diff --git a/conf/airframes/ENAC/fixed-wing/slayer2.xml b/conf/airframes/ENAC/fixed-wing/slayer2.xml
index a93ce46e81..be0123c069 100644
--- a/conf/airframes/ENAC/fixed-wing/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/slayer2.xml
@@ -238,7 +238,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c traffic_info.c subsystems/navigation/nav_line.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 # Camera power switch on ADC_7 pin
 ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3
diff --git a/conf/airframes/Poine/antenna.xml b/conf/airframes/Poine/antenna.xml
index 6dedfbba7b..2f4f58f660 100644
--- a/conf/airframes/Poine/antenna.xml
+++ b/conf/airframes/Poine/antenna.xml
@@ -34,7 +34,7 @@ ant.srcs += downlink.c pprz_transport.c
 ant.CFLAGS += -DDOWNLINK_AP_DEVICE=Uart0 -DAP
 ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
 ant.srcs += datalink.c
-ant.srcs += traffic_info.c
+ant.srcs += subsystems/navigation/traffic_info.c
 
 ant.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
 ant.srcs += estimator.c gps_ubx.c gps.c
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index e803ecd702..3c166ec895 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -208,7 +208,7 @@ ap.srcs += adc_generic.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/TUDelft/holiday50.xml b/conf/airframes/TUDelft/holiday50.xml
index 90e51a9582..80283838a7 100644
--- a/conf/airframes/TUDelft/holiday50.xml
+++ b/conf/airframes/TUDelft/holiday50.xml
@@ -292,13 +292,13 @@ ap.srcs += gyro.c
 ap.CFLAGS += -DUSE_MODULES
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-ap.srcs += traffic_info.c
+ap.srcs += subsystems/navigation/traffic_info.c
 
 # camera control
 ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
 # -DTEST_CAM
 ap.srcs += cam.c point.c
-# traffic_info.c
+# subsystems/navigation/traffic_info.c
 
 ap.CFLAGS += -DWIND_INFO -DSTRONG_WIND
 ap.srcs += subsystems/navigation/bomb.c
@@ -308,7 +308,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c 
 sim.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
-# traffic_info.c
+# subsystems/navigation/traffic_info.c
 sim.CFLAGS += -DUSE_MODULES 
 
 sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
diff --git a/conf/airframes/hitl_usb.xml b/conf/airframes/hitl_usb.xml
index cad2111b0d..e06cd6123c 100644
--- a/conf/airframes/hitl_usb.xml
+++ b/conf/airframes/hitl_usb.xml
@@ -157,7 +157,7 @@ sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED
 sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 4803c21e11..409be7fbfb 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -236,7 +236,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigatio
 #ap.srcs += gyro.c
 
 #ap.srcs += subsystems/navigation/bomb.c
-#ap.srcs += traffic_info.c
+#ap.srcs += subsystems/navigation/traffic_info.c
 
 ap.srcs += i2c.c arm7/i2c_hw.c dpicco.c
 ap.CFLAGS += -DDPICCO
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index 6aff5e8899..8cde8d64db 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -255,7 +255,7 @@ ap.srcs += gyro.c
 ap.srcs += subsystems/navigation/bomb.c
 
 #Cap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
-#Cap.srcs += traffic_info.c point.c cam.c
+#Cap.srcs += subsystems/navigation/traffic_info.c point.c cam.c
 
 
 # Video switch
@@ -274,7 +274,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_T
 sim.srcs += subsystems/navigation/bomb.c
 
 #Csim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM
-#Csim.srcs += traffic_info.c point.c
+#Csim.srcs += subsystems/navigation/traffic_info.c point.c
 
 
   </makefile>
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index 27949d1f4b..6a8cbf38c5 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -247,7 +247,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigatio
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c
 
-ap.srcs += traffic_info.c subsystems/navigation/nav_line.c
+ap.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 # Video switch
 ap.CFLAGS += -DUSE_GPIO
@@ -263,7 +263,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
-sim.srcs += traffic_info.c subsystems/navigation/nav_line.c
+sim.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 
   </makefile>
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 0c8470b6b3..6929e54467 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -218,7 +218,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigatio
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c
 
-ap.srcs += traffic_info.c subsystems/navigation/nav_line.c
+ap.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 # Video switch
 ap.CFLAGS += -DUSE_GPIO
@@ -234,7 +234,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
-sim.srcs += traffic_info.c subsystems/navigation/nav_line.c
+sim.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 
   </makefile>
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 429a3124e7..9fb1832a7e 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -245,7 +245,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigatio
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c
 
-ap.srcs += traffic_info.c subsystems/navigation/nav_line.c
+ap.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 # Video switch
 ap.CFLAGS += -DUSE_GPIO
@@ -261,7 +261,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
-sim.srcs += traffic_info.c subsystems/navigation/nav_line.c
+sim.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 
   </makefile>
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index 0f394722f1..0d22be87d4 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -268,7 +268,7 @@ ap.srcs += gyro.c
 ap.srcs += subsystems/navigation/bomb.c
 
 ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-ap.srcs += traffic_info.c point.c cam.c subsystems/navigation/nav_line.c
+ap.srcs += subsystems/navigation/traffic_info.c point.c cam.c subsystems/navigation/nav_line.c
 
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
 ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
@@ -291,7 +291,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOIT
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-sim.srcs += traffic_info.c point.c cam.c subsystems/navigation/nav_line.c
+sim.srcs += subsystems/navigation/traffic_info.c point.c cam.c subsystems/navigation/nav_line.c
 
 
   </makefile>
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index 83cc16d57f..39d92dbe9e 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -211,6 +211,6 @@ ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rec
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c traffic_info.c subsystems/navigation/nav_line.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
   </makefile>
 </airframe>
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index dce2499c1e..936e26c13c 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -227,7 +227,7 @@ ap.srcs += gyro.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c traffic_info.c subsystems/navigation/nav_line.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 sim.CFLAGS += -DGYRO -DADXRS150
 sim.srcs += gyro.c
 
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index 02ec6dc2bc..d8d67e13fa 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -227,7 +227,7 @@ ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-ap.srcs += traffic_info.c
+ap.srcs += subsystems/navigation/traffic_info.c
 
 ap.srcs += light.c
 ap.CFLAGS += -DUSE_LIGHT
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_LIGHT
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
-sim.srcs += traffic_info.c
+sim.srcs += subsystems/navigation/traffic_info.c
 
 
 sim.srcs += light.c
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 8d4ad66ccd..1bc30e9624 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -218,7 +218,7 @@ ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-ap.srcs += traffic_info.c
+ap.srcs += subsystems/navigation/traffic_info.c
 
 # PID sensor
 ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
@@ -228,7 +228,7 @@ ap.srcs += adc_generic.c
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 # -DESTIMATOR_COMP_FILTER
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index e7706233d7..75a80869a0 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -227,14 +227,14 @@ ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rec
 ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
 # -DTEST_CAM
 ap.srcs += cam.c point.c
-# traffic_info.c
+# subsystems/navigation/traffic_info.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-sim.srcs += cam.c point.c traffic_info.c
+sim.srcs += cam.c point.c subsystems/navigation/traffic_info.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index 90e02cd19c..2fb6f0a1a5 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -231,7 +231,7 @@ ap.srcs += adc_generic.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
 ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index df3ec9d710..0eaad158af 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -218,7 +218,7 @@ ap.srcs += adc_generic.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
 ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index c7596092df..f87f77b41f 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -274,7 +274,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 # ap.CFLAGS += -DGYRO -DADXRS150
 # ap.srcs += gyro.c
 
-ap.srcs += traffic_info.c subsystems/navigation/nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/traffic_info.c subsystems/navigation/nav_survey_rectangle.c
 ap.srcs += subsystems/navigation/bomb.c
 
 # Hack to use the same tuning file than slayer1
@@ -290,7 +290,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
-sim.srcs += traffic_info.c
+sim.srcs += subsystems/navigation/traffic_info.c
 sim.srcs += subsystems/navigation/bomb.c  subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index 436ed22651..ffeba4a951 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -197,7 +197,7 @@ ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIM
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/navigation/traffic_info.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0  -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
@@ -243,7 +243,7 @@ test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_tran
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
-#sim.srcs += traffic_info.c
+#sim.srcs += subsystems/navigation/traffic_info.c
 #sim.srcs += subsystems/navigation/nav_line.c chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c light.c subsystems/navigation/snav.c
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
index ea64536b22..94e676fbfb 100644
--- a/conf/airframes/obsolete/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -185,7 +185,7 @@ ap.CFLAGS += -DUSE_UART0 -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.EXTRA_SRCS += pprz_transport.c downlink.c
 
 # Datalink (on uart0) used to emulate sensors (infrared and gps)
-ap.EXTRA_SRCS += traffic_info.c datalink.c
+ap.EXTRA_SRCS += subsystems/navigation/traffic_info.c datalink.c
 ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
 
 # Config for SITL simulation
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index 3b63a0ca00..5c758e1ba8 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -205,7 +205,7 @@ ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIM
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0  -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/navigation/traffic_info.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
@@ -243,7 +243,7 @@ test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_tran
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
-#sim.srcs += traffic_info.c
+#sim.srcs += subsystems/navigation/traffic_info.c
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c dc.c
 # chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/tiny_hitl.xml b/conf/airframes/tiny_hitl.xml
index b25b2be635..cdb99224b1 100644
--- a/conf/airframes/tiny_hitl.xml
+++ b/conf/airframes/tiny_hitl.xml
@@ -206,7 +206,7 @@ ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
   </makefile>
 </airframe>
diff --git a/conf/autopilot/subsystems/fixedwing/navigation.makefile b/conf/autopilot/subsystems/fixedwing/navigation.makefile
index 929b261ef8..b1eb8b1dad 100644
--- a/conf/autopilot/subsystems/fixedwing/navigation.makefile
+++ b/conf/autopilot/subsystems/fixedwing/navigation.makefile
@@ -5,7 +5,7 @@
 
 $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
-$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 
diff --git a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile b/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
index 72b28fcb19..91be2eba88 100644
--- a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
@@ -5,7 +5,7 @@
 
 $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
-$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_cube.c
diff --git a/sw/airborne/arch/avr/ant_tracker.c b/sw/airborne/arch/avr/ant_tracker.c
index 5d62efd219..68b172bead 100644
--- a/sw/airborne/arch/avr/ant_tracker.c
+++ b/sw/airborne/arch/avr/ant_tracker.c
@@ -1,6 +1,6 @@
 #include "ant_tracker.h"
 
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 
 uint8_t ant_track_mode;
 float ant_track_azim;
diff --git a/sw/airborne/arch/sim/jsbsim_hw.h b/sw/airborne/arch/sim/jsbsim_hw.h
index 1612287b48..6f1cbb89df 100644
--- a/sw/airborne/arch/sim/jsbsim_hw.h
+++ b/sw/airborne/arch/sim/jsbsim_hw.h
@@ -33,7 +33,7 @@
 #include "firmwares/fixedwing/autopilot.h"
 #include "estimator.h"
 #include "gps.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #include "flight_plan.h"
 #include "airframe.h"
 #include "settings.h"
diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
index 9135845934..9d1e748fdb 100644
--- a/sw/airborne/arch/sim/sim_ap.c
+++ b/sw/airborne/arch/sim/sim_ap.c
@@ -12,7 +12,7 @@
 #include "autopilot.h"
 #include "estimator.h"
 #include "gps.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #include "flight_plan.h"
 #include "settings.h"
 #include "subsystems/nav.h"
diff --git a/sw/airborne/arch/sim/sim_jsbsim.c b/sw/airborne/arch/sim/sim_jsbsim.c
index a6058cd7d9..5601be836e 100644
--- a/sw/airborne/arch/sim/sim_jsbsim.c
+++ b/sw/airborne/arch/sim/sim_jsbsim.c
@@ -12,7 +12,7 @@
 #include "autopilot.h"
 #include "estimator.h"
 #include "gps.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #include "flight_plan.h"
 #include "settings.h"
 #include "subsystems/nav.h"
diff --git a/sw/airborne/datalink.c b/sw/airborne/datalink.c
index b83dcb1f10..67fe01fa25 100644
--- a/sw/airborne/datalink.c
+++ b/sw/airborne/datalink.c
@@ -36,7 +36,7 @@
 #include "modules.h"
 
 #ifdef TRAFFIC_INFO
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #endif // TRAFFIC_INFO
 
 #ifdef USE_JOYSTICK
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 08f85429b6..993bb30718 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -73,7 +73,7 @@
 #endif
 
 #ifdef TRAFFIC_INFO
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #endif
 
 #ifdef USE_USB_SERIAL
diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c
index 0662358387..8c845e4fe0 100644
--- a/sw/airborne/modules/cam_control/cam.c
+++ b/sw/airborne/modules/cam_control/cam.c
@@ -32,7 +32,7 @@
 #include "autopilot.h"
 #include "flight_plan.h"
 #include "estimator.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #ifdef POINT_CAM
 #include "point.h"
 #endif // POINT_CAM
diff --git a/sw/airborne/modules/multi/formation.h b/sw/airborne/modules/multi/formation.h
index c1aa59b27c..e4c52af109 100644
--- a/sw/airborne/modules/multi/formation.h
+++ b/sw/airborne/modules/multi/formation.h
@@ -8,7 +8,7 @@
 #define FORMATION_H
 
 #include "subsystems/nav.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 
 #define FORM_MODE_GLOBAL 0
 #define FORM_MODE_COURSE 1
diff --git a/sw/airborne/modules/multi/potential.h b/sw/airborne/modules/multi/potential.h
index 736940eef3..63e659a4dc 100644
--- a/sw/airborne/modules/multi/potential.h
+++ b/sw/airborne/modules/multi/potential.h
@@ -8,7 +8,7 @@
 #define POTENTIAL_H
 
 #include "subsystems/nav.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 
 struct force_ {
   float east;
diff --git a/sw/airborne/modules/multi/tcas.h b/sw/airborne/modules/multi/tcas.h
index d4299f1d1c..54134d3499 100644
--- a/sw/airborne/modules/multi/tcas.h
+++ b/sw/airborne/modules/multi/tcas.h
@@ -31,7 +31,7 @@
 #define TCAS_H
 
 #include "std.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 
 extern float tcas_alt_setpoint;
 extern float tcas_tau_ta, tcas_tau_ra, tcas_dmod, tcas_alim;
diff --git a/sw/airborne/subsystems/nav.c b/sw/airborne/subsystems/nav.c
index ed6173a489..6518501f4f 100644
--- a/sw/airborne/subsystems/nav.c
+++ b/sw/airborne/subsystems/nav.c
@@ -37,7 +37,7 @@
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "firmwares/fixedwing/autopilot.h"
 #include "inter_mcu.h"
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #include "latlong.h"
 
 #define RCLost() bit_is_set(fbw_state->status, RADIO_REALLY_LOST)
diff --git a/sw/airborne/traffic_info.c b/sw/airborne/subsystems/navigation/traffic_info.c
similarity index 96%
rename from sw/airborne/traffic_info.c
rename to sw/airborne/subsystems/navigation/traffic_info.c
index e377bf8205..25f9a5c7e4 100644
--- a/sw/airborne/traffic_info.c
+++ b/sw/airborne/subsystems/navigation/traffic_info.c
@@ -27,7 +27,7 @@
  */
 
 #include <inttypes.h>
-#include "traffic_info.h"
+#include "subsystems/navigation/traffic_info.h"
 #include "airframe.h"
 
 uint8_t acs_idx;
diff --git a/sw/airborne/traffic_info.h b/sw/airborne/subsystems/navigation/traffic_info.h
similarity index 100%
rename from sw/airborne/traffic_info.h
rename to sw/airborne/subsystems/navigation/traffic_info.h