diff --git a/sw/airborne/booz/booz_guidance.h b/sw/airborne/firmwares/rotorcraft/guidance.h
similarity index 100%
rename from sw/airborne/booz/booz_guidance.h
rename to sw/airborne/firmwares/rotorcraft/guidance.h
diff --git a/sw/airborne/booz/guidance/booz2_guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
similarity index 99%
rename from sw/airborne/booz/guidance/booz2_guidance_h.c
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index cc71e15c71..5ab9eaab74 100644
--- a/sw/airborne/booz/guidance/booz2_guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -161,7 +161,7 @@ void booz2_guidance_h_read_rc(bool_t  in_flight) {
   default:
     break;
   }
-  
+
 }
 
 
@@ -398,4 +398,3 @@ static inline void booz2_guidance_h_nav_enter(void) {
   INT_VECT2_ZERO(booz2_guidance_h_pos_err_sum);
 
 }
-
diff --git a/sw/airborne/booz/guidance/booz2_guidance_h.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
similarity index 100%
rename from sw/airborne/booz/guidance/booz2_guidance_h.h
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
diff --git a/sw/airborne/booz/guidance/booz2_guidance_h_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
similarity index 99%
rename from sw/airborne/booz/guidance/booz2_guidance_h_ref.h
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
index b6cf06be8e..8b13969ceb 100644
--- a/sw/airborne/booz/guidance/booz2_guidance_h_ref.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
@@ -189,4 +189,3 @@ static inline void b2_gh_update_ref_from_speed_sp(struct Int32Vect2 speed_sp) {
 #endif /* B2_GUIDANCE_H_C */
 
 #endif /* BOOZ2_GUIDANCE_H_REF_H */
-
diff --git a/sw/airborne/booz/guidance/booz2_guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
similarity index 99%
rename from sw/airborne/booz/guidance/booz2_guidance_v.c
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 45cfa22045..9f642ddbde 100644
--- a/sw/airborne/booz/guidance/booz2_guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -281,4 +281,3 @@ static inline void run_hover_loop(bool_t in_flight) {
 
 
 }
-
diff --git a/sw/airborne/booz/guidance/booz2_guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
similarity index 100%
rename from sw/airborne/booz/guidance/booz2_guidance_v.h
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
diff --git a/sw/airborne/booz/guidance/booz2_guidance_v_adpt.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
similarity index 100%
rename from sw/airborne/booz/guidance/booz2_guidance_v_adpt.h
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
diff --git a/sw/airborne/booz/guidance/booz2_guidance_v_ref.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
similarity index 99%
rename from sw/airborne/booz/guidance/booz2_guidance_v_ref.h
rename to sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
index 709cca5b41..acd87fa748 100644
--- a/sw/airborne/booz/guidance/booz2_guidance_v_ref.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
@@ -163,4 +163,3 @@ static inline void b2_gv_update_ref_from_zd_sp(int32_t zd_sp) {
 #endif /* B2_GUIDANCE_V_C */
 
 #endif /* BOOZ2_GUIDANCE_V_REF_H */
-