diff --git a/sw/airborne/firmwares/fixedwing/main.c b/sw/airborne/firmwares/fixedwing/main.c
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.h b/sw/airborne/firmwares/fixedwing/main_ap.h
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.h
diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c
diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.c b/sw/airborne/firmwares/motor_bench/mb_modes.c
diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.h b/sw/airborne/firmwares/motor_bench/mb_modes.h
diff --git a/sw/airborne/firmwares/motor_bench/mb_servo.c b/sw/airborne/firmwares/motor_bench/mb_servo.c
diff --git a/sw/airborne/firmwares/motor_bench/turntable_systime.c b/sw/airborne/firmwares/motor_bench/turntable_systime.c
diff --git a/sw/airborne/firmwares/non_ap/led_flasher/Makefile b/sw/airborne/firmwares/non_ap/led_flasher/Makefile
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.c
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
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/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c
diff --git a/sw/airborne/firmwares/vor/Makefile b/sw/airborne/firmwares/vor/Makefile
diff --git a/sw/airborne/firmwares/vor/lpc_vor_main.c b/sw/airborne/firmwares/vor/lpc_vor_main.c
diff --git a/sw/airborne/firmwares/wind_tunnel/wt_servo.c b/sw/airborne/firmwares/wind_tunnel/wt_servo.c
diff --git a/sw/airborne/fms/Makefile b/sw/airborne/fms/Makefile
diff --git a/sw/airborne/fms/libeknav/Makefile b/sw/airborne/fms/libeknav/Makefile
diff --git a/sw/airborne/joystick.c b/sw/airborne/joystick.c
diff --git a/sw/airborne/joystick.h b/sw/airborne/joystick.h
diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
diff --git a/sw/airborne/lisa/plug_sys.c b/sw/airborne/lisa/plug_sys.c
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345.c b/sw/airborne/lisa/test/lisa_test_adxl345.c
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
diff --git a/sw/airborne/lisa/test/lisa_test_itg3200.c b/sw/airborne/lisa/test/lisa_test_itg3200.c
diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c
diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c
diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c
diff --git a/sw/airborne/boards/lisa_l/test_baro.c → sw/airborne/lisa/test_baro_i2c.c b/sw/airborne/boards/lisa_l/test_baro.c → sw/airborne/lisa/test_baro_i2c.c
diff --git a/sw/airborne/lisa/test_uart_lisal.c b/sw/airborne/lisa/test_uart_lisal.c
diff --git a/sw/airborne/lisa/test_uart_lisam.c b/sw/airborne/lisa/test_uart_lisam.c
diff --git a/sw/airborne/math/Makefile b/sw/airborne/math/Makefile
diff --git a/sw/airborne/math/pprz_geodetic_int.h b/sw/airborne/math/pprz_geodetic_int.h
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
diff --git a/sw/airborne/mcu_periph/i2c.c b/sw/airborne/mcu_periph/i2c.c
diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h
diff --git a/sw/airborne/mcu_periph/spi.c b/sw/airborne/mcu_periph/spi.c
diff --git a/sw/airborne/mcu_periph/spi.h b/sw/airborne/mcu_periph/spi.h
diff --git a/sw/airborne/mcu_periph/sys_time.c b/sw/airborne/mcu_periph/sys_time.c
diff --git a/sw/airborne/mcu_periph/sys_time.h b/sw/airborne/mcu_periph/sys_time.h
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
diff --git a/sw/airborne/micromag.c b/sw/airborne/micromag.c
diff --git a/sw/airborne/micromag.h b/sw/airborne/micromag.h
diff --git a/sw/airborne/modules/MPPT/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c
diff --git a/sw/airborne/modules/bat_checker/bat_checker.c b/sw/airborne/modules/bat_checker/bat_checker.c
diff --git a/sw/airborne/modules/benchmark/imu_quality_assessment.c b/sw/airborne/modules/benchmark/imu_quality_assessment.c
diff --git a/sw/airborne/arch/avr/servos_esc_hw.c → ...odules/benchmark/imu_quality_assessment.h b/sw/airborne/arch/avr/servos_esc_hw.c → ...odules/benchmark/imu_quality_assessment.h
diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c
diff --git a/sw/airborne/modules/config/config_mkk_v2.c b/sw/airborne/modules/config/config_mkk_v2.c
diff --git a/sw/airborne/modules/config/config_mkk_v2.h b/sw/airborne/modules/config/config_mkk_v2.h
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.c b/sw/airborne/modules/datalink/mavlink_decoder.c
diff --git a/sw/airborne/modules/datalink/mavlink_decoder.h b/sw/airborne/modules/datalink/mavlink_decoder.h
diff --git a/sw/airborne/modules/datalink/xtend_rssi.c b/sw/airborne/modules/datalink/xtend_rssi.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/gain_scheduling/gain_scheduling.c b/sw/airborne/modules/gain_scheduling/gain_scheduling.c
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.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/high_speed_logger_spi_link.h b/sw/airborne/modules/loggers/high_speed_logger_spi_link.h
diff --git a/sw/airborne/modules/max3100/max3100_hw.c b/sw/airborne/modules/max3100/max3100_hw.c
diff --git a/sw/airborne/modules/max3100/max3100_hw.h b/sw/airborne/modules/max3100/max3100_hw.h
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_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_i2c.c b/sw/airborne/modules/meteo/humid_sht_i2c.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/ir_mlx.h b/sw/airborne/modules/meteo/ir_mlx.h
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_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_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/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
diff --git a/sw/airborne/modules/nav/nav_catapult.h b/sw/airborne/modules/nav/nav_catapult.h
diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c
diff --git a/sw/airborne/modules/optical_flow/px4flow.h b/sw/airborne/modules/optical_flow/px4flow.h
diff --git a/sw/airborne/modules/sensors/AOA_adc.c b/sw/airborne/modules/sensors/AOA_adc.c
diff --git a/sw/airborne/modules/sensors/AOA_adc.h b/sw/airborne/modules/sensors/AOA_adc.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_ets.c b/sw/airborne/modules/sensors/airspeed_ets.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_otf.h b/sw/airborne/modules/sensors/airspeed_otf.h
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/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_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_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.h b/sw/airborne/modules/sensors/baro_ms5611_i2c.h
diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.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/ezcurrent.c b/sw/airborne/modules/sensors/ezcurrent.c
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_ppzuav.c b/sw/airborne/modules/sensors/imu_ppzuav.c
diff --git a/sw/airborne/modules/sensors/imu_ppzuav.h b/sw/airborne/modules/sensors/imu_ppzuav.h
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_hmc58xx.h b/sw/airborne/modules/sensors/mag_hmc58xx.h
diff --git a/sw/airborne/modules/sensors/met_module.h b/sw/airborne/modules/sensors/met_module.h
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c
diff --git a/sw/airborne/modules/sensors/trigger_ext.c b/sw/airborne/modules/sensors/trigger_ext.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_maxbotix.h → sw/airborne/modules/sonar/sonar_adc.h b/sw/airborne/modules/sonar/sonar_maxbotix.h → sw/airborne/modules/sonar/sonar_adc.h
diff --git a/sw/airborne/modules/sonar/sonar_maxbotix.c b/sw/airborne/modules/sonar/sonar_maxbotix.c
diff --git a/sw/airborne/peripherals/ads1114.c b/sw/airborne/peripherals/ads1114.c
diff --git a/sw/airborne/peripherals/ads1114.h b/sw/airborne/peripherals/ads1114.h
diff --git a/sw/airborne/peripherals/adxl345.extra_i2c.h b/sw/airborne/peripherals/adxl345.extra_i2c.h
diff --git a/sw/airborne/peripherals/adxl345.h b/sw/airborne/peripherals/adxl345.h
diff --git a/sw/airborne/peripherals/adxl345.i2c.c b/sw/airborne/peripherals/adxl345.i2c.c
diff --git a/sw/airborne/peripherals/adxl345_i2c.c b/sw/airborne/peripherals/adxl345_i2c.c
diff --git a/sw/airborne/peripherals/adxl345_i2c.h b/sw/airborne/peripherals/adxl345_i2c.h
diff --git a/sw/airborne/peripherals/adxl345_regs.h b/sw/airborne/peripherals/adxl345_regs.h
diff --git a/sw/airborne/peripherals/adxl345_spi.c b/sw/airborne/peripherals/adxl345_spi.c
diff --git a/sw/airborne/peripherals/adxl345_spi.h b/sw/airborne/peripherals/adxl345_spi.h
diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c
diff --git a/sw/airborne/peripherals/hmc58xx.c b/sw/airborne/peripherals/hmc58xx.c
diff --git a/sw/airborne/peripherals/hmc58xx.h b/sw/airborne/peripherals/hmc58xx.h
diff --git a/sw/airborne/peripherals/hmc58xx_regs.h b/sw/airborne/peripherals/hmc58xx_regs.h
diff --git a/sw/airborne/peripherals/itg3200.c b/sw/airborne/peripherals/itg3200.c
diff --git a/sw/airborne/peripherals/itg3200.extra.h b/sw/airborne/peripherals/itg3200.extra.h
diff --git a/sw/airborne/peripherals/itg3200.h b/sw/airborne/peripherals/itg3200.h
diff --git a/sw/airborne/peripherals/itg3200_regs.h b/sw/airborne/peripherals/itg3200_regs.h
diff --git a/sw/airborne/peripherals/l3g4200.c b/sw/airborne/peripherals/l3g4200.c
diff --git a/sw/airborne/peripherals/l3g4200.h b/sw/airborne/peripherals/l3g4200.h
diff --git a/sw/airborne/peripherals/l3g4200_regs.h b/sw/airborne/peripherals/l3g4200_regs.h
diff --git a/sw/airborne/peripherals/max1168.c b/sw/airborne/peripherals/max1168.c
diff --git a/sw/airborne/peripherals/mcp355x.c b/sw/airborne/peripherals/mcp355x.c
diff --git a/sw/airborne/peripherals/mpl3115.c b/sw/airborne/peripherals/mpl3115.c
diff --git a/sw/airborne/peripherals/ms2100.c b/sw/airborne/peripherals/ms2100.c
diff --git a/sw/airborne/peripherals/ms2100.h b/sw/airborne/peripherals/ms2100.h
diff --git a/sw/airborne/peripherals/ms5611.h b/sw/airborne/peripherals/ms5611.h
diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c
diff --git a/sw/airborne/state.h b/sw/airborne/state.h
diff --git a/sw/airborne/subsystems/actuators.c b/sw/airborne/subsystems/actuators.c
diff --git a/sw/airborne/subsystems/actuators.h b/sw/airborne/subsystems/actuators.h
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.c b/sw/airborne/subsystems/actuators/actuators_asctec.c
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec.h b/sw/airborne/subsystems/actuators/actuators_asctec.h
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.c b/sw/airborne/subsystems/actuators/actuators_asctec_v2.c
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.h b/sw/airborne/subsystems/actuators/actuators_asctec_v2.h
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.c b/sw/airborne/subsystems/actuators/actuators_mkk.c
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.h b/sw/airborne/subsystems/actuators/actuators_mkk.h
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk_v2.c b/sw/airborne/subsystems/actuators/actuators_mkk_v2.c
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk_v2.h b/sw/airborne/subsystems/actuators/actuators_mkk_v2.h
diff --git a/sw/airborne/subsystems/actuators/actuators_skiron.c b/sw/airborne/subsystems/actuators/actuators_skiron.c
diff --git a/sw/airborne/subsystems/actuators/motor_mixing.c b/sw/airborne/subsystems/actuators/motor_mixing.c
diff --git a/sw/airborne/subsystems/ahrs.c b/sw/airborne/subsystems/ahrs.c
diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/subsystems/ahrs.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.h b/sw/airborne/subsystems/ahrs/ahrs_aligner.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_extern_quat.c b/sw/airborne/subsystems/ahrs/ahrs_extern_quat.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_extern_quat.h b/sw/airborne/subsystems/ahrs/ahrs_extern_quat.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_ekf.c b/sw/airborne/subsystems/ahrs/ahrs_float_ekf.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_lkf.c b/sw/airborne/subsystems/ahrs/ahrs_float_lkf.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_lkf.h b/sw/airborne/subsystems/ahrs/ahrs_float_lkf.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_utils.h b/sw/airborne/subsystems/ahrs/ahrs_float_utils.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.c b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.h b/sw/airborne/subsystems/ahrs/ahrs_infrared.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_utils.h b/sw/airborne/subsystems/ahrs/ahrs_int_utils.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_magnetic_field_model.h b/sw/airborne/subsystems/ahrs/ahrs_magnetic_field_model.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.c b/sw/airborne/subsystems/ahrs/ahrs_sim.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.h b/sw/airborne/subsystems/ahrs/ahrs_sim.h
diff --git a/sw/airborne/print.h → sw/airborne/subsystems/datalink/uart_print.h b/sw/airborne/print.h → sw/airborne/subsystems/datalink/uart_print.h
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
diff --git a/sw/airborne/subsystems/electrical.c b/sw/airborne/subsystems/electrical.c
diff --git a/sw/airborne/subsystems/electrical.h b/sw/airborne/subsystems/electrical.h
diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/subsystems/gps.c
diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/subsystems/gps.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_nmea.h b/sw/airborne/subsystems/gps/gps_nmea.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/imu.c b/sw/airborne/subsystems/imu.c
diff --git a/sw/airborne/subsystems/imu.h b/sw/airborne/subsystems/imu.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_aspirin2.c b/sw/airborne/subsystems/imu/imu_aspirin2.c
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.h b/sw/airborne/subsystems/imu/imu_aspirin2.h
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_defaults.h b/sw/airborne/subsystems/imu/imu_aspirin_defaults.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_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_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
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c
diff --git a/sw/airborne/subsystems/ins/hf_float.h b/sw/airborne/subsystems/ins/hf_float.h
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.h b/sw/airborne/subsystems/ins/ins_alt_float.h
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
diff --git a/sw/airborne/subsystems/ins/ins_int.h b/sw/airborne/subsystems/ins/ins_int.h
diff --git a/sw/airborne/subsystems/ins/ins_int_extended.c b/sw/airborne/subsystems/ins/ins_int_extended.c
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/subsystems/ins/vf_extended_float.c
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.h b/sw/airborne/subsystems/ins/vf_extended_float.h
diff --git a/sw/airborne/subsystems/ins/vf_float.c b/sw/airborne/subsystems/ins/vf_float.c
diff --git a/sw/airborne/subsystems/ins/vf_float.h b/sw/airborne/subsystems/ins/vf_float.h
diff --git a/sw/airborne/subsystems/ins/vf_int.c b/sw/airborne/subsystems/ins/vf_int.c
diff --git a/sw/airborne/subsystems/ins/vf_int.h b/sw/airborne/subsystems/ins/vf_int.h
diff --git a/sw/airborne/subsystems/nav.c b/sw/airborne/subsystems/nav.c
diff --git a/sw/airborne/subsystems/nav.h b/sw/airborne/subsystems/nav.h
diff --git a/sw/airborne/subsystems/navigation/bomb.c b/sw/airborne/subsystems/navigation/bomb.c
diff --git a/sw/airborne/subsystems/navigation/bomb.h b/sw/airborne/subsystems/navigation/bomb.h
diff --git a/sw/airborne/subsystems/navigation/border_line.c b/sw/airborne/subsystems/navigation/border_line.c
diff --git a/sw/airborne/subsystems/navigation/border_line.h b/sw/airborne/subsystems/navigation/border_line.h
diff --git a/sw/airborne/subsystems/navigation/common_flight_plan.c b/sw/airborne/subsystems/navigation/common_flight_plan.c
diff --git a/sw/airborne/subsystems/navigation/common_flight_plan.h b/sw/airborne/subsystems/navigation/common_flight_plan.h
diff --git a/sw/airborne/subsystems/navigation/common_nav.c b/sw/airborne/subsystems/navigation/common_nav.c
diff --git a/sw/airborne/subsystems/navigation/common_nav.h b/sw/airborne/subsystems/navigation/common_nav.h
diff --git a/sw/airborne/subsystems/navigation/discsurvey.c b/sw/airborne/subsystems/navigation/discsurvey.c
diff --git a/sw/airborne/subsystems/navigation/discsurvey.h b/sw/airborne/subsystems/navigation/discsurvey.h
diff --git a/sw/airborne/subsystems/navigation/flightzone.c b/sw/airborne/subsystems/navigation/flightzone.c
diff --git a/sw/airborne/subsystems/navigation/flightzone.h b/sw/airborne/subsystems/navigation/flightzone.h
diff --git a/sw/airborne/subsystems/navigation/gls.c b/sw/airborne/subsystems/navigation/gls.c
diff --git a/sw/airborne/subsystems/navigation/gls.h b/sw/airborne/subsystems/navigation/gls.h
diff --git a/sw/airborne/subsystems/navigation/nav_cube.c b/sw/airborne/subsystems/navigation/nav_cube.c
diff --git a/sw/airborne/subsystems/navigation/nav_cube.h b/sw/airborne/subsystems/navigation/nav_cube.h
diff --git a/sw/airborne/subsystems/navigation/nav_line.c b/sw/airborne/subsystems/navigation/nav_line.c
diff --git a/sw/airborne/subsystems/navigation/nav_line.h b/sw/airborne/subsystems/navigation/nav_line.h
diff --git a/sw/airborne/subsystems/navigation/nav_survey_rectangle.c b/sw/airborne/subsystems/navigation/nav_survey_rectangle.c
diff --git a/sw/airborne/subsystems/navigation/nav_survey_rectangle.h b/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
diff --git a/sw/airborne/subsystems/navigation/poly_survey_adv.c b/sw/airborne/subsystems/navigation/poly_survey_adv.c
diff --git a/sw/airborne/subsystems/navigation/poly_survey_adv.h b/sw/airborne/subsystems/navigation/poly_survey_adv.h
diff --git a/sw/airborne/subsystems/navigation/snav.c b/sw/airborne/subsystems/navigation/snav.c
diff --git a/sw/airborne/subsystems/navigation/snav.h b/sw/airborne/subsystems/navigation/snav.h
diff --git a/sw/airborne/subsystems/navigation/spiral.c b/sw/airborne/subsystems/navigation/spiral.c
diff --git a/sw/airborne/subsystems/navigation/spiral.h b/sw/airborne/subsystems/navigation/spiral.h
diff --git a/sw/airborne/subsystems/navigation/traffic_info.c b/sw/airborne/subsystems/navigation/traffic_info.c
diff --git a/sw/airborne/subsystems/navigation/traffic_info.h b/sw/airborne/subsystems/navigation/traffic_info.h
diff --git a/sw/airborne/subsystems/radio_control/ppm.h b/sw/airborne/subsystems/radio_control/ppm.h
diff --git a/sw/airborne/subsystems/sensors/baro.h b/sw/airborne/subsystems/sensors/baro.h
diff --git a/sw/airborne/subsystems/sensors/infrared_i2c.c b/sw/airborne/subsystems/sensors/infrared_i2c.c
diff --git a/sw/airborne/test/Makefile b/sw/airborne/test/Makefile
diff --git a/sw/airborne/test/ahrs/Makefile b/sw/airborne/test/ahrs/Makefile
diff --git a/sw/airborne/test/mcu_periph/test_sys_time.c → ...rne/test/mcu_periph/test_sys_time_timer.c b/sw/airborne/test/mcu_periph/test_sys_time.c → ...rne/test/mcu_periph/test_sys_time_timer.c
diff --git a/sw/airborne/test/mcu_periph/test_sys_time_usleep.c b/sw/airborne/test/mcu_periph/test_sys_time_usleep.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/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c
diff --git a/sw/airborne/test/subsystems/test_imu.c b/sw/airborne/test/subsystems/test_imu.c
diff --git a/sw/airborne/test/subsystems/test_radio_control.c b/sw/airborne/test/subsystems/test_radio_control.c
diff --git a/sw/airborne/test/test_adcs.c b/sw/airborne/test/test_adcs.c
diff --git a/sw/ext/Makefile b/sw/ext/Makefile
diff --git a/sw/ext/libopencm3 b/sw/ext/libopencm3
diff --git a/sw/ext/luftboot b/sw/ext/luftboot
diff --git a/sw/ground_segment/cockpit/Makefile b/sw/ground_segment/cockpit/Makefile
diff --git a/sw/ground_segment/cockpit/compass.ml b/sw/ground_segment/cockpit/compass.ml
diff --git a/sw/ground_segment/cockpit/editFP.ml b/sw/ground_segment/cockpit/editFP.ml
diff --git a/sw/ground_segment/cockpit/gcs.ml b/sw/ground_segment/cockpit/gcs.ml
diff --git a/sw/ground_segment/cockpit/horizon.ml b/sw/ground_segment/cockpit/horizon.ml
diff --git a/sw/ground_segment/cockpit/live.ml b/sw/ground_segment/cockpit/live.ml
diff --git a/sw/ground_segment/cockpit/live.mli b/sw/ground_segment/cockpit/live.mli
diff --git a/sw/ground_segment/cockpit/map2d.ml b/sw/ground_segment/cockpit/map2d.ml
diff --git a/sw/ground_segment/cockpit/page_settings.ml b/sw/ground_segment/cockpit/page_settings.ml
diff --git a/sw/ground_segment/cockpit/pages.ml b/sw/ground_segment/cockpit/pages.ml
diff --git a/sw/ground_segment/cockpit/papgets.ml b/sw/ground_segment/cockpit/papgets.ml
diff --git a/sw/ground_segment/cockpit/particules.ml b/sw/ground_segment/cockpit/particules.ml
diff --git a/sw/ground_segment/cockpit/saveSettings.ml b/sw/ground_segment/cockpit/saveSettings.ml
diff --git a/sw/ground_segment/cockpit/sectors.ml b/sw/ground_segment/cockpit/sectors.ml
diff --git a/sw/ground_segment/cockpit/speech.ml b/sw/ground_segment/cockpit/speech.ml
diff --git a/sw/ground_segment/cockpit/strip.ml b/sw/ground_segment/cockpit/strip.ml
diff --git a/sw/ground_segment/joystick/Makefile b/sw/ground_segment/joystick/Makefile