diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml
index 80478b837c..cebaef2574 100644
--- a/conf/airframes/examples/microjet.xml
+++ b/conf/airframes/examples/microjet.xml
@@ -194,7 +194,6 @@
 
   <modules>
     <load name="openlog.xml"/>
-    <load name="nav_survey_rectangle.xml"/>
     <load name="nav_survey_poly_adv.xml"/>
     <load name="nav_border_line.xml"/>
     <load name="infrared_adc.xml"/>
diff --git a/conf/firmwares/subsystems/fixedwing/navigation.makefile b/conf/firmwares/subsystems/fixedwing/navigation.makefile
index 3908de9f78..cdf3af3921 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation.makefile
@@ -9,6 +9,6 @@ $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_line.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 
diff --git a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
index 72e53326c3..1dbcf271ca 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
@@ -9,7 +9,7 @@ $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_line.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
diff --git a/conf/modules/nav_survey_rectangle.xml b/conf/modules/nav_survey_rectangle.xml
deleted file mode 100644
index 002819d101..0000000000
--- a/conf/modules/nav_survey_rectangle.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="nav_survey_rectangle" dir="nav">
-  <doc>
-    <description>
-      Automatic survey of a rectangle for fixedwings.
-      Rectangle is defined in flight plan by two points, sweep can be south-north or west-east.
-    </description>
-  </doc>
-  <header>
-    <file name="nav_survey_rectangle.h"/>
-  </header>
-  <makefile>
-    <file name="nav_survey_rectangle.c"/>
-  </makefile>
-</module>
diff --git a/sw/airborne/subsystems/nav.h b/sw/airborne/subsystems/nav.h
index 34a0ccd996..74ce373275 100644
--- a/sw/airborne/subsystems/nav.h
+++ b/sw/airborne/subsystems/nav.h
@@ -37,6 +37,7 @@
 #ifdef CTRL_TYPE_H
 #include CTRL_TYPE_H
 #endif
+#include "subsystems/navigation/nav_survey_rectangle.h"
 #include "subsystems/navigation/common_flight_plan.h"
 #include "subsystems/navigation/common_nav.h"
 
diff --git a/sw/airborne/modules/nav/nav_survey_rectangle.c b/sw/airborne/subsystems/navigation/nav_survey_rectangle.c
similarity index 98%
rename from sw/airborne/modules/nav/nav_survey_rectangle.c
rename to sw/airborne/subsystems/navigation/nav_survey_rectangle.c
index cf2df87a49..4a39f00ace 100644
--- a/sw/airborne/modules/nav/nav_survey_rectangle.c
+++ b/sw/airborne/subsystems/navigation/nav_survey_rectangle.c
@@ -20,14 +20,14 @@
  */
 
 /**
- * @file modules/nav/nav_survey_rectangle.c
+ * @file subsystems/navigation/nav_survey_rectangle.c
  *
  * Automatic survey of a rectangle for fixedwings.
  *
  * Rectangle is defined by two points, sweep can be south-north or west-east.
  */
 
-#include "modules/nav/nav_survey_rectangle.h"
+#include "subsystems/navigation/nav_survey_rectangle.h"
 #include "state.h"
 
 static struct point survey_from;
diff --git a/sw/airborne/modules/nav/nav_survey_rectangle.h b/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
similarity index 96%
rename from sw/airborne/modules/nav/nav_survey_rectangle.h
rename to sw/airborne/subsystems/navigation/nav_survey_rectangle.h
index 893560da33..443c98ca7a 100644
--- a/sw/airborne/modules/nav/nav_survey_rectangle.h
+++ b/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/nav/nav_survey_rectangle.c
+ * @file subsystems/navigation/nav_survey_rectangle.c
  *
  * Automatic survey of a rectangle for fixedwings.
  *