fix path to nav.c in makefiles

conf/airframes/ENAC/fixed-wing/drops.xml

@@ -256,7 +256,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
@@ -269,7 +269,7 @@ ap.srcs += snav.c
 # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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_line.c subsystems/navigation/nav_survey_rectangle.c

conf/airframes/ENAC/fixed-wing/firestorm.xml

@@ -243,7 +243,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -262,7 +262,7 @@ ap.CFLAGS += -DUSE_MODULES
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c 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.srcs = latlong.c radio_control.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
 

conf/airframes/ENAC/fixed-wing/funjet1.xml

@@ -265,7 +265,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -299,7 +299,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c 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.srcs = latlong.c radio_control.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
 

conf/airframes/ENAC/fixed-wing/minimag1.xml

@@ -207,7 +207,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.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/nav_line.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

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 += 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 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
@@ -272,7 +272,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.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  -DUSE_BARO_MS5534A 
 

conf/airframes/ENAC/fixed-wing/soarzi.xml

@@ -213,7 +213,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.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/nav_line.c
 
 ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
 

conf/airframes/ENAC/fixed-wing/solarstorm.xml

@@ -236,7 +236,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -254,7 +254,7 @@ ap.CFLAGS += -DUSE_MODULES
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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
 

conf/airframes/ENAC/fixed-wing/spocII.xml

@@ -241,7 +241,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -254,7 +254,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c 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.srcs = latlong.c radio_control.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
 

conf/airframes/ENAC/fixed-wing/twinjet2.xml

@@ -272,7 +272,7 @@ ap.srcs += infrared.c estimator.c
 
 ########## Nav
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl_n.c
+ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl_n.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 ap.srcs += subsystems/navigation/nav_line.c
 
@@ -304,7 +304,7 @@ ap.CFLAGS += -DUSE_MODULES
 
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.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 -DPITCH_TRIM -DALT_KALMAN
 

conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml

@@ -189,7 +189,7 @@ ap.srcs += infrared.c estimator.c
 
 # Control loops
 ap.CFLAGS += -DNAV -DLOITER_TRIM 
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c 
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/Paul/minimag1.xml

@@ -203,7 +203,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.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/nav_line.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

conf/airframes/Poine/easy_glider1.xml

@@ -194,7 +194,7 @@ ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 

conf/airframes/TUDelft/Trip50A.xml

@@ -284,7 +284,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
 ap.srcs += infrared.c estimator.c gyro.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 

conf/airframes/TUDelft/Trip50B.xml

@@ -289,7 +289,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
 ap.srcs += infrared.c estimator.c gyro.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 

conf/airframes/TUDelft/holiday50.xml

@@ -283,7 +283,7 @@ ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 ap.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
 
 ap.CFLAGS += -DGYRO -DADXRS150

conf/airframes/demo_module.xml

@@ -197,7 +197,7 @@ ap.srcs += infrared.c estimator.c
 
 ########## Nav
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 ap.srcs += subsystems/navigation/nav_line.c
 

conf/airframes/hitl_usb.xml

@@ -144,7 +144,7 @@ ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
@@ -155,7 +155,7 @@ ap.CFLAGS += -DGPS_USE_LATLONG # simulating LEA 5H
 # Config for SITL simulation
 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 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.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
 

conf/airframes/microjet_raw_makefile.xml

@@ -200,7 +200,7 @@
  ap.CFLAGS += -DINFRARED
  ap.srcs += infrared.c estimator.c
  ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
- ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
  ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
  ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN

conf/airframes/mm/extra/press_t.xml

@@ -260,7 +260,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/drops.xml

@@ -278,7 +278,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
@@ -294,7 +294,7 @@ sim.ARCH = sitl
 sim.TARGET = autopilot
 sim.TARGETDIR = autopilot
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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_line.c subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjeteth1.xml

@@ -237,7 +237,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_cube.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjeteth2.xml

@@ -238,7 +238,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_cube.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetfmi1.xml

@@ -240,7 +240,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetfmi2.xml

@@ -239,7 +239,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetfmi3.xml

@@ -239,7 +239,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi1.xml

@@ -217,7 +217,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi3.xml

@@ -229,7 +229,7 @@ ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 
 #ap.CFLAGS += -DGYRO -DADXRS150

conf/airframes/mm/fixed-wing/funjetgfi4.xml

@@ -218,7 +218,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi5.xml

@@ -219,7 +219,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi6.xml

@@ -219,7 +219,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi7.xml

@@ -219,7 +219,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi8.xml

@@ -219,7 +219,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetgfi9.xml

@@ -219,7 +219,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/funjetmm2.xml

@@ -246,7 +246,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/merlin.xml

@@ -214,7 +214,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
@@ -225,7 +225,7 @@ ap.srcs += snav.c
 # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c 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.srcs = latlong.c radio_control.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_line.c subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/miniwing.xml

@@ -208,7 +208,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/slowfast.xml

@@ -260,7 +260,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/slowfast2.xml

@@ -274,7 +274,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/fixed-wing/twinstarmm.xml

@@ -235,7 +235,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
@@ -248,7 +248,7 @@ ap.srcs += snav.c
 # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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_line.c subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/hangar/black_one.xml

@@ -247,7 +247,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c

conf/airframes/mm/hangar/glass_one1.xml

@@ -239,7 +239,7 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DGYRO -DADXRS150
 #ap.srcs += gyro.c

conf/airframes/mm/hangar/glass_one2.xml

@@ -213,7 +213,7 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c

conf/airframes/mm/hangar/glass_one3.xml

@@ -240,7 +240,7 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c

conf/airframes/mm/hangar/lila.xml

@@ -238,7 +238,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
@@ -248,7 +248,7 @@ ap.srcs += snav.c
 # Config for SITL simulation
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c 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.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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_line.c subsystems/navigation/nav_survey_rectangle.c

conf/airframes/mm/hangar/mac06a.xml

@@ -232,7 +232,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150

conf/airframes/mm/hangar/red_one.xml

@@ -260,7 +260,7 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c

conf/airframes/obsolete/easystar2.xml

@@ -211,7 +211,7 @@ ap.srcs += infrared.c estimator.c
 
 # Control loops
 ap.CFLAGS += -DNAV -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/obsolete/kalscott_easystar.xml

@@ -191,7 +191,7 @@ ap.srcs += infrared.c estimator.c
 
 # Control loops
 ap.CFLAGS += -DNAV -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c

conf/airframes/obsolete/malolo_sim.xml

@@ -233,7 +233,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV
 
 sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c
-sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
+sim.srcs += latlong.c radio_control.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
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c

conf/airframes/obsolete/microjet5.xml

@@ -202,7 +202,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c