diff --git a/sw/airborne/obsolete/3dmg.h b/sw/airborne/obsolete/3dmg.h
diff --git a/sw/airborne/obsolete/booz_gps.h b/sw/airborne/obsolete/booz_gps.h
diff --git a/sw/airborne/obsolete/booz_gps_skytraq.c b/sw/airborne/obsolete/booz_gps_skytraq.c
diff --git a/sw/airborne/obsolete/booz_gps_skytraq.h b/sw/airborne/obsolete/booz_gps_skytraq.h
diff --git a/sw/airborne/obsolete/booz_gps_ubx.c b/sw/airborne/obsolete/booz_gps_ubx.c
diff --git a/sw/airborne/obsolete/booz_gps_ubx.h b/sw/airborne/obsolete/booz_gps_ubx.h
diff --git a/sw/airborne/obsolete/gps.c b/sw/airborne/obsolete/gps.c
diff --git a/sw/airborne/obsolete/gps.h b/sw/airborne/obsolete/gps.h
diff --git a/sw/airborne/obsolete/gps_ubx.c b/sw/airborne/obsolete/gps_ubx.c
diff --git a/sw/airborne/obsolete/gps_ubx.h b/sw/airborne/obsolete/gps_ubx.h
diff --git a/sw/airborne/obsolete/ins_osam_ugear.c b/sw/airborne/obsolete/ins_osam_ugear.c
diff --git a/sw/airborne/obsolete/ins_osam_ugear.h b/sw/airborne/obsolete/ins_osam_ugear.h
diff --git a/sw/airborne/obsolete/latlong.c b/sw/airborne/obsolete/latlong.c
diff --git a/sw/airborne/obsolete/latlong.h b/sw/airborne/obsolete/latlong.h
diff --git a/sw/airborne/obsolete/max1167.c b/sw/airborne/obsolete/max1167.c
diff --git a/sw/airborne/obsolete/max1167.h b/sw/airborne/obsolete/max1167.h
diff --git a/sw/airborne/obsolete/max1167_hw.c b/sw/airborne/obsolete/max1167_hw.c
diff --git a/sw/airborne/obsolete/max1167_hw.h b/sw/airborne/obsolete/max1167_hw.h
diff --git a/sw/airborne/peripherals/mpu60X0.h b/sw/airborne/peripherals/mpu60X0.h
diff --git a/sw/airborne/pprz_debug.h b/sw/airborne/pprz_debug.h
diff --git a/sw/airborne/pprz_transport.h b/sw/airborne/pprz_transport.h
diff --git a/sw/airborne/rc_settings.c b/sw/airborne/rc_settings.c
diff --git a/sw/airborne/rc_settings.h b/sw/airborne/rc_settings.h
diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c
diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/subsystems/ahrs.h
diff --git a/...ne/subsystems/ahrs/ahrs_float_cmpl_rmat.c → ...irborne/subsystems/ahrs/ahrs_float_cmpl.c b/...ne/subsystems/ahrs/ahrs_float_cmpl_rmat.c → ...irborne/subsystems/ahrs/ahrs_float_cmpl.c
diff --git a/...ne/subsystems/ahrs/ahrs_float_cmpl_rmat.h → ...irborne/subsystems/ahrs/ahrs_float_cmpl.h b/...ne/subsystems/ahrs/ahrs_float_cmpl_rmat.h → ...irborne/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_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.c → ...orne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c → ...orne/subsystems/ahrs/ahrs_int_cmpl_quat.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.h → ...orne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.h → ...orne/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_sim.c b/sw/airborne/subsystems/ahrs/ahrs_sim.c
diff --git a/sw/airborne/modem.h → ...rne/subsystems/datalink/audio_telemetry.h b/sw/airborne/modem.h → ...rne/subsystems/datalink/audio_telemetry.h
diff --git a/sw/airborne/datalink.h → sw/airborne/subsystems/datalink/datalink.h b/sw/airborne/datalink.h → sw/airborne/subsystems/datalink/datalink.h
diff --git a/sw/airborne/downlink.c → sw/airborne/subsystems/datalink/downlink.c b/sw/airborne/downlink.c → sw/airborne/subsystems/datalink/downlink.c
diff --git a/sw/airborne/subsystems/datalink/downlink.h b/sw/airborne/subsystems/datalink/downlink.h
diff --git a/sw/airborne/downlink_transport.h → .../subsystems/datalink/downlink_transport.h b/sw/airborne/downlink_transport.h → .../subsystems/datalink/downlink_transport.h
diff --git a/sw/airborne/pprz_transport.c → ...orne/subsystems/datalink/pprz_transport.c b/sw/airborne/pprz_transport.c → ...orne/subsystems/datalink/pprz_transport.c
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.h b/sw/airborne/subsystems/datalink/pprz_transport.h
diff --git a/sw/airborne/sys_time.h → sw/airborne/subsystems/datalink/transport.h b/sw/airborne/sys_time.h → sw/airborne/subsystems/datalink/transport.h
diff --git a/sw/airborne/xbee.c → sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/xbee.c → sw/airborne/subsystems/datalink/xbee.c
diff --git a/sw/airborne/subsystems/datalink/xbee.h b/sw/airborne/subsystems/datalink/xbee.h
diff --git a/sw/airborne/xbee24.h → sw/airborne/subsystems/datalink/xbee24.h b/sw/airborne/xbee24.h → sw/airborne/subsystems/datalink/xbee24.h
diff --git a/sw/airborne/xbee868.h → sw/airborne/subsystems/datalink/xbee868.h b/sw/airborne/xbee868.h → sw/airborne/subsystems/datalink/xbee868.h
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/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_analog.c b/sw/airborne/subsystems/imu/imu_analog.c
diff --git a/sw/airborne/subsystems/imu/imu_analog.h b/sw/airborne/subsystems/imu/imu_analog.h
diff --git a/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/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/navigation/gls.c b/sw/airborne/subsystems/navigation/gls.c
diff --git a/sw/airborne/subsystems/navigation/spiral.c b/sw/airborne/subsystems/navigation/spiral.c
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/infrared.c b/sw/airborne/subsystems/sensors/infrared.c
diff --git a/sw/airborne/subsystems/sensors/infrared_i2c.c b/sw/airborne/subsystems/sensors/infrared_i2c.c
diff --git a/sw/airborne/subsystems/sensors/infrared_i2c.h b/sw/airborne/subsystems/sensors/infrared_i2c.h
diff --git a/sw/airborne/subsystems/settings.c b/sw/airborne/subsystems/settings.c
diff --git a/sw/airborne/sys_time.c b/sw/airborne/sys_time.c
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/ahrs_utils.py b/sw/airborne/test/ahrs/ahrs_utils.py
diff --git a/sw/airborne/test/ahrs/compare_ahrs.py b/sw/airborne/test/ahrs/compare_ahrs.py
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_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
diff --git a/sw/airborne/test/mcu_periph/test_sys_time.c b/sw/airborne/test/mcu_periph/test_sys_time.c
diff --git a/sw/airborne/test/nova_test_imu.c b/sw/airborne/test/nova_test_imu.c
diff --git a/sw/airborne/test/peripherals/test_ami601.c b/sw/airborne/test/peripherals/test_ami601.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/subsystems/test_settings.c b/sw/airborne/test/subsystems/test_settings.c
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
diff --git a/sw/airborne/test/test_adcs.c b/sw/airborne/test/test_adcs.c
diff --git a/sw/airborne/test/test_esc_asctecv1_simple.c b/sw/airborne/test/test_esc_asctecv1_simple.c
diff --git a/sw/airborne/test/test_esc_mkk_simple.c b/sw/airborne/test/test_esc_mkk_simple.c
diff --git a/sw/airborne/test/test_telemetry.c b/sw/airborne/test/test_telemetry.c
diff --git a/sw/airborne/xbee.h b/sw/airborne/xbee.h
diff --git a/sw/ground_segment/cockpit/live.ml b/sw/ground_segment/cockpit/live.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/saveSettings.ml b/sw/ground_segment/cockpit/saveSettings.ml
diff --git a/sw/ground_segment/joystick/Makefile b/sw/ground_segment/joystick/Makefile
diff --git a/sw/ground_segment/lpc21iap/Makefile b/sw/ground_segment/lpc21iap/Makefile
diff --git a/sw/ground_segment/misc/Makefile b/sw/ground_segment/misc/Makefile
diff --git a/sw/ground_segment/modem/Makefile b/sw/ground_segment/modem/Makefile
diff --git a/sw/ground_segment/multimon/Makefile b/sw/ground_segment/multimon/Makefile
diff --git a/sw/ground_segment/tmtc/messages.ml b/sw/ground_segment/tmtc/messages.ml
diff --git a/sw/ground_segment/tmtc/server.ml b/sw/ground_segment/tmtc/server.ml
diff --git a/sw/ground_segment/tmtc/settings.ml b/sw/ground_segment/tmtc/settings.ml
diff --git a/sw/in_progress/button/Makefile b/sw/in_progress/button/Makefile
diff --git a/sw/in_progress/log_parser/09_05_13__14_38_13.log b/sw/in_progress/log_parser/09_05_13__14_38_13.log
diff --git a/sw/in_progress/motor_bench/Makefile b/sw/in_progress/motor_bench/Makefile
diff --git a/sw/in_progress/python/attitude_viz.py b/sw/in_progress/python/attitude_viz.py
diff --git a/sw/in_progress/rctx/main_rctx.c b/sw/in_progress/rctx/main_rctx.c
diff --git a/sw/lib/ocaml/Makefile b/sw/lib/ocaml/Makefile
diff --git a/sw/lib/ocaml/http.ml b/sw/lib/ocaml/http.ml
diff --git a/sw/lib/ocaml/ivy/Makefile b/sw/lib/ocaml/ivy/Makefile
diff --git a/sw/lib/ocaml/ivy/README b/sw/lib/ocaml/ivy/README
diff --git a/sw/lib/ocaml/ivy/cglibivy.c b/sw/lib/ocaml/ivy/cglibivy.c
diff --git a/sw/lib/ocaml/ivy/civy.c b/sw/lib/ocaml/ivy/civy.c
diff --git a/sw/lib/ocaml/ivy/civyloop.c b/sw/lib/ocaml/ivy/civyloop.c
diff --git a/sw/lib/ocaml/ivy/ctkivy.c b/sw/lib/ocaml/ivy/ctkivy.c
diff --git a/sw/lib/ocaml/ivy/debian/changelog.3.10.2 b/sw/lib/ocaml/ivy/debian/changelog.3.10.2
diff --git a/sw/lib/ocaml/ivy/debian/changelog.3.11.2 b/sw/lib/ocaml/ivy/debian/changelog.3.11.2
diff --git a/sw/lib/ocaml/ivy/debian/compat b/sw/lib/ocaml/ivy/debian/compat
diff --git a/sw/lib/ocaml/ivy/debian/control b/sw/lib/ocaml/ivy/debian/control
diff --git a/sw/lib/ocaml/ivy/debian/rules b/sw/lib/ocaml/ivy/debian/rules
diff --git a/sw/lib/ocaml/ivy/debian/shlibs.local b/sw/lib/ocaml/ivy/debian/shlibs.local
diff --git a/sw/lib/ocaml/ivy/examples/Makefile b/sw/lib/ocaml/ivy/examples/Makefile
diff --git a/sw/lib/ocaml/ivy/examples/glibivyprobe.ml b/sw/lib/ocaml/ivy/examples/glibivyprobe.ml
diff --git a/sw/lib/ocaml/ivy/examples/ivyivyprobe.ml b/sw/lib/ocaml/ivy/examples/ivyivyprobe.ml
diff --git a/sw/lib/ocaml/ivy/examples/ivyprobe.ml b/sw/lib/ocaml/ivy/examples/ivyprobe.ml
diff --git a/sw/lib/ocaml/ivy/examples/tkivyprobe.ml b/sw/lib/ocaml/ivy/examples/tkivyprobe.ml
diff --git a/sw/lib/ocaml/ivy/glibIvy.ml b/sw/lib/ocaml/ivy/glibIvy.ml
diff --git a/sw/lib/ocaml/ivy/glibIvy.mli b/sw/lib/ocaml/ivy/glibIvy.mli
diff --git a/sw/lib/ocaml/ivy/ivy.ml b/sw/lib/ocaml/ivy/ivy.ml
diff --git a/sw/lib/ocaml/ivy/ivy.mli b/sw/lib/ocaml/ivy/ivy.mli
diff --git a/sw/lib/ocaml/ivy/ivyLoop.ml b/sw/lib/ocaml/ivy/ivyLoop.ml
diff --git a/sw/lib/ocaml/ivy/ivyLoop.mli b/sw/lib/ocaml/ivy/ivyLoop.mli
diff --git a/sw/lib/ocaml/ivy/tkIvy.ml b/sw/lib/ocaml/ivy/tkIvy.ml
diff --git a/sw/lib/ocaml/ivy/tkIvy.mli b/sw/lib/ocaml/ivy/tkIvy.mli
diff --git a/sw/lib/ocaml/mapCanvas.ml b/sw/lib/ocaml/mapCanvas.ml
diff --git a/sw/lib/ocaml/pprz.ml b/sw/lib/ocaml/pprz.ml
diff --git a/sw/lib/ocaml/pprz.mli b/sw/lib/ocaml/pprz.mli
diff --git a/sw/lib/ocaml/srtm.ml b/sw/lib/ocaml/srtm.ml
diff --git a/sw/lib/ocaml/srtm.mli b/sw/lib/ocaml/srtm.mli
diff --git a/sw/lib/ocaml/xml2h.ml b/sw/lib/ocaml/xml2h.ml
diff --git a/sw/logalizer/Makefile b/sw/logalizer/Makefile
diff --git a/sw/logalizer/matlab_log/messages.xml b/sw/logalizer/matlab_log/messages.xml
diff --git a/sw/simulator/flightModel.ml b/sw/simulator/flightModel.ml
diff --git a/sw/simulator/flightModel.mli b/sw/simulator/flightModel.mli
diff --git a/sw/simulator/hitl.ml b/sw/simulator/hitl.ml
diff --git a/sw/simulator/nps/nps_autopilot.h b/sw/simulator/nps/nps_autopilot.h
diff --git a/sw/simulator/nps/nps_autopilot_booz.c → sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_booz.c → sw/simulator/nps/nps_autopilot_rotorcraft.c
diff --git a/sw/simulator/nps/nps_autopilot_booz.h → sw/simulator/nps/nps_autopilot_rotorcraft.h b/sw/simulator/nps/nps_autopilot_booz.h → sw/simulator/nps/nps_autopilot_rotorcraft.h
diff --git a/sw/simulator/nps/nps_ivy.c b/sw/simulator/nps/nps_ivy.c
diff --git a/sw/simulator/nps/nps_main.c b/sw/simulator/nps/nps_main.c
diff --git a/sw/simulator/nps/nps_sensor_accel.c b/sw/simulator/nps/nps_sensor_accel.c
diff --git a/sw/simulator/nps/nps_sensor_accel.h b/sw/simulator/nps/nps_sensor_accel.h
diff --git a/sw/simulator/nps/nps_sensor_gyro.c b/sw/simulator/nps/nps_sensor_gyro.c
diff --git a/sw/simulator/nps/nps_sensor_gyro.h b/sw/simulator/nps/nps_sensor_gyro.h
diff --git a/sw/simulator/nps/nps_sensor_mag.c b/sw/simulator/nps/nps_sensor_mag.c
diff --git a/sw/simulator/nps/nps_sensor_mag.h b/sw/simulator/nps/nps_sensor_mag.h
diff --git a/sw/simulator/old_booz/booz2_sim_main.c b/sw/simulator/old_booz/booz2_sim_main.c
diff --git a/sw/simulator/old_booz/tests/Makefile b/sw/simulator/old_booz/tests/Makefile
diff --git a/sw/simulator/sim.ml b/sw/simulator/sim.ml
diff --git a/sw/simulator/sim.mli b/sw/simulator/sim.mli
diff --git a/sw/simulator/sim_ac_fw.c b/sw/simulator/sim_ac_fw.c
diff --git a/sw/simulator/sim_ac_jsbsim.c b/sw/simulator/sim_ac_jsbsim.c
diff --git a/sw/simulator/sim_ac_jsbsim.h b/sw/simulator/sim_ac_jsbsim.h
diff --git a/sw/simulator/sitl.ml b/sw/simulator/sitl.ml
diff --git a/sw/supervision/Makefile b/sw/supervision/Makefile
diff --git a/sw/tools/Makefile b/sw/tools/Makefile
diff --git a/sw/tools/gen_airframe.ml b/sw/tools/gen_airframe.ml
diff --git a/sw/tools/gen_messages.ml b/sw/tools/gen_messages.ml
diff --git a/sw/tools/gen_periodic.ml b/sw/tools/gen_periodic.ml
diff --git a/sw/tools/gen_radio.ml b/sw/tools/gen_radio.ml
diff --git a/sw/tools/gen_settings.ml b/sw/tools/gen_settings.ml
diff --git a/sw/tools/gen_srtm.ml b/sw/tools/gen_srtm.ml