems/ins/vf_extended_float.c → sw/airborne/modules/ins/vf_extended_float.c b/...rborne/subsystems/ins/vf_extended_float.c → sw/airborne/modules/ins/vf_extended_float.c
diff --git a/...rborne/subsystems/ins/vf_extended_float.h → sw/airborne/modules/ins/vf_extended_float.h b/...rborne/subsystems/ins/vf_extended_float.h → sw/airborne/modules/ins/vf_extended_float.h
diff --git a/sw/airborne/subsystems/ins/vf_float.c → sw/airborne/modules/ins/vf_float.c b/sw/airborne/subsystems/ins/vf_float.c → sw/airborne/modules/ins/vf_float.c
diff --git a/sw/airborne/subsystems/ins/vf_float.h → sw/airborne/modules/ins/vf_float.h b/sw/airborne/subsystems/ins/vf_float.h → sw/airborne/modules/ins/vf_float.h
diff --git a/sw/airborne/modules/ins/xsens.c b/sw/airborne/modules/ins/xsens.c
diff --git a/sw/airborne/modules/ins/xsens.h b/sw/airborne/modules/ins/xsens.h
diff --git a/sw/airborne/modules/ins/xsens700.h b/sw/airborne/modules/ins/xsens700.h
diff --git a/sw/airborne/inter_mcu.c → sw/airborne/modules/intermcu/inter_mcu.c b/sw/airborne/inter_mcu.c → sw/airborne/modules/intermcu/inter_mcu.c
diff --git a/sw/airborne/inter_mcu.h → sw/airborne/modules/intermcu/inter_mcu.h b/sw/airborne/inter_mcu.h → sw/airborne/modules/intermcu/inter_mcu.h
diff --git a/sw/airborne/subsystems/intermcu.h → sw/airborne/modules/intermcu/intermcu.h b/sw/airborne/subsystems/intermcu.h → sw/airborne/modules/intermcu/intermcu.h
diff --git a/...irborne/subsystems/intermcu/intermcu_ap.c → sw/airborne/modules/intermcu/intermcu_ap.c b/...irborne/subsystems/intermcu/intermcu_ap.c → sw/airborne/modules/intermcu/intermcu_ap.c
diff --git a/...irborne/subsystems/intermcu/intermcu_ap.h → sw/airborne/modules/intermcu/intermcu_ap.h b/...irborne/subsystems/intermcu/intermcu_ap.h → sw/airborne/modules/intermcu/intermcu_ap.h
diff --git a/...rborne/subsystems/intermcu/intermcu_fbw.c → sw/airborne/modules/intermcu/intermcu_fbw.c b/...rborne/subsystems/intermcu/intermcu_fbw.c → sw/airborne/modules/intermcu/intermcu_fbw.c
diff --git a/...rborne/subsystems/intermcu/intermcu_fbw.h → sw/airborne/modules/intermcu/intermcu_fbw.h b/...rborne/subsystems/intermcu/intermcu_fbw.h → sw/airborne/modules/intermcu/intermcu_fbw.h
diff --git a/sw/airborne/link_mcu.h → sw/airborne/modules/intermcu/link_mcu.h b/sw/airborne/link_mcu.h → sw/airborne/modules/intermcu/link_mcu.h
diff --git a/sw/airborne/link_mcu_can.c → sw/airborne/modules/intermcu/link_mcu_can.c b/sw/airborne/link_mcu_can.c → sw/airborne/modules/intermcu/link_mcu_can.c
diff --git a/sw/airborne/link_mcu_can.h → sw/airborne/modules/intermcu/link_mcu_can.h b/sw/airborne/link_mcu_can.h → sw/airborne/modules/intermcu/link_mcu_can.h
diff --git a/sw/airborne/link_mcu_spi.c → sw/airborne/modules/intermcu/link_mcu_spi.c b/sw/airborne/link_mcu_spi.c → sw/airborne/modules/intermcu/link_mcu_spi.c
diff --git a/sw/airborne/link_mcu_spi.h → sw/airborne/modules/intermcu/link_mcu_spi.h b/sw/airborne/link_mcu_spi.h → sw/airborne/modules/intermcu/link_mcu_spi.h
diff --git a/sw/airborne/link_mcu_usart.c → ...irborne/modules/intermcu/link_mcu_usart.c b/sw/airborne/link_mcu_usart.c → ...irborne/modules/intermcu/link_mcu_usart.c
diff --git a/sw/airborne/link_mcu_usart.h → ...irborne/modules/intermcu/link_mcu_usart.h b/sw/airborne/link_mcu_usart.h → ...irborne/modules/intermcu/link_mcu_usart.h
diff --git a/sw/airborne/modules/joystick/joystick.c b/sw/airborne/modules/joystick/joystick.c
diff --git a/sw/airborne/modules/lidar/lidar_lite.c b/sw/airborne/modules/lidar/lidar_lite.c
diff --git a/sw/airborne/modules/lidar/lidar_sf11.c b/sw/airborne/modules/lidar/lidar_sf11.c
diff --git a/sw/airborne/modules/lidar/tfmini.c b/sw/airborne/modules/lidar/tfmini.c
diff --git a/sw/airborne/modules/lidar/tfmini_i2c.c b/sw/airborne/modules/lidar/tfmini_i2c.c
diff --git a/sw/airborne/modules/light/led_safety_status.c b/sw/airborne/modules/light/led_safety_status.c
diff --git a/sw/airborne/modules/loggers/direct_memory_logger.c b/sw/airborne/modules/loggers/direct_memory_logger.c
diff --git a/sw/airborne/modules/loggers/flight_recorder.c b/sw/airborne/modules/loggers/flight_recorder.c
diff --git a/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c b/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c
diff --git a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c
diff --git a/sw/airborne/modules/loggers/logger_control_effectiveness.c b/sw/airborne/modules/loggers/logger_control_effectiveness.c
diff --git a/sw/airborne/modules/loggers/logger_uart.c b/sw/airborne/modules/loggers/logger_uart.c
diff --git a/sw/airborne/modules/loggers/openlog.c b/sw/airborne/modules/loggers/openlog.c
diff --git a/sw/airborne/modules/loggers/sdlog_chibios.c b/sw/airborne/modules/loggers/sdlog_chibios.c
diff --git a/sw/airborne/modules/loggers/sdlogger_spi_direct.c b/sw/airborne/modules/loggers/sdlogger_spi_direct.c
diff --git a/sw/airborne/modules/mav_course_exercise/mav_exercise.c b/sw/airborne/modules/mav_course_exercise/mav_exercise.c
diff --git a/sw/airborne/modules/meteo/charge_sens.c b/sw/airborne/modules/meteo/charge_sens.c
diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c
diff --git a/sw/airborne/modules/meteo/geiger_counter.c b/sw/airborne/modules/meteo/geiger_counter.c
diff --git a/sw/airborne/modules/meteo/humid_dpicco.c b/sw/airborne/modules/meteo/humid_dpicco.c
diff --git a/sw/airborne/modules/meteo/humid_hih.c b/sw/airborne/modules/meteo/humid_hih.c
diff --git a/sw/airborne/modules/meteo/humid_htm_b71.c b/sw/airborne/modules/meteo/humid_htm_b71.c
diff --git a/sw/airborne/modules/meteo/humid_pcap01.c b/sw/airborne/modules/meteo/humid_pcap01.c
diff --git a/sw/airborne/modules/meteo/humid_sht.c b/sw/airborne/modules/meteo/humid_sht.c
diff --git a/sw/airborne/modules/meteo/humid_sht_i2c.c b/sw/airborne/modules/meteo/humid_sht_i2c.c
diff --git a/sw/airborne/modules/meteo/humid_sht_uart.c b/sw/airborne/modules/meteo/humid_sht_uart.c
diff --git a/sw/airborne/modules/meteo/ir_mlx.c b/sw/airborne/modules/meteo/ir_mlx.c
diff --git a/sw/airborne/modules/meteo/light_solar.c b/sw/airborne/modules/meteo/light_solar.c
diff --git a/sw/airborne/modules/meteo/light_temt.c b/sw/airborne/modules/meteo/light_temt.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/meteo/temp_lm75.c b/sw/airborne/modules/meteo/temp_lm75.c
diff --git a/sw/airborne/modules/meteo/temp_tcouple_adc.c b/sw/airborne/modules/meteo/temp_tcouple_adc.c
diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c
diff --git a/sw/airborne/modules/meteo/temp_tmp102.c b/sw/airborne/modules/meteo/temp_tmp102.c
diff --git a/sw/airborne/modules/meteo/wind_estimator.c b/sw/airborne/modules/meteo/wind_estimator.c
diff --git a/sw/airborne/modules/meteo/wind_gfi.c b/sw/airborne/modules/meteo/wind_gfi.c
diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c
diff --git a/sw/airborne/modules/mission/copilot.h b/sw/airborne/modules/mission/copilot.h
diff --git a/sw/airborne/modules/mission/copilot_common.c b/sw/airborne/modules/mission/copilot_common.c
diff --git a/sw/airborne/modules/mission/copilot_fixedwing.c b/sw/airborne/modules/mission/copilot_fixedwing.c
diff --git a/sw/airborne/modules/mission/copilot_rotorcraft.c b/sw/airborne/modules/mission/copilot_rotorcraft.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_fw_nav.c b/sw/airborne/modules/mission/mission_fw_nav.c
diff --git a/sw/airborne/modules/multi/ctc/ctc.c b/sw/airborne/modules/multi/ctc/ctc.c
diff --git a/sw/airborne/modules/multi/ctc/ctc_target.c b/sw/airborne/modules/multi/ctc/ctc_target.c
diff --git a/sw/airborne/modules/multi/dcf/dcf.c b/sw/airborne/modules/multi/dcf/dcf.c
diff --git a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
diff --git a/sw/airborne/modules/multi/follow.c b/sw/airborne/modules/multi/follow.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/multi/potential.c b/sw/airborne/modules/multi/potential.c
diff --git a/sw/airborne/modules/multi/rssi.c b/sw/airborne/modules/multi/rssi.c
diff --git a/sw/airborne/modules/multi/tcas.c b/sw/airborne/modules/multi/tcas.c
diff --git a/sw/airborne/modules/multi/tcas.h b/sw/airborne/modules/multi/tcas.h
diff --git a/sw/airborne/modules/multi/traffic_info.c b/sw/airborne/modules/multi/traffic_info.c
diff --git a/sw/airborne/modules/multi/traffic_info.h b/sw/airborne/modules/multi/traffic_info.h
diff --git a/...ubsystems/navigation/common_flight_plan.c → sw/airborne/modules/nav/common_flight_plan.c b/...ubsystems/navigation/common_flight_plan.c → sw/airborne/modules/nav/common_flight_plan.c
diff --git a/...ubsystems/navigation/common_flight_plan.h → sw/airborne/modules/nav/common_flight_plan.h b/...ubsystems/navigation/common_flight_plan.h → sw/airborne/modules/nav/common_flight_plan.h
diff --git a/...rborne/subsystems/navigation/common_nav.c → sw/airborne/modules/nav/common_nav.c b/...rborne/subsystems/navigation/common_nav.c → sw/airborne/modules/nav/common_nav.c
diff --git a/...rborne/subsystems/navigation/common_nav.h → sw/airborne/modules/nav/common_nav.h b/...rborne/subsystems/navigation/common_nav.h → sw/airborne/modules/nav/common_nav.h
diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
diff --git a/sw/airborne/modules/nav/nav_drop.c b/sw/airborne/modules/nav/nav_drop.c
diff --git a/sw/airborne/modules/nav/nav_fish.c b/sw/airborne/modules/nav/nav_fish.c
diff --git a/sw/airborne/modules/nav/nav_geofence.h b/sw/airborne/modules/nav/nav_geofence.h
diff --git a/sw/airborne/modules/nav/nav_poles.c b/sw/airborne/modules/nav/nav_poles.c
diff --git a/sw/airborne/modules/nav/nav_rover_base.c b/sw/airborne/modules/nav/nav_rover_base.c
diff --git a/sw/airborne/modules/nav/nav_smooth.c b/sw/airborne/modules/nav/nav_smooth.c
diff --git a/...systems/navigation/nav_survey_rectangle.c → ...rborne/modules/nav/nav_survey_rectangle.c b/...systems/navigation/nav_survey_rectangle.c → ...rborne/modules/nav/nav_survey_rectangle.c
diff --git a/...systems/navigation/nav_survey_rectangle.h → ...rborne/modules/nav/nav_survey_rectangle.h b/...systems/navigation/nav_survey_rectangle.h → ...rborne/modules/nav/nav_survey_rectangle.h
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/...irborne/subsystems/navigation/waypoints.c → sw/airborne/modules/nav/waypoints.c b/...irborne/subsystems/navigation/waypoints.c → sw/airborne/modules/nav/waypoints.c
diff --git a/...irborne/subsystems/navigation/waypoints.h → sw/airborne/modules/nav/waypoints.h b/...irborne/subsystems/navigation/waypoints.h → sw/airborne/modules/nav/waypoints.h
diff --git a/sw/airborne/modules/obstacle_avoidance/guidance_OA.c b/sw/airborne/modules/obstacle_avoidance/guidance_OA.c
diff --git a/sw/airborne/modules/obstacle_avoidance/obstacle_avoidance.c b/sw/airborne/modules/obstacle_avoidance/obstacle_avoidance.c
diff --git a/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c b/sw/airborne/modules/optical_flow/mateksys_3901_l0x.c
diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c
diff --git a/sw/airborne/modules/optical_flow/px4flow_i2c.c b/sw/airborne/modules/optical_flow/px4flow_i2c.c
diff --git a/sw/airborne/modules/orange_avoider/orange_avoider.c b/sw/airborne/modules/orange_avoider/orange_avoider.c
diff --git a/sw/airborne/modules/orange_avoider/orange_avoider_guided.c b/sw/airborne/modules/orange_avoider/orange_avoider_guided.c
diff --git a/sw/airborne/modules/pca9685/pca9685_i2c.c b/sw/airborne/modules/pca9685/pca9685_i2c.c
diff --git a/sw/airborne/modules/px4_flash/px4_flash.c b/sw/airborne/modules/px4_flash/px4_flash.c
diff --git a/sw/airborne/modules/px4_gimbal/px4_gimbal.c b/sw/airborne/modules/px4_gimbal/px4_gimbal.c
diff --git a/...adio_control/cc2500_frsky/cc2500_common.c → ...adio_control/cc2500_frsky/cc2500_common.c b/...adio_control/cc2500_frsky/cc2500_common.c → ...adio_control/cc2500_frsky/cc2500_common.c
diff --git a/...adio_control/cc2500_frsky/cc2500_common.h → ...adio_control/cc2500_frsky/cc2500_common.h b/...adio_control/cc2500_frsky/cc2500_common.h → ...adio_control/cc2500_frsky/cc2500_common.h
diff --git a/...adio_control/cc2500_frsky/cc2500_compat.c → ...adio_control/cc2500_frsky/cc2500_compat.c b/...adio_control/cc2500_frsky/cc2500_compat.c → ...adio_control/cc2500_frsky/cc2500_compat.c
diff --git a/...adio_control/cc2500_frsky/cc2500_compat.h → ...adio_control/cc2500_frsky/cc2500_compat.h b/...adio_control/cc2500_frsky/cc2500_compat.h → ...adio_control/cc2500_frsky/cc2500_compat.h
diff --git a/...ontrol/cc2500_frsky/cc2500_frsky_common.h → ...ontrol/cc2500_frsky/cc2500_frsky_common.h b/...ontrol/cc2500_frsky/cc2500_frsky_common.h → ...ontrol/cc2500_frsky/cc2500_frsky_common.h
diff --git a/...dio_control/cc2500_frsky/cc2500_frsky_d.h → ...dio_control/cc2500_frsky/cc2500_frsky_d.h b/...dio_control/cc2500_frsky/cc2500_frsky_d.h → ...dio_control/cc2500_frsky/cc2500_frsky_d.h
diff --git a/...ontrol/cc2500_frsky/cc2500_frsky_shared.c → ...ontrol/cc2500_frsky/cc2500_frsky_shared.c b/...ontrol/cc2500_frsky/cc2500_frsky_shared.c → ...ontrol/cc2500_frsky/cc2500_frsky_shared.c
diff --git a/...ontrol/cc2500_frsky/cc2500_frsky_shared.h → ...ontrol/cc2500_frsky/cc2500_frsky_shared.h b/...ontrol/cc2500_frsky/cc2500_frsky_shared.h → ...ontrol/cc2500_frsky/cc2500_frsky_shared.h
diff --git a/...dio_control/cc2500_frsky/cc2500_frsky_x.c → ...dio_control/cc2500_frsky/cc2500_frsky_x.c b/...dio_control/cc2500_frsky/cc2500_frsky_x.c → ...dio_control/cc2500_frsky/cc2500_frsky_x.c
diff --git a/...dio_control/cc2500_frsky/cc2500_frsky_x.h → ...dio_control/cc2500_frsky/cc2500_frsky_x.h b/...dio_control/cc2500_frsky/cc2500_frsky_x.h → ...dio_control/cc2500_frsky/cc2500_frsky_x.h
diff --git a/...o_control/cc2500_frsky/cc2500_paparazzi.c → ...o_control/cc2500_frsky/cc2500_paparazzi.c b/...o_control/cc2500_frsky/cc2500_paparazzi.c → ...o_control/cc2500_frsky/cc2500_paparazzi.c
diff --git a/...o_control/cc2500_frsky/cc2500_paparazzi.h → ...o_control/cc2500_frsky/cc2500_paparazzi.h b/...o_control/cc2500_frsky/cc2500_paparazzi.h → ...o_control/cc2500_frsky/cc2500_paparazzi.h
diff --git a/...ms/radio_control/cc2500_frsky/cc2500_rx.c → ...es/radio_control/cc2500_frsky/cc2500_rx.c b/...ms/radio_control/cc2500_frsky/cc2500_rx.c → ...es/radio_control/cc2500_frsky/cc2500_rx.c
diff --git a/...ms/radio_control/cc2500_frsky/cc2500_rx.h → ...es/radio_control/cc2500_frsky/cc2500_rx.h b/...ms/radio_control/cc2500_frsky/cc2500_rx.h → ...es/radio_control/cc2500_frsky/cc2500_rx.h
diff --git a/...adio_control/cc2500_frsky/cc2500_rx_spi.c → ...adio_control/cc2500_frsky/cc2500_rx_spi.c b/...adio_control/cc2500_frsky/cc2500_rx_spi.c → ...adio_control/cc2500_frsky/cc2500_rx_spi.c
diff --git a/...adio_control/cc2500_frsky/cc2500_rx_spi.h → ...adio_control/cc2500_frsky/cc2500_rx_spi.h b/...adio_control/cc2500_frsky/cc2500_rx_spi.h → ...adio_control/cc2500_frsky/cc2500_rx_spi.h
diff --git a/...ntrol/cc2500_frsky/cc2500_rx_spi_common.c → ...ntrol/cc2500_frsky/cc2500_rx_spi_common.c b/...ntrol/cc2500_frsky/cc2500_rx_spi_common.c → ...ntrol/cc2500_frsky/cc2500_rx_spi_common.c
diff --git a/...ntrol/cc2500_frsky/cc2500_rx_spi_common.h → ...ntrol/cc2500_frsky/cc2500_rx_spi_common.h b/...ntrol/cc2500_frsky/cc2500_rx_spi_common.h → ...ntrol/cc2500_frsky/cc2500_rx_spi_common.h
diff --git a/...io_control/cc2500_frsky/cc2500_settings.c → ...io_control/cc2500_frsky/cc2500_settings.c b/...io_control/cc2500_frsky/cc2500_settings.c → ...io_control/cc2500_frsky/cc2500_settings.c
diff --git a/...io_control/cc2500_frsky/cc2500_settings.h → ...io_control/cc2500_frsky/cc2500_settings.h b/...io_control/cc2500_frsky/cc2500_settings.h → ...io_control/cc2500_frsky/cc2500_settings.h
diff --git a/...o_control/cc2500_frsky/cc2500_smartport.c → ...o_control/cc2500_frsky/cc2500_smartport.c b/...o_control/cc2500_frsky/cc2500_smartport.c → ...o_control/cc2500_frsky/cc2500_smartport.c
diff --git a/...o_control/cc2500_frsky/cc2500_smartport.h → ...o_control/cc2500_frsky/cc2500_smartport.h b/...o_control/cc2500_frsky/cc2500_smartport.h → ...o_control/cc2500_frsky/cc2500_smartport.h
diff --git a/sw/airborne/subsystems/radio_control/dummy.c → sw/airborne/modules/radio_control/dummy.c b/sw/airborne/subsystems/radio_control/dummy.c → sw/airborne/modules/radio_control/dummy.c
diff --git a/sw/airborne/subsystems/radio_control/dummy.h → sw/airborne/modules/radio_control/dummy.h b/sw/airborne/subsystems/radio_control/dummy.h → sw/airborne/modules/radio_control/dummy.h
diff --git a/sw/airborne/subsystems/radio_control/hott.c → sw/airborne/modules/radio_control/hott.c b/sw/airborne/subsystems/radio_control/hott.c → sw/airborne/modules/radio_control/hott.c
diff --git a/sw/airborne/subsystems/radio_control/hott.h → sw/airborne/modules/radio_control/hott.h b/sw/airborne/subsystems/radio_control/hott.h → sw/airborne/modules/radio_control/hott.h
diff --git a/...ne/subsystems/radio_control/hott_common.c → ...borne/modules/radio_control/hott_common.c b/...ne/subsystems/radio_control/hott_common.c → ...borne/modules/radio_control/hott_common.c
diff --git a/...ne/subsystems/radio_control/hott_common.h → ...borne/modules/radio_control/hott_common.h b/...ne/subsystems/radio_control/hott_common.h → ...borne/modules/radio_control/hott_common.h
diff --git a/sw/airborne/subsystems/radio_control/ppm.c → sw/airborne/modules/radio_control/ppm.c b/sw/airborne/subsystems/radio_control/ppm.c → sw/airborne/modules/radio_control/ppm.c
diff --git a/sw/airborne/subsystems/radio_control/ppm.h → sw/airborne/modules/radio_control/ppm.h b/sw/airborne/subsystems/radio_control/ppm.h → sw/airborne/modules/radio_control/ppm.h
diff --git a/sw/airborne/subsystems/radio_control.c → ...rne/modules/radio_control/radio_control.c b/sw/airborne/subsystems/radio_control.c → ...rne/modules/radio_control/radio_control.c
diff --git a/sw/airborne/subsystems/radio_control.h → ...rne/modules/radio_control/radio_control.h b/sw/airborne/subsystems/radio_control.h → ...rne/modules/radio_control/radio_control.h
diff --git a/...ne/subsystems/radio_control/rc_datalink.c → ...borne/modules/radio_control/rc_datalink.c b/...ne/subsystems/radio_control/rc_datalink.c → ...borne/modules/radio_control/rc_datalink.c
diff --git a/...ne/subsystems/radio_control/rc_datalink.h → ...borne/modules/radio_control/rc_datalink.h b/...ne/subsystems/radio_control/rc_datalink.h → ...borne/modules/radio_control/rc_datalink.h
diff --git a/sw/airborne/subsystems/radio_control/sbus.c → sw/airborne/modules/radio_control/sbus.c b/sw/airborne/subsystems/radio_control/sbus.c → sw/airborne/modules/radio_control/sbus.c
diff --git a/sw/airborne/subsystems/radio_control/sbus.h → sw/airborne/modules/radio_control/sbus.h b/sw/airborne/subsystems/radio_control/sbus.h → sw/airborne/modules/radio_control/sbus.h
diff --git a/...ne/subsystems/radio_control/sbus_common.c → ...borne/modules/radio_control/sbus_common.c b/...ne/subsystems/radio_control/sbus_common.c → ...borne/modules/radio_control/sbus_common.c
diff --git a/...ne/subsystems/radio_control/sbus_common.h → ...borne/modules/radio_control/sbus_common.h b/...ne/subsystems/radio_control/sbus_common.h → ...borne/modules/radio_control/sbus_common.h
diff --git a/...orne/subsystems/radio_control/sbus_dual.c → ...irborne/modules/radio_control/sbus_dual.c b/...orne/subsystems/radio_control/sbus_dual.c → ...irborne/modules/radio_control/sbus_dual.c
diff --git a/...orne/subsystems/radio_control/sbus_dual.h → ...irborne/modules/radio_control/sbus_dual.h b/...orne/subsystems/radio_control/sbus_dual.h → ...irborne/modules/radio_control/sbus_dual.h
diff --git a/...borne/subsystems/radio_control/spektrum.c → sw/airborne/modules/radio_control/spektrum.c b/...borne/subsystems/radio_control/spektrum.c → sw/airborne/modules/radio_control/spektrum.c
diff --git a/...borne/subsystems/radio_control/spektrum.h → sw/airborne/modules/radio_control/spektrum.h b/...borne/subsystems/radio_control/spektrum.h → sw/airborne/modules/radio_control/spektrum.h
diff --git a/...subsystems/radio_control/spektrum_radio.h → ...ne/modules/radio_control/spektrum_radio.h b/...subsystems/radio_control/spektrum_radio.h → ...ne/modules/radio_control/spektrum_radio.h
diff --git a/.../subsystems/radio_control/superbitrf_rc.c → ...rne/modules/radio_control/superbitrf_rc.c b/.../subsystems/radio_control/superbitrf_rc.c → ...rne/modules/radio_control/superbitrf_rc.c
diff --git a/.../subsystems/radio_control/superbitrf_rc.h → ...rne/modules/radio_control/superbitrf_rc.h b/.../subsystems/radio_control/superbitrf_rc.h → ...rne/modules/radio_control/superbitrf_rc.h
diff --git a/sw/airborne/modules/range_finder/cf_deck_multi_ranger.c b/sw/airborne/modules/range_finder/cf_deck_multi_ranger.c
diff --git a/sw/airborne/modules/range_finder/laser_range_array.c b/sw/airborne/modules/range_finder/laser_range_array.c
diff --git a/sw/airborne/modules/range_finder/teraranger_one.c b/sw/airborne/modules/range_finder/teraranger_one.c
diff --git a/sw/airborne/modules/range_forcefield/range_forcefield.c b/sw/airborne/modules/range_forcefield/range_forcefield.c
diff --git a/sw/airborne/modules/relative_localization_filter/relative_localization_filter.c b/sw/airborne/modules/relative_localization_filter/relative_localization_filter.c
diff --git a/sw/airborne/modules/sensors/airspeed_adc.c b/sw/airborne/modules/sensors/airspeed_adc.c
diff --git a/sw/airborne/modules/sensors/airspeed_ads1114.c b/sw/airborne/modules/sensors/airspeed_ads1114.c
diff --git a/sw/airborne/modules/sensors/airspeed_amsys.c b/sw/airborne/modules/sensors/airspeed_amsys.c
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
diff --git a/sw/airborne/modules/sensors/airspeed_otf.c b/sw/airborne/modules/sensors/airspeed_otf.c
diff --git a/sw/airborne/modules/sensors/airspeed_sdp3x.c b/sw/airborne/modules/sensors/airspeed_sdp3x.c
diff --git a/sw/airborne/modules/sensors/airspeed_uADC.c b/sw/airborne/modules/sensors/airspeed_uADC.c
diff --git a/sw/airborne/modules/sensors/alt_srf08.c b/sw/airborne/modules/sensors/alt_srf08.c
diff --git a/sw/airborne/modules/sensors/aoa_adc.c b/sw/airborne/modules/sensors/aoa_adc.c
diff --git a/sw/airborne/modules/sensors/aoa_pwm.c b/sw/airborne/modules/sensors/aoa_pwm.c
diff --git a/sw/airborne/subsystems/sensors/baro.h → sw/airborne/modules/sensors/baro.h b/sw/airborne/subsystems/sensors/baro.h → sw/airborne/modules/sensors/baro.h
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c
diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
diff --git a/sw/airborne/modules/sensors/baro_bmp280_i2c.c b/sw/airborne/modules/sensors/baro_bmp280_i2c.c
diff --git a/sw/airborne/modules/sensors/baro_bmp3.c b/sw/airborne/modules/sensors/baro_bmp3.c
diff --git a/sw/airborne/modules/sensors/baro_board_common.c b/sw/airborne/modules/sensors/baro_board_common.c
diff --git a/sw/airborne/modules/sensors/baro_board_common.h b/sw/airborne/modules/sensors/baro_board_common.h
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
diff --git a/sw/airborne/modules/sensors/baro_hca.c b/sw/airborne/modules/sensors/baro_hca.c
diff --git a/sw/airborne/modules/sensors/baro_mpl3115.c b/sw/airborne/modules/sensors/baro_mpl3115.c
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
diff --git a/sw/airborne/modules/sensors/baro_ms5611_spi.c b/sw/airborne/modules/sensors/baro_ms5611_spi.c
diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c
diff --git a/sw/airborne/modules/sensors/baro_sim.c b/sw/airborne/modules/sensors/baro_sim.c
diff --git a/sw/airborne/modules/sensors/bat_voltage_ardrone2.c b/sw/airborne/modules/sensors/bat_voltage_ardrone2.c
diff --git a/sw/airborne/modules/sensors/cameras/jevois.c b/sw/airborne/modules/sensors/cameras/jevois.c
diff --git a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c
diff --git a/sw/airborne/modules/sensors/ezcurrent.c b/sw/airborne/modules/sensors/ezcurrent.c
diff --git a/sw/airborne/modules/sensors/mag_hmc5843.c b/sw/airborne/modules/sensors/mag_hmc5843.c
diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c
diff --git a/sw/airborne/modules/sensors/mag_ist8310.c b/sw/airborne/modules/sensors/mag_ist8310.c
diff --git a/sw/airborne/modules/sensors/mag_lis3mdl.c b/sw/airborne/modules/sensors/mag_lis3mdl.c
diff --git a/sw/airborne/modules/sensors/mag_pitot_uart.c b/sw/airborne/modules/sensors/mag_pitot_uart.c
diff --git a/sw/airborne/modules/sensors/mag_rm3100.c b/sw/airborne/modules/sensors/mag_rm3100.c
diff --git a/sw/airborne/modules/sensors/opticflow_pmw3901.c b/sw/airborne/modules/sensors/opticflow_pmw3901.c
diff --git a/sw/airborne/modules/sensors/rpm_sensor.c b/sw/airborne/modules/sensors/rpm_sensor.c
diff --git a/sw/airborne/modules/sensors/temp_adc.c b/sw/airborne/modules/sensors/temp_adc.c
diff --git a/sw/airborne/modules/servo_tester/servo_tester.c b/sw/airborne/modules/servo_tester/servo_tester.c
diff --git a/sw/airborne/modules/sonar/agl_dist.c b/sw/airborne/modules/sonar/agl_dist.c
diff --git a/sw/airborne/modules/sonar/sonar_adc.c b/sw/airborne/modules/sonar/sonar_adc.c
diff --git a/sw/airborne/modules/sonar/sonar_bebop.c b/sw/airborne/modules/sonar/sonar_bebop.c
diff --git a/sw/airborne/modules/sonar/sonar_pwm.c b/sw/airborne/modules/sonar/sonar_pwm.c
diff --git a/sw/airborne/modules/sonar/sonar_vl53l1x.c b/sw/airborne/modules/sonar/sonar_vl53l1x.c
diff --git a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c
diff --git a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_fbw.c
diff --git a/sw/airborne/modules/stereocam/droplet/stereocam_droplet.c b/sw/airborne/modules/stereocam/droplet/stereocam_droplet.c
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c
diff --git a/sw/airborne/modules/stereocam/stereocam.c b/sw/airborne/modules/stereocam/stereocam.c
diff --git a/sw/airborne/modules/stereocam/stereocam_follow_me/follow_me.c b/sw/airborne/modules/stereocam/stereocam_follow_me/follow_me.c
diff --git a/sw/airborne/modules/switching/auto1_commands.c b/sw/airborne/modules/switching/auto1_commands.c
diff --git a/sw/airborne/modules/switching/switch_servo.c b/sw/airborne/modules/switching/switch_servo.c
diff --git a/sw/airborne/modules/system_identification/sys_id_chirp.c b/sw/airborne/modules/system_identification/sys_id_chirp.c
diff --git a/sw/airborne/modules/telemetry/telemetry_intermcu_ap.c b/sw/airborne/modules/telemetry/telemetry_intermcu_ap.c
diff --git a/sw/airborne/modules/telemetry/telemetry_intermcu_fbw.c b/sw/airborne/modules/telemetry/telemetry_intermcu_fbw.c
diff --git a/sw/airborne/modules/uav_recovery/uav_recovery.c b/sw/airborne/modules/uav_recovery/uav_recovery.c
diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c
diff --git a/sw/airborne/modules/vehicle_interface/vi_test_signal.c b/sw/airborne/modules/vehicle_interface/vi_test_signal.c
diff --git a/sw/airborne/peripherals/cc2500.c b/sw/airborne/peripherals/cc2500.c
diff --git a/sw/airborne/peripherals/cyrf6936.c b/sw/airborne/peripherals/cyrf6936.c
diff --git a/sw/airborne/pprz_debug.h b/sw/airborne/pprz_debug.h
diff --git a/sw/airborne/subsystems/actuators/actuators_dshot.h b/sw/airborne/subsystems/actuators/actuators_dshot.h
diff --git a/sw/airborne/subsystems/actuators/actuators_md25.h b/sw/airborne/subsystems/actuators/actuators_md25.h
diff --git a/sw/airborne/subsystems/actuators/actuators_ostrich.h b/sw/airborne/subsystems/actuators/actuators_ostrich.h
diff --git a/sw/airborne/test/ahrs/Makefile b/sw/airborne/test/ahrs/Makefile
diff --git a/sw/airborne/test/ahrs/ahrs_on_synth.c b/sw/airborne/test/ahrs/ahrs_on_synth.c
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth.c b/sw/airborne/test/ahrs/run_ahrs_on_synth.c
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
diff --git a/sw/airborne/test/chibios_test_telemetry.c b/sw/airborne/test/chibios_test_telemetry.c
diff --git a/sw/airborne/test/mcu_periph/test_adc.c b/sw/airborne/test/mcu_periph/test_adc.c
diff --git a/sw/airborne/test/subsystems/test_ahrs.c → sw/airborne/test/modules/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c → sw/airborne/test/modules/test_ahrs.c
diff --git a/sw/airborne/test/subsystems/test_imu.c → sw/airborne/test/modules/test_imu.c b/sw/airborne/test/subsystems/test_imu.c → sw/airborne/test/modules/test_imu.c
diff --git a/...orne/test/subsystems/test_radio_control.c → ...irborne/test/modules/test_radio_control.c b/...orne/test/subsystems/test_radio_control.c → ...irborne/test/modules/test_radio_control.c
diff --git a/sw/airborne/test/subsystems/test_settings.c → sw/airborne/test/modules/test_settings.c b/sw/airborne/test/subsystems/test_settings.c → sw/airborne/test/modules/test_settings.c
diff --git a/sw/airborne/test/subsystems/test_settings.h → sw/airborne/test/modules/test_settings.h b/sw/airborne/test/subsystems/test_settings.h → sw/airborne/test/modules/test_settings.h
diff --git a/sw/airborne/test/peripherals/test_ami601.c b/sw/airborne/test/peripherals/test_ami601.c
diff --git a/sw/airborne/test/peripherals/test_lis302dl_spi.c b/sw/airborne/test/peripherals/test_lis302dl_spi.c
diff --git a/sw/airborne/test/peripherals/test_ms2100.c b/sw/airborne/test/peripherals/test_ms2100.c
diff --git a/sw/airborne/test/test_actuators_pwm.c b/sw/airborne/test/test_actuators_pwm.c
diff --git a/sw/airborne/test/test_actuators_pwm_sin.c b/sw/airborne/test/test_actuators_pwm_sin.c
diff --git a/sw/airborne/test/test_baro_board.c b/sw/airborne/test/test_baro_board.c
diff --git a/sw/airborne/test/test_baro_board_imu.c b/sw/airborne/test/test_baro_board_imu.c
diff --git a/sw/airborne/test/test_can.c b/sw/airborne/test/test_can.c
diff --git a/sw/airborne/test/test_datalink.c b/sw/airborne/test/test_datalink.c
diff --git a/sw/airborne/test/test_manual.c b/sw/airborne/test/test_manual.c
diff --git a/sw/airborne/test/test_math_trig_compressed.c b/sw/airborne/test/test_math_trig_compressed.c
diff --git a/sw/airborne/test/test_module.c b/sw/airborne/test/test_module.c
diff --git a/sw/airborne/test/test_telemetry.c b/sw/airborne/test/test_telemetry.c
diff --git a/sw/ground_segment/misc/Makefile b/sw/ground_segment/misc/Makefile