diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index 558226830c..624613693b 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -213,7 +213,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -262,7 +262,7 @@ ap.srcs += subsystems/navigation/bomb.c
 ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.srcs = latlong.c radio_control.c subsystems/datalink/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 += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index 8d1e2ca662..53e3a0e3e9 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -217,7 +217,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 
 
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/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
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index daddc4fc3a..57bc526541 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -204,7 +204,7 @@
   <makefile>
 
 # Config for SITL simulation with JSBSim
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
 
 sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
 sim.LDFLAGS += -L/home/cocoleon/usr/lib/
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index 454e24bb65..6e0f247347 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -187,7 +187,7 @@
 
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -259,7 +259,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A
 
 # Config for SITL simulation
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/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
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index cf30dd8658..2b8fd204f6 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -202,7 +202,7 @@
  <makefile>
 CONFIG = \"tiny_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -251,7 +251,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 ap.CFLAGS += -DUSE_MODULES
 
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/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
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index a36cb2fa2f..243e881365 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -208,7 +208,7 @@
  <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -251,7 +251,7 @@ ap.srcs += gyro.c
 ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
 
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/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
@@ -261,7 +261,7 @@ 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
 
 # Config for JSBSim simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
 
 jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
 jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index 9766aaf447..973bfe6de4 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -175,7 +175,7 @@
 </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -218,7 +218,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv
 ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index 039210f933..0eb5cc0ca9 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -200,7 +200,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # Setting this flag prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 9dcfcbfb62..1dd2032774 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -218,7 +218,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # Setting this flag prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index abd5e75a47..678dec3509 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -318,7 +318,7 @@ overo_sfb.srcs    += $(SRC_BETH)/overo_sfb_controller.c
 #
 #
 #
-include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/obsolete/lisa_test_progs.makefile
 
   </makefile>
 
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/Poine/booz2_a1p.xml
index b400829f6e..05b8e004b4 100644
--- a/conf/airframes/Poine/booz2_a1p.xml
+++ b/conf/airframes/Poine/booz2_a1p.xml
@@ -208,7 +208,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 #ap.CFLAGS += -DKILL_MOTORS
 ap.CFLAGS += -DMODEM_BAUD=B57600
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 6c489be107..7816695120 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -155,7 +155,7 @@
 
  <makefile>
 CONFIG=\"tiny_0_99.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -202,7 +202,7 @@ ap.srcs += adc_generic.c
 # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index a4ee7bea79..ed517e8c1a 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -160,7 +160,7 @@
   <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -203,7 +203,7 @@ ap.srcs += subsystems/navigation/nav_line.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
diff --git a/conf/airframes/mm/extra/logger_sd_adc.xml b/conf/airframes/mm/extra/logger_sd_adc.xml
index c995eadd47..817515c109 100644
--- a/conf/airframes/mm/extra/logger_sd_adc.xml
+++ b/conf/airframes/mm/extra/logger_sd_adc.xml
@@ -56,7 +56,7 @@
 
 CONFIG = \"tiny_2_1_1_usb.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index fbc2bf3f31..7b68974f30 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -218,7 +218,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -284,7 +284,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/extra/quiet.xml b/conf/airframes/mm/extra/quiet.xml
index 0d3754173d..c1465c0da0 100644
--- a/conf/airframes/mm/extra/quiet.xml
+++ b/conf/airframes/mm/extra/quiet.xml
@@ -10,7 +10,7 @@
 
 CONFIG = \"tiny_2_1_1_usb.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml
index 768e25e0ea..29adc0da51 100644
--- a/conf/airframes/mm/extra/rctx.xml
+++ b/conf/airframes/mm/extra/rctx.xml
@@ -22,7 +22,7 @@
 
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index fcd566968e..24577db1a7 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -234,7 +234,7 @@
 <!--makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -283,7 +283,7 @@ ap.srcs += subsystems/navigation/bomb.c
 ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.ARCH = sitl
 sim.TARGET = autopilot
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index ce27ab3d70..4216e1aac9 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -195,7 +195,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -249,7 +249,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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 subsystems/navigation/nav_cube.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 9380acb59c..ad74368e74 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -196,7 +196,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -249,7 +249,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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 subsystems/navigation/nav_cube.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index b61c373043..e4b69ff75d 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -198,7 +198,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -262,7 +262,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 0f1a1e5497..d4844e2ee0 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -197,7 +197,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index c9e1cf65e8..5e232a17f3 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -197,7 +197,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index a889cc65ca..aef66af118 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -175,7 +175,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -227,7 +227,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 13302fb736..852039a9bb 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -186,7 +186,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -257,7 +257,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index c1de946238..48e420acf6 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -175,7 +175,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -227,7 +227,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index 4fc37cc3b8..59ab0bb0f9 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 9df7592ba8..8f6e9ffa8d 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 869bb9a981..92a5a0c7ae 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 3fbb93ee36..6195d8af7f 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index 2e24ad138c..e32437aa27 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -203,7 +203,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index d877733960..57445fa207 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -171,7 +171,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -213,7 +213,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 ap.CFLAGS += -DUSE_ACCEL_MEMSIC -DUSE_ADC_3 -DUSE_ADC_4
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 0b5e9f2acf..a439d1469d 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -213,7 +213,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -260,7 +260,7 @@ ap.CFLAGS += -DUSE_GYRO -DADXRS150
 ap.srcs += gyro.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index eb123ba784..af1698be26 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -228,7 +228,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -275,7 +275,7 @@ ap.CFLAGS += -DUSE_GYRO -DADXRS150
 ap.srcs += gyro.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 2ec04ed767..1ffc58c62b 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -195,7 +195,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -241,7 +241,7 @@ ap.srcs += subsystems/navigation/bomb.c
 ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/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 mcu_periph/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
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index 7bbc9f1281..2ca84b1ee1 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -211,7 +211,7 @@
 </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -268,7 +268,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DIR_360
 sim.srcs += subsystems/navigation/bomb.c
 
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index 5dbbf8e3fa..3184c54ec0 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -201,7 +201,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 8c693facc8..ca614f82b4 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -175,7 +175,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 99dd864100..23885db6e2 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -202,7 +202,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -256,7 +256,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index f0bb6c24df..5633ad9f9a 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -199,7 +199,7 @@
   <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index d52fef4707..d4c89b98e4 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -195,7 +195,7 @@
 -->
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/bomb.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += subsystems/navigation/bomb.c
 
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index 8bb328e7b8..0693d95bb4 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -222,7 +222,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_CURRENT
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
index 1a9fd10b02..26aa0861b3 100644
--- a/conf/airframes/obsolete/ENAC/g1_vision.xml
+++ b/conf/airframes/obsolete/ENAC/g1_vision.xml
@@ -208,7 +208,7 @@ FLASH_MODE=IAP
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
index 653ae0fafe..fdf6ba7762 100644
--- a/conf/airframes/obsolete/ENAC/mkk1-vision.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
@@ -241,7 +241,7 @@ FLASH_MODE=IAP
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index aab64eeeab..2c33369b80 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -325,7 +325,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 #throttle killswitch
 ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 5bc4f2fbc9..69b49feff9 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -272,7 +272,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
index 062a08ed32..a41cbbde0d 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -226,7 +226,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
index b42cb89a90..7be1990714 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
@@ -284,7 +284,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 #throttle killswitch
 ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
index 50be06bc31..3559a2d5f8 100644
--- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
@@ -176,7 +176,7 @@ ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektru
 ap.CFLAGS += -DGPS_USE_LATLONG
 ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 
 include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
@@ -186,7 +186,7 @@ include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
 include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
-include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/lisa_test_progs.makefile
 
 
  </makefile>
diff --git a/conf/airframes/obsolete/autoplato.xml b/conf/airframes/obsolete/autoplato.xml
index ae76c8e4f6..669b4373ef 100644
--- a/conf/airframes/obsolete/autoplato.xml
+++ b/conf/airframes/obsolete/autoplato.xml
@@ -8,7 +8,7 @@ ARCH=lpc21
 BOARD_CFG = \"boards/olimex_lpc_h2148.h\"
 FLASH_MODE = IAP
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 
 test_usb.ARCHDIR = $(ARCH)
 
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
index 8512e7990a..2fb26ce1b2 100644
--- a/conf/airframes/obsolete/booz2_Aron.xml
+++ b/conf/airframes/obsolete/booz2_Aron.xml
@@ -185,7 +185,7 @@ BOARD_CFG = \"twog_booz.h\"
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index 472114d6a7..9fd40c6414 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -228,7 +228,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index c6e20076fd..f3f53d4cfc 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -229,7 +229,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index c243de3ae4..765e4edfc7 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -229,7 +229,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index c6dc404e3c..9667db16e1 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -186,7 +186,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index 7e7755e84e..c76407c73e 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -170,7 +170,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
index 337c76d244..3abab57aa1 100644
--- a/conf/airframes/obsolete/booz2_a4.xml
+++ b/conf/airframes/obsolete/booz2_a4.xml
@@ -148,17 +148,17 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_test_progs.makefile
 
 sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_simulator.makefile
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_spektrum.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/radio_control_spektrum.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_actuators_asctec.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_imu_b2v1_1.makefile
 
 include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index bcdd61a563..77d54a35fb 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -182,7 +182,7 @@
 
   <makefile>
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 
 ARCH=lpc21
 BOARD_CFG = \"boards/booz2_v1_0.h\"
@@ -191,7 +191,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
index 9711a48c3f..f01770f163 100644
--- a/conf/airframes/obsolete/booz2_s1.xml
+++ b/conf/airframes/obsolete/booz2_s1.xml
@@ -199,7 +199,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 ap.CFLAGS += -DUSE_LED -DCANON_CHDK
 ap.srcs += $(PAPARAZZI_SRC)/sw/airborne/chdk.c
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
index 7ce46bd0d3..61650494e7 100644
--- a/conf/airframes/obsolete/booz2_x1.xml
+++ b/conf/airframes/obsolete/booz2_x1.xml
@@ -199,7 +199,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 #ap.CFLAGS += -DKILL_MOTORS
 ap.CFLAGS += -DMODEM_BAUD=B57600
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index cbda2b48f6..7ac5f08966 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -174,7 +174,7 @@
 CONFIG = \"tiny_2_1_1.h\"
 
 # Target configuration
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -226,7 +226,7 @@ ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_C
 ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
index b2d5a21c1b..36b5328171 100644
--- a/conf/airframes/obsolete/hitl_usb.xml
+++ b/conf/airframes/obsolete/hitl_usb.xml
@@ -107,7 +107,7 @@
 
  <makefile>
 CONFIG=\"tiny_2_1_1_usb.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 8fc7177256..7644b68d5c 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -154,7 +154,7 @@
 CONFIG = \"tiny_2_1_1.h\"
 
 # Target configuration
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -198,7 +198,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index 9bde735206..24197c1ef7 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -217,7 +217,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 
 # Config for SITL simulation with JSBSim
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index e6390f07fd..6586d49178 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -171,7 +171,7 @@
  <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -209,7 +209,7 @@ ap.srcs += gyro.c
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
   </makefile>
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 959828e6a7..dee7553a6c 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -173,7 +173,7 @@
 
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -225,7 +225,7 @@ ap.srcs += gyro.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 sim.CFLAGS += -DUSE_GYRO -DADXRS150
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index cbce102e34..1c3524dad2 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -193,7 +193,7 @@
 -->
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -249,7 +249,7 @@ ap.srcs += subsystems/navigation/nav_line.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c subsystems/navigation/bomb.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index 1e816a3d29..9de402cfd7 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -180,7 +180,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -234,7 +234,7 @@ ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index f522378c6c..c08208dc85 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -180,7 +180,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -230,7 +230,7 @@ ap.srcs += light.c
 ap.CFLAGS += -DUSE_LIGHT
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 += subsystems/navigation/traffic_info.c
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 89c5e2b519..d0c2639437 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -169,7 +169,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -222,7 +222,7 @@ ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 subsystems/navigation/traffic_info.c
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index 4de83c91ff..e7511ae510 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -179,7 +179,7 @@
 
 <makefile>
  CONFIG=\"tiny_2_11.h\"
- include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+ include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
  FLASH_MODE=IAP
  ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
  ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
@@ -207,7 +207,7 @@
  sim.CFLAGS += -DTRAFFIC_INFO
 
 
- include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+ include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
  sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
 
   </makefile>
diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml
index e047ab17d6..991e8b9c4f 100644
--- a/conf/airframes/obsolete/minimag1.xml
+++ b/conf/airframes/obsolete/minimag1.xml
@@ -172,7 +172,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -206,7 +206,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
 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
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index 5fe2a47676..3331f46fdd 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -178,7 +178,7 @@
 </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -218,7 +218,7 @@ ap.CFLAGS += -DDIGITAL_CAM
 ap.srcs += dc.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 += dc.c
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
index be58d5e523..d28b25b419 100644
--- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
@@ -195,7 +195,7 @@
  </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -255,7 +255,7 @@ ap.srcs +=nav_survey_losange_carto.c
 
 #################################################################################################
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
 sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
 
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index a097cfc2da..9664509156 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -188,7 +188,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -242,7 +242,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index 62c18d9fe3..4c6acab04b 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -190,7 +190,7 @@
 
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -243,7 +243,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index e1a8f7255b..ef8c65d72e 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -171,7 +171,7 @@
 -->
 
 <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -226,7 +226,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 subsystems/navigation/snav.c
 
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index 163152da50..26b413faea 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -182,7 +182,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -230,7 +230,7 @@ ap.srcs += cam.c point.c
 # subsystems/navigation/traffic_info.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index c8798feae4..5b0cdf2d61 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -164,7 +164,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -207,7 +207,7 @@ 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
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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
 
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index d3804aaf2a..0d536fb830 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -178,7 +178,7 @@
  <makefile>
 #CONFIG=\"tiny_0_99.h\"
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -226,7 +226,7 @@ ap.srcs += adc_generic.c
 
 # Configuration for Hardware In The Loop*
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index 9ae2acdc93..b94e476fd7 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -166,7 +166,7 @@
 
  <makefile>
 CONFIG=\"tiny_0_99.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -213,7 +213,7 @@ ap.srcs += adc_generic.c
 # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index 3ada34c50a..3cfa23158f 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -221,7 +221,7 @@
 -->
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -285,7 +285,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += subsystems/navigation/traffic_info.c
 sim.srcs += subsystems/navigation/bomb.c  subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index 8003be219f..a3249c009b 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -195,7 +195,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -239,7 +239,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
index c3f70f7f3b..25be373f7b 100644
--- a/conf/airframes/obsolete/tiny_hitl.xml
+++ b/conf/airframes/obsolete/tiny_hitl.xml
@@ -158,7 +158,7 @@
 
  <makefile>
 CONFIG=\"tiny_0_99.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -201,7 +201,7 @@ ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rec
 ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/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 subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index b9d9f5b702..e69d24d66a 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -167,7 +167,7 @@
   </section>
 
   <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile
 
 # FLASH_MODE=ISP
 FLASH_MODE=IAP
@@ -241,7 +241,7 @@ test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUA
 test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 #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
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
index 725d44586c..77501a39bf 100644
--- a/conf/airframes/obsolete/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -174,8 +174,8 @@
 # Virtual AC
 
 # Config for HITL simulation on a V1_2_1 bi-AVR board
-include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/v1_2_1.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/twin_mcu_avr.makefile
 
 # Harware In The Loop
 ap.CFLAGS += -DHITL
@@ -189,7 +189,7 @@ ap.EXTRA_SRCS += subsystems/navigation/traffic_info.c datalink.c
 ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c
 
  </makefile>
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index 515270a9d7..347f357bd1 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -175,7 +175,7 @@
     <define name="DESCENT_NAV_RATIO" value="1.0"/>
     </section>
   <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile
 
 # FLASH_MODE=ISP
 FLASH_MODE=IAP
@@ -241,7 +241,7 @@ test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUA
 test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 #sim.srcs += subsystems/navigation/traffic_info.c
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c dc.c
diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml
index d5c3433c06..1a643f9c23 100644
--- a/conf/airframes/obsolete/twisted.xml
+++ b/conf/airframes/obsolete/twisted.xml
@@ -42,7 +42,7 @@
   </command_laws>
 
 <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index 9f77189137..07511b3fca 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -198,7 +198,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -244,7 +244,7 @@ ap.srcs += gyro.c subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 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
 
diff --git a/conf/airframes/obsolete/whirly.xml b/conf/airframes/obsolete/whirly.xml
index cd81a31856..e813809770 100644
--- a/conf/airframes/obsolete/whirly.xml
+++ b/conf/airframes/obsolete/whirly.xml
@@ -79,7 +79,7 @@ TARGET_DIR  = ~
 <!--ap.CFLAGS += -DDISABLE_CAN=1-->
 ap.CFLAGS += -DTELEMETRY_MODE_DEFAULT=TELEMETRY_MODE_Main_default
 
-include $(PAPARAZZI_SRC)/conf/autopilot/whirly_ap.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/whirly_ap.makefile
 
   </makefile>
 
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index 29c376bf5b..eae611bf2e 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -205,7 +205,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -267,7 +267,7 @@ ap.CFLAGS += -DMOBILE_CAM
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
 # -DMOBILE_CAM
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/firmwares/booz2_common.makefile b/conf/firmwares/booz2_common.makefile
index 08dc458d6f..a0c8c0e0d5 100644
--- a/conf/firmwares/booz2_common.makefile
+++ b/conf/firmwares/booz2_common.makefile
@@ -7,6 +7,6 @@ SRC_BOOZ_TEST=$(SRC_BOOZ)/test
 
 SRC_BOOZ_PRIV=booz_priv
 
-CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
+CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
 
 BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
diff --git a/conf/firmwares/booz2_test_progs.makefile b/conf/firmwares/booz2_test_progs.makefile
index d9c334b6a8..d53290b930 100644
--- a/conf/firmwares/booz2_test_progs.makefile
+++ b/conf/firmwares/booz2_test_progs.makefile
@@ -22,7 +22,7 @@
 #
 #
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 
 #
 # test_led : blinks all leds
diff --git a/conf/firmwares/fixedwing.makefile b/conf/firmwares/fixedwing.makefile
index f8c69de3ee..337a2def80 100644
--- a/conf/firmwares/fixedwing.makefile
+++ b/conf/firmwares/fixedwing.makefile
@@ -5,8 +5,8 @@
 #
 
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/fixedwing
 
 
 SRC_FIXEDWING=.
diff --git a/conf/firmwares/lisa_passthrough.makefile b/conf/firmwares/lisa_passthrough.makefile
index ba69c752b7..bfa61b16a6 100644
--- a/conf/firmwares/lisa_passthrough.makefile
+++ b/conf/firmwares/lisa_passthrough.makefile
@@ -16,7 +16,7 @@ SRC_SUBSYSTEMS=subsystems
 SRC_ROTOR_ARCH=$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
 SRC_IMU_ARCH=$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)
 
-CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough
+CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/firmwares/subsystems/lisa_passthrough
 
 
 stm_passthrough.ARCHDIR = stm32
diff --git a/conf/firmwares/logger.makefile b/conf/firmwares/logger.makefile
index 586203e79f..b9d9df514b 100644
--- a/conf/firmwares/logger.makefile
+++ b/conf/firmwares/logger.makefile
@@ -4,7 +4,7 @@
 #
 
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
 
 SRC_ARCH=arch/$(ARCH)
 SRC_FIRMWARE=firmwares/logger
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index 0000ae121a..e6d6e22529 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -21,8 +21,8 @@
 #
 #
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/rotorcraft
 
 SRC_BOOZ_TEST=$(SRC_BOOZ)/test
 SRC_BOOZ_PRIV=booz_priv
@@ -33,7 +33,7 @@ SRC_SUBSYSTEMS=subsystems
 
 SRC_ARCH=arch/$(ARCH)
 
-CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
+CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
 
 ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
 
diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
index 33a14d5998..f82ec2057b 100644
--- a/conf/firmwares/setup.makefile
+++ b/conf/firmwares/setup.makefile
@@ -4,8 +4,8 @@
 #
 
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-#CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/setup
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+#CFG_SETUP=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/setup
 
 SRC_ARCH=arch/$(ARCH)
 SRC_FIRMWARE=firmwares/setup
diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml
index a939129326..4a8a4adf76 100644
--- a/sw/tools/gen_aircraft.ml
+++ b/sw/tools/gen_aircraft.ml
@@ -241,7 +241,7 @@ let parse_firmware = fun makefile_ac firmware ->
     List.iter (print_firmware_define makefile_ac) defines;
     List.iter (print_firmware_define makefile_ac) t_defines;
     fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");
-    fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib firmware "name");
+    fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/firmwares/%s.makefile\n" (Xml.attrib firmware "name");
     List.iter (print_firmware_subsystem makefile_ac firmware) t_subsystems;
     List.iter (print_firmware_subsystem makefile_ac firmware) subsystems;
     fprintf makefile_ac "endif\n\n"