diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index 73f0a4f79c..e85fce6f72 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -49,7 +49,7 @@
 #include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
 #include <firmwares/rotorcraft/ins.h>
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #include "i2c_hw.h"
 
@@ -301,7 +301,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 #endif /* STABILISATION_ATTITUDE_TYPE_FLOAT */
 
 
-#include "ahrs/ahrs_aligner.h"
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
 #define PERIODIC_SEND_BOOZ2_FILTER_ALIGNER(_chan) {			\
     DOWNLINK_SEND_BOOZ2_FILTER_ALIGNER(_chan,				\
 				       &ahrs_aligner.lp_gyro.p,	\
@@ -325,7 +325,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 
 #ifdef USE_AHRS_CMPL
-#include "ahrs/ahrs_cmpl_euler.h"
+#include <firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h>
 #define PERIODIC_SEND_BOOZ2_FILTER(_chan) {				\
     DOWNLINK_SEND_BOOZ2_FILTER(_chan,					\
 			       &ahrs.ltp_to_imu_euler.phi,		\
@@ -349,7 +349,7 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 #endif
 
 #ifdef USE_AHRS_LKF
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "ahrs/ahrs_float_lkf.h"
 #define PERIODIC_SEND_AHRS_LKF(_chan) {				\
     DOWNLINK_SEND_AHRS_LKF(&bafl_eulers.phi,			\
diff --git a/sw/airborne/booz/booz_fms.c b/sw/airborne/booz/booz_fms.c
index d0757c5aa1..a3ff0a9c39 100644
--- a/sw/airborne/booz/booz_fms.c
+++ b/sw/airborne/booz/booz_fms.c
@@ -25,7 +25,7 @@
 
 #include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #include "airframe.h"
 
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c b/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
index ae98112264..2586669eff 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
@@ -24,7 +24,7 @@
 #include "booz_stabilization.h"
 
 #include "math/pprz_algebra_float.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "booz_radio_control.h"
 
 #include "airframe.h"
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c b/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
index 9edfde87af..be03842a13 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
@@ -22,7 +22,7 @@
  */
 
 #include "booz_stabilization.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "booz_radio_control.h"
 
 
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c b/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
index 01d57c7c9f..5e1e6df30d 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
@@ -30,7 +30,7 @@
 #include <stdio.h>
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_algebra_int.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "airframe.h"
 
 struct FloatAttitudeGains booz_stabilization_gains[BOOZ_STABILIZATION_ATTITUDE_GAIN_NB];
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
index 2c19341ee9..953730dfc2 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
@@ -28,7 +28,7 @@
 
 #include "airframe.h"
 #include "booz_stabilization.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #include "booz_stabilization_attitude_ref_float.h"
 #include "quat_setpoint.h"
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_rate.c b/sw/airborne/booz/stabilization/booz_stabilization_rate.c
index 8254854b03..81ebbbcd8a 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_rate.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_rate.c
@@ -24,7 +24,7 @@
 
 #include "booz_stabilization.h"
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #include <firmwares/rotorcraft/imu.h>
 #include "booz_radio_control.h"
diff --git a/sw/airborne/booz/test/test_mlkf.c b/sw/airborne/booz/test/test_mlkf.c
index 882bcc92b2..3f2c4620f6 100644
--- a/sw/airborne/booz/test/test_mlkf.c
+++ b/sw/airborne/booz/test/test_mlkf.c
@@ -3,7 +3,7 @@
 
 #include "math/pprz_algebra_double.h"
 #include <firmwares/rotorcraft/imu.h>
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "ahrs/ahrs_mlkf.h"
 
 static void read_data(const char* filename);
diff --git a/sw/airborne/csc/mercury_xsens.h b/sw/airborne/csc/mercury_xsens.h
index 01a9c5ca91..355d8535ca 100644
--- a/sw/airborne/csc/mercury_xsens.h
+++ b/sw/airborne/csc/mercury_xsens.h
@@ -62,7 +62,7 @@ extern uint16_t xsens_time_stamp[XSENS_COUNT];
 
 extern int xsens_setzero;
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #define PERIODIC_SEND_BOOZ2_GYRO() {			\
     DOWNLINK_SEND_BOOZ2_GYRO(&imu.gyro.p,		\
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs.c b/sw/airborne/firmwares/rotorcraft/ahrs.c
index 91774b2d57..3b13ab97dc 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include <firmwares/rotorcraft/imu.h>
 
 struct Ahrs ahrs;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 2e220b4b86..adc9fdd908 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -25,7 +25,7 @@
 //#define GUIDANCE_H_USE_REF
 #include <firmwares/rotorcraft/guidance/guidance_h.h>
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "booz_stabilization.h"
 #include "booz_fms.h"
 #include <firmwares/rotorcraft/ins.h>
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index ea8f7dc366..f4db460756 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -28,7 +28,7 @@
 
 #include "booz_radio_control.h"
 #include "booz_stabilization.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "booz_fms.h"
 #include "booz2_navigation.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/ins.c b/sw/airborne/firmwares/rotorcraft/ins.c
index cc4b5601f4..76c96774f7 100644
--- a/sw/airborne/firmwares/rotorcraft/ins.c
+++ b/sw/airborne/firmwares/rotorcraft/ins.c
@@ -32,7 +32,7 @@
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #ifdef USE_VFF
 #include "ins/vf_float.h"
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 1252aaf556..abeee7d4b3 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -47,12 +47,12 @@
 #include "booz2_battery.h"
 
 #include "booz_fms.h"
-#include "autopilot.h"
+#include <firmwares/rotorcraft/autopilot.h>
 
 #include "booz_stabilization.h"
 #include <firmwares/rotorcraft/guidance.h>
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include <firmwares/rotorcraft/ins.h>
 
 #if defined USE_CAM || USE_DROP
diff --git a/sw/airborne/modules/cam_control/booz_cam.c b/sw/airborne/modules/cam_control/booz_cam.c
index 159da21188..abc2f1336b 100644
--- a/sw/airborne/modules/cam_control/booz_cam.c
+++ b/sw/airborne/modules/cam_control/booz_cam.c
@@ -24,7 +24,7 @@
 
 #include "cam_control/booz_cam.h"
 #include "booz2_pwm_hw.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "booz2_navigation.h"
 #include <firmwares/rotorcraft/ins.h>
 #include "flight_plan.h"
diff --git a/sw/airborne/modules/cam_control/cam_track.c b/sw/airborne/modules/cam_control/cam_track.c
index 8e171576a1..166a27b566 100644
--- a/sw/airborne/modules/cam_control/cam_track.c
+++ b/sw/airborne/modules/cam_control/cam_track.c
@@ -25,7 +25,7 @@
 #include "cam_track.h"
 
 #include <firmwares/rotorcraft/ins.h>
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 #ifdef USE_HFF
 #include "ins/hf_float.h"
diff --git a/sw/simulator/nps/nps_autopilot_booz.c b/sw/simulator/nps/nps_autopilot_booz.c
index 0d3288dbe0..b332ac750b 100644
--- a/sw/simulator/nps/nps_autopilot_booz.c
+++ b/sw/simulator/nps/nps_autopilot_booz.c
@@ -74,7 +74,7 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
 }
 
 #include "nps_fdm.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "math/pprz_algebra.h"
 void sim_overwrite_ahrs(void) {
 
diff --git a/sw/simulator/old_booz/booz2_sim_main.c b/sw/simulator/old_booz/booz2_sim_main.c
index 6cc2605052..d1dc9830ac 100644
--- a/sw/simulator/old_booz/booz2_sim_main.c
+++ b/sw/simulator/old_booz/booz2_sim_main.c
@@ -125,7 +125,7 @@ static gboolean booz2_sim_periodic(gpointer data __attribute__ ((unused))) {
 }
   
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 
 static void sim_run_one_step(void) {
 
@@ -195,7 +195,7 @@ static void sim_run_one_step(void) {
 
 #ifdef BYPASS_AHRS
 #include "booz_geometry_mixed.h"
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 static void sim_overwrite_ahrs(void) {
   ahrs.ltp_to_body_euler.phi   = BOOZ_ANGLE_I_OF_F(bfm.eulers->ve[AXIS_X]);
   ahrs.ltp_to_body_euler.theta = BOOZ_ANGLE_I_OF_F(bfm.eulers->ve[AXIS_Y]);