diff --git a/conf/modules/ahrs_chimu_spi.xml b/conf/modules/ahrs_chimu_spi.xml
index 5ff851731c..de67e9e3a8 100644
--- a/conf/modules/ahrs_chimu_spi.xml
+++ b/conf/modules/ahrs_chimu_spi.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ahrs_chimu_spi" dir="ins" task="estimation">
+<module name="ahrs_chimu_spi" dir="ahrs" task="estimation">
   <doc>
     <description>CHimu (SPI)</description>
     <define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
@@ -11,7 +11,7 @@
   </dep>
   <autoload name="ahrs_sim"/>
   <header>
-    <file name="ins_module.h"/>
+    <file name="ins_module.h" dir="modules/ins"/>
   </header>
   <init fun="ahrs_init()"/>
   <event fun="parse_ins_msg()"/>
@@ -23,8 +23,8 @@
     <define name="INS_LINK" value="spi_slave_hs"/>
     <define name="USE_USB_HIGH_PCLK" />
     <file name="ahrs_chimu_spi.c"/>
-    <file name="imu_chimu.c"/>
-    <file name="ahrs.c" dir="subsystems"/>
-    <define name="AHRS_TYPE_H" value="modules/ins/ahrs_chimu.h" type="string"/>
+    <file name="imu_chimu.c" dir="modules/ins"/>
+    <file name="ahrs.c"/>
+    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_chimu.h" type="string"/>
   </makefile>
 </module>
diff --git a/conf/modules/ahrs_chimu_uart.xml b/conf/modules/ahrs_chimu_uart.xml
index 1c2046e747..ed536078ee 100644
--- a/conf/modules/ahrs_chimu_uart.xml
+++ b/conf/modules/ahrs_chimu_uart.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="ahrs_chimu_uart" dir="ins" task="estimation">
+<module name="ahrs_chimu_uart" dir="ahrs" task="estimation">
   <doc>
     <description>CHimu (UART)</description>
     <configure name="CHIMU_UART_NR" value="3" description="UART"/>
@@ -11,7 +11,7 @@
     <provides>ahrs,imu</provides>
   </dep>
   <header>
-    <file name="ins_module.h"/>
+    <file name="ins_module.h" dir="modules/ins"/>
   </header>
   <init fun="ahrs_init()"/>
   <event fun="parse_ins_msg()"/>
@@ -23,8 +23,8 @@
     <define name="INS_LINK" value="uart$(CHIMU_UART_NR)"/>
     <define name="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
     <file name="ahrs_chimu_uart.c"/>
-    <file name="imu_chimu.c"/>
-    <file name="ahrs.c" dir="subsystems"/>
-    <define name="AHRS_TYPE_H" value="modules/ins/ahrs_chimu.h" type="string"/>
+    <file name="imu_chimu.c" dir="modules/ins"/>
+    <file name="ahrs.c"/>
+    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_chimu.h" type="string"/>
   </makefile>
 </module>
diff --git a/conf/modules/ahrs_common.xml b/conf/modules/ahrs_common.xml
index 48a20ca729..b1adc2cb4b 100644
--- a/conf/modules/ahrs_common.xml
+++ b/conf/modules/ahrs_common.xml
@@ -9,23 +9,23 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
   </doc>
   <header>
-    <file name="ahrs.h" dir="subsystems"/>
+    <file name="ahrs.h"/>
   </header>
   <init fun="ahrs_init()"/>
   <makefile target="!sim|fbw">
     <define name="AHRS_ALIGNER_LED" value="$(AHRS_ALIGNER_LED)" cond="ifneq ($(AHRS_ALIGNER_LED),none)"/>
     <define name="USE_AHRS"/>
     <define name="USE_AHRS_ALIGNER"/>
-    <file name="ahrs.c" dir="subsystems"/>
-    <file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
+    <file name="ahrs.c"/>
+    <file name="ahrs_aligner.c"/>
     <test>
       <define name="PRIMARY_AHRS" value="ahrs_dcm"/>
-      <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
+      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
     </test>
   </makefile>
   <makefile target="sim">
     <define name="USE_AHRS"/>
-    <file name="ahrs.c" dir="subsystems"/>
+    <file name="ahrs.c"/>
   </makefile>
 </module>
 
diff --git a/conf/modules/ahrs_float_cmpl_quat.xml b/conf/modules/ahrs_float_cmpl_quat.xml
index c91a680cf2..795c9720c2 100644
--- a/conf/modules/ahrs_float_cmpl_quat.xml
+++ b/conf/modules/ahrs_float_cmpl_quat.xml
@@ -26,11 +26,11 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="AHRS">
-        <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
-        <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
-        <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
-        <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
-        <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="modules/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="modules/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="modules/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -49,27 +49,27 @@
     <configure name="USE_MAGNETOMETER" default="1"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
     <define name="AHRS_PROPAGATE_QUAT"/>
-    <file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_float_cmpl.c"/>
+    <file name="ahrs_float_cmpl_wrapper.c"/>
     <test>
       <define name="PRIMARY_AHRS" value="ahrs_fc"/>
-      <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_cmpl_wrapper.h" type="string"/>
+      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_cmpl_wrapper.h" type="string"/>
       <define name="AHRS_PROPAGATE_QUAT"/>
     </test>
     <raw>
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), fcq float_cmpl_quat))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_float_cmpl_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_fc
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_cmpl_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_fc
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_cmpl_wrapper.h\"
 endif
     </raw>
   </makefile>
diff --git a/conf/modules/ahrs_float_cmpl_rmat.xml b/conf/modules/ahrs_float_cmpl_rmat.xml
index f2d5b54340..ca0d0ab04f 100644
--- a/conf/modules/ahrs_float_cmpl_rmat.xml
+++ b/conf/modules/ahrs_float_cmpl_rmat.xml
@@ -22,11 +22,11 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="AHRS">
-        <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
-        <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
-        <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
-        <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
-        <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="modules/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="modules/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="modules/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -45,27 +45,27 @@
     <configure name="USE_MAGNETOMETER" default="1"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
     <define name="AHRS_PROPAGATE_RMAT"/>
-    <file name="ahrs_float_cmpl.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_float_cmpl_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_float_cmpl.c"/>
+    <file name="ahrs_float_cmpl_wrapper.c"/>
     <test>
         <define name="PRIMARY_AHRS" value="ahrs_fc"/>
-        <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_cmpl_wrapper.h" type="string"/>
+        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_cmpl_wrapper.h" type="string"/>
         <define name="AHRS_PROPAGATE_RMAT"/>
     </test>
     <raw>
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), fcr float_cmpl_rmat))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_float_cmpl_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_fc
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_cmpl_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_fc
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_cmpl_wrapper.h\"
 endif
     </raw>
   </makefile>
diff --git a/conf/modules/ahrs_float_dcm.xml b/conf/modules/ahrs_float_dcm.xml
index 58eb6d8500..4b5ad35e60 100644
--- a/conf/modules/ahrs_float_dcm.xml
+++ b/conf/modules/ahrs_float_dcm.xml
@@ -24,8 +24,8 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="AHRS">
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="modules/ahrs" />
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="modules/ahrs" />
       </dl_settings>
     </dl_settings>
   </settings>
@@ -39,26 +39,26 @@
   <makefile target="!sim|fbw">
     <configure name="USE_MAGNETOMETER" default="0"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
-    <file name="ahrs_float_dcm.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_float_dcm_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_float_dcm.c"/>
+    <file name="ahrs_float_dcm_wrapper.c"/>
     <test firmware="fixedwing">
         <define name="PRIMARY_AHRS" value="ahrs_dcm"/>
-        <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
+        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_dcm_wrapper.h" type="string"/>
     </test>
     <raw>
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), dcm float_dcm))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_float_dcm_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_dcm
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_dcm_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_dcm
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_dcm_wrapper.h\"
 endif
     </raw>
   </makefile>
diff --git a/conf/modules/ahrs_float_invariant.xml b/conf/modules/ahrs_float_invariant.xml
index c1a5ef42e1..ad3ccfa1d6 100644
--- a/conf/modules/ahrs_float_invariant.xml
+++ b/conf/modules/ahrs_float_invariant.xml
@@ -16,7 +16,7 @@
     <dl_settings>
       <dl_settings NAME="invariant">
         <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
-        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="subsystems/ahrs/ahrs_float_invariant" param="AHRS_INV_LX"/>
+        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="modules/ahrs/ahrs_float_invariant" param="AHRS_INV_LX"/>
         <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly" param="AHRS_INV_LY"/>
         <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz" param="AHRS_INV_LZ"/>
         <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx" param="AHRS_INV_MX"/>
@@ -35,26 +35,26 @@
   <makefile target="!sim|fbw">
     <configure name="USE_MAGNETOMETER" default="1"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
-    <file name="ahrs_float_invariant.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_float_invariant_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_float_invariant.c"/>
+    <file name="ahrs_float_invariant_wrapper.c"/>
     <test>
         <define name="PRIMARY_AHRS" value="ahrs_float_invariant"/>
-        <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_invariant_wrapper.h" type="string"/>
+        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_invariant_wrapper.h" type="string"/>
     </test>
     <raw>
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), invariant float_invariant))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_float_invariant_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_float_invariant
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_invariant_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_float_invariant
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_invariant_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_invariant_wrapper.h\"
 endif
     </raw>
   </makefile>
diff --git a/conf/modules/ahrs_float_mlkf.xml b/conf/modules/ahrs_float_mlkf.xml
index e429823a5b..62b8e311a0 100644
--- a/conf/modules/ahrs_float_mlkf.xml
+++ b/conf/modules/ahrs_float_mlkf.xml
@@ -18,9 +18,9 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="AHRS">
-        <dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
-        <dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
-        <dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" persistent="true"/>
+        <dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="modules/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
+        <dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="modules/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
+        <dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="modules/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" persistent="true"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -33,26 +33,26 @@
   <makefile target="!sim|fbw">
     <configure name="USE_MAGNETOMETER" default="1"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
-    <file name="ahrs_float_mlkf.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_float_mlkf_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_float_mlkf.c"/>
+    <file name="ahrs_float_mlkf_wrapper.c"/>
     <test>
         <define name="PRIMARY_AHRS" value="ahrs_mlkf"/>
-        <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_float_mlkf_wrapper.h" type="string"/>
+        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_float_mlkf_wrapper.h" type="string"/>
     </test>
     <raw>
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), mlkf float_mlkf))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_float_mlkf_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_mlkf
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_mlkf_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_mlkf
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_mlkf_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_mlkf_wrapper.h\"
 endif
     </raw>
   </makefile>
diff --git a/conf/modules/ahrs_gx3.xml b/conf/modules/ahrs_gx3.xml
index 1e327ed323..9971d47fd2 100644
--- a/conf/modules/ahrs_gx3.xml
+++ b/conf/modules/ahrs_gx3.xml
@@ -14,7 +14,7 @@
   </dep>
   <autoload name="ahrs_sim"/>
   <header>
-    <file name="ahrs.h" dir="subsystems"/>
+    <file name="ahrs.h"/>
   </header>
   <init fun="ahrs_init()"/>
   <makefile target="ap">
@@ -26,14 +26,14 @@
     <define name="USE_AHRS"/>
     <define name="USE_IMU"/>
 
-    <file name="ahrs.c" dir="subsystems"/>
+    <file name="ahrs.c"/>
     <file name="imu.c" dir="modules/imu"/>
-    <file name="ahrs_gx3.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_gx3.c"/>
     <test>
       <define name="GX3_PORT" value="uart3"/>
       <define name="USE_UART3"/>
       <define name="PRIMARY_AHRS" value="ahrs_gx3"/>
-      <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_gx3.h" type="string"/>
+      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_gx3.h" type="string"/>
     </test>
   </makefile>
 </module>
diff --git a/conf/modules/ahrs_int_cmpl_quat.xml b/conf/modules/ahrs_int_cmpl_quat.xml
index a8c3953f82..e4e0ea1461 100644
--- a/conf/modules/ahrs_int_cmpl_quat.xml
+++ b/conf/modules/ahrs_int_cmpl_quat.xml
@@ -38,11 +38,11 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="AHRS">
-        <dl_setting var="ahrs_icq.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
-        <dl_setting var="ahrs_icq.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" handler="SetAccelOmega" type="float" persistent="true"/>
-        <dl_setting var="ahrs_icq.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" handler="SetAccelZeta" type="float" persistent="true"/>
-        <dl_setting var="ahrs_icq.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" handler="SetMagOmega" type="float" persistent="true"/>
-        <dl_setting var="ahrs_icq.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_zeta" param="AHRS_MAG_ZETA" handler="SetMagZeta" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.gravity_heuristic_factor" min="0" step="1" max="50" module="modules/ahrs/ahrs_int_cmpl_quat" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
+        <dl_setting var="ahrs_icq.accel_omega" min="0.02" step="0.02" max="0.2" module="modules/ahrs/ahrs_int_cmpl_quat" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" handler="SetAccelOmega" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.accel_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_int_cmpl_quat" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" handler="SetAccelZeta" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.mag_omega" min="0.02" step="0.01" max="0.1" module="modules/ahrs/ahrs_int_cmpl_quat" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" handler="SetMagOmega" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.mag_zeta" min="0.7" step="0.05" max="1.5" module="modules/ahrs/ahrs_int_cmpl_quat" shortname="mag_zeta" param="AHRS_MAG_ZETA" handler="SetMagZeta" type="float" persistent="true"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -61,16 +61,16 @@
   <makefile target="!sim|fbw">
     <configure name="USE_MAGNETOMETER" default="1"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
-    <file name="ahrs_int_cmpl_quat.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_int_cmpl_quat_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_int_cmpl_quat.c"/>
+    <file name="ahrs_int_cmpl_quat_wrapper.c"/>
     <test>
         <define name="PRIMARY_AHRS" value="ahrs_icq"/>
-        <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h" type="string"/>
+        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_int_cmpl_quat_wrapper.h" type="string"/>
         <define name="USE_MAGNETOMETER"/>
     </test>
     <test>
         <define name="PRIMARY_AHRS" value="ahrs_icq"/>
-        <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h" type="string"/>
+        <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_int_cmpl_quat_wrapper.h" type="string"/>
         <define name="AHRS_USE_GPS_HEADING"/>
         <define name="USE_GPS"/>
     </test>
@@ -78,16 +78,16 @@
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), icq int_cmpl_quat))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_icq
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_icq
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_int_cmpl_quat_wrapper.h\"
 endif
     </raw>
   </makefile>
diff --git a/conf/modules/ahrs_madgwick.xml b/conf/modules/ahrs_madgwick.xml
index f96b08ca4f..181d03ce2a 100644
--- a/conf/modules/ahrs_madgwick.xml
+++ b/conf/modules/ahrs_madgwick.xml
@@ -22,7 +22,7 @@
     <provides>ahrs</provides>
   </dep>
   <header>
-    <file name="ahrs.h" dir="subsystems"/>
+    <file name="ahrs.h"/>
   </header>
 
   <makefile target="!sim|fbw">
diff --git a/conf/modules/ahrs_sim.xml b/conf/modules/ahrs_sim.xml
index f9e12bdf59..40d7f32dd4 100644
--- a/conf/modules/ahrs_sim.xml
+++ b/conf/modules/ahrs_sim.xml
@@ -12,15 +12,15 @@
     <provides>ahrs</provides>
   </dep>
   <header>
-    <file name="ahrs.h" dir="subsystems"/>
+    <file name="ahrs.h"/>
   </header>
   <periodic fun="update_ahrs_from_sim()"/>
   <makefile target="sim">
-    <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
-    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
+    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
+    <file name="ahrs_sim.c"/>
     <test>
       <define name="PRIMARY_AHRS" value="ahrs_sim"/>
-      <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
+      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
     </test>
   </makefile>
 </module>
diff --git a/conf/modules/ahrs_vectornav.xml b/conf/modules/ahrs_vectornav.xml
index 6412ef5674..ccddd7796c 100644
--- a/conf/modules/ahrs_vectornav.xml
+++ b/conf/modules/ahrs_vectornav.xml
@@ -14,7 +14,7 @@
   </dep>
   <autoload name="ahrs_sim"/>
   <header>
-    <file name="ahrs.h" dir="subsystems"/>
+    <file name="ahrs.h"/>
   </header>
   <init fun="ahrs_init()"/>
   <event fun="ahrs_vectornav_event()"/>
@@ -26,9 +26,9 @@
     <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
 
     <file name="vn200_serial.c" dir="peripherals"/>
-    <file name="ahrs.c" dir="subsystems"/>
-    <file name="ahrs_vectornav.c" dir="subsystems/ahrs"/>
-    <file name="ahrs_vectornav_wrapper.c" dir="subsystems/ahrs"/>
+    <file name="ahrs.c"/>
+    <file name="ahrs_vectornav.c"/>
+    <file name="ahrs_vectornav_wrapper.c"/>
 
     <define name="USE_AHRS"/>
 
@@ -36,21 +36,21 @@
 ifdef SECONDARY_AHRS
 ifneq (,$(findstring $(SECONDARY_AHRS), vectornav))
 # this is the secondary AHRS
-$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"subsystems/ahrs/ahrs_vectornav_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_SECONDARY_TYPE_H=\"modules/ahrs/ahrs_vectornav_wrapper.h\"
 $(TARGET).CFLAGS += -DSECONDARY_AHRS=ahrs_vectornav
 else
 # this is the primary AHRS
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_vectornav_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_vectornav_wrapper.h\"
 $(TARGET).CFLAGS += -DPRIMARY_AHRS=ahrs_vectornav
 endif
 else
 # plain old single AHRS usage
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_vectornav_wrapper.h\"
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_vectornav_wrapper.h\"
 endif
     </raw>
     <test>
       <define name="PRIMARY_AHRS" value="ahrs_vectornav"/>
-      <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_vectornav_wrapper.h" type="string"/>
+      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_vectornav_wrapper.h" type="string"/>
       <define name="VN_PORT" value="uart0"/>
       <define name="USE_UART0"/>
     </test>
diff --git a/conf/modules/ins_float_invariant.xml b/conf/modules/ins_float_invariant.xml
index f6c37bbddc..eb4fc8bc95 100644
--- a/conf/modules/ins_float_invariant.xml
+++ b/conf/modules/ins_float_invariant.xml
@@ -42,7 +42,7 @@
     <configure name="USE_MAGNETOMETER" default="TRUE"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
 
-    <file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_aligner.c" dir="modules/ahrs"/>
     <file name="ins.c" dir="subsystems"/>
     <file name="ins_float_invariant.c" dir="subsystems/ins"/>
     <file name="ins_float_invariant_wrapper.c" dir="subsystems/ins"/>
@@ -52,9 +52,9 @@
     <test firmware="rotorcraft"/>
   </makefile>
   <makefile target="sim">
-    <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
+    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
     <define name="USE_AHRS"/>
-    <file name="ahrs.c" dir="subsystems"/>
-    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
+    <file name="ahrs.c" dir="modules/ahrs"/>
+    <file name="ahrs_sim.c" dir="modules/ahrs"/>
   </makefile>
 </module>
diff --git a/conf/modules/ins_mekf_wind.xml b/conf/modules/ins_mekf_wind.xml
index 0d3d8508c4..dcaf9da7a5 100644
--- a/conf/modules/ins_mekf_wind.xml
+++ b/conf/modules/ins_mekf_wind.xml
@@ -72,7 +72,7 @@
     <configure name="USE_MAGNETOMETER" default="TRUE"/>
     <define name="USE_MAGNETOMETER" cond="ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))"/>
     <include name="$(PAPARAZZI_SRC)/sw/ext/eigen"/>
-    <file name="ahrs_aligner.c" dir="subsystems/ahrs"/>
+    <file name="ahrs_aligner.c" dir="modules/ahrs"/>
     <file name="ins.c" dir="subsystems"/>
     <file name="ins_mekf_wind.cpp"/>
     <file name="ins_mekf_wind_wrapper.c"/>
@@ -92,9 +92,9 @@
     <flag name="CXXFLAGS" value="Wno-logical-not-parentheses"/>
   </makefile>
   <makefile target="sim" firmware="fixedwing">
-    <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
+    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
     <define name="USE_AHRS"/>
-    <file name="ahrs.c" dir="subsystems"/>
-    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
+    <file name="ahrs.c" dir="modules/ahrs"/>
+    <file name="ahrs_sim.c" dir="modules/ahrs"/>
   </makefile>
 </module>
diff --git a/conf/modules/ins_sim.xml b/conf/modules/ins_sim.xml
index 1e540521a5..a9291afdf0 100644
--- a/conf/modules/ins_sim.xml
+++ b/conf/modules/ins_sim.xml
@@ -17,17 +17,17 @@
   </header>
   <init fun="ins_gps_passthrough_init()"/>
   <makefile target="sim">
-    <file name="ahrs.c" dir="subsystems"/>
-    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
+    <file name="ahrs.c" dir="modules/ahrs"/>
+    <file name="ahrs_sim.c" dir="modules/ahrs"/>
     <define name="USE_AHRS"/>
-    <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
+    <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
 
     <file name="ins.c" dir="subsystems"/>
     <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
     <define name="INS_TYPE_H" value="subsystems/ins/ins_gps_passthrough.h" type="string"/>
     <test firmware="rotorcraft">
       <define name="PRIMARY_AHRS" value="ahrs_sim"/>
-      <define name="AHRS_TYPE_H" value="subsystems/ahrs/ahrs_sim.h" type="string"/>
+      <define name="AHRS_TYPE_H" value="modules/ahrs/ahrs_sim.h" type="string"/>
     </test>
   </makefile>
 </module>
diff --git a/conf/modules/mag_calib_ukf.xml b/conf/modules/mag_calib_ukf.xml
index 1afdd7596a..dde0292460 100644
--- a/conf/modules/mag_calib_ukf.xml
+++ b/conf/modules/mag_calib_ukf.xml
@@ -9,7 +9,7 @@
       
       For more information see TRICAL project page (https://www.github.com/sfwa/TRICAL).
     </description>
-    <define name="[AHRS/INS]_XXX_MAG_ID" value="MAG_CALIB_UKF_ID" description="Select correct input mag for your estimation filter (AHRS or INS), replace XXX by your filter name as defined in sw/airborne/subssytems/abi_sender_ids.h"/>
+    <define name="[AHRS/INS]_XXX_MAG_ID" value="MAG_CALIB_UKF_ID" description="Select correct input mag for your estimation filter (AHRS or INS), replace XXX by your filter name as defined in sw/airborne/modules/core/abi_sender_ids.h"/>
     <section name="MAG_CALIB_UKF" prefix="MAG_CALIB_UKF_">
       <define name="NORM" value="1.0f" description="Measurement norm of magnetometer"/>
       <define name="NOISE_RMS" value="2e-1f" description="Noise RMS of magnetometer"/>
diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
index c56e257c9c..9a7d89e279 100644
--- a/sw/airborne/boards/ardrone/navdata.c
+++ b/sw/airborne/boards/ardrone/navdata.c
@@ -44,7 +44,7 @@
 #include "std.h"
 #include "navdata.h"
 #include "subsystems/ins.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/gpio.h"
 
diff --git a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
index 13660ebb19..44ccc0b7db 100644
--- a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
+++ b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
@@ -47,7 +47,7 @@
 
 #include "state.h"
 #include "modules/imu/imu.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 #include "modules/core/commands.h"
 #include "subsystems/actuators.h"
diff --git a/sw/airborne/subsystems/ahrs.c b/sw/airborne/modules/ahrs/ahrs.c
similarity index 96%
rename from sw/airborne/subsystems/ahrs.c
rename to sw/airborne/modules/ahrs/ahrs.c
index 3715c9632b..0a0381a134 100644
--- a/sw/airborne/subsystems/ahrs.c
+++ b/sw/airborne/modules/ahrs/ahrs.c
@@ -20,15 +20,15 @@
  */
 
 /**
- * @file subsystems/ahrs.c
+ * @file modules/ahrs/ahrs.c
  * Dispatcher to register actual AHRS implementations.
  */
 
 
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 #if USE_AHRS_ALIGNER
-#include "subsystems/ahrs/ahrs_aligner.h"
+#include "modules/ahrs/ahrs_aligner.h"
 #endif
 
 
diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/modules/ahrs/ahrs.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs.h
rename to sw/airborne/modules/ahrs/ahrs.h
index c4e50fc5ab..676d9ec027 100644
--- a/sw/airborne/subsystems/ahrs.h
+++ b/sw/airborne/modules/ahrs/ahrs.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs.h
+ * @file modules/ahrs/ahrs.h
  * Dispatcher to register actual AHRS implementations.
  */
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/modules/ahrs/ahrs_aligner.c
similarity index 99%
rename from sw/airborne/subsystems/ahrs/ahrs_aligner.c
rename to sw/airborne/modules/ahrs/ahrs_aligner.c
index 5a2795876e..8739f14ad7 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c
+++ b/sw/airborne/modules/ahrs/ahrs_aligner.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_aligner.c
+ * @file modules/ahrs/ahrs_aligner.c
  *
  * Low-pass IMU measurements at startup to align the AHRS.
  *
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.h b/sw/airborne/modules/ahrs/ahrs_aligner.h
similarity index 97%
rename from sw/airborne/subsystems/ahrs/ahrs_aligner.h
rename to sw/airborne/modules/ahrs/ahrs_aligner.h
index dabd611a12..77b061893d 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_aligner.h
+++ b/sw/airborne/modules/ahrs/ahrs_aligner.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_aligner.h
+ * @file modules/ahrs/ahrs_aligner.h
  *
  * Interface to align the AHRS via low-passed measurements at startup.
  *
diff --git a/sw/airborne/modules/ins/ahrs_chimu.h b/sw/airborne/modules/ahrs/ahrs_chimu.h
similarity index 94%
rename from sw/airborne/modules/ins/ahrs_chimu.h
rename to sw/airborne/modules/ahrs/ahrs_chimu.h
index 0bc40c4e57..017d62fb42 100644
--- a/sw/airborne/modules/ins/ahrs_chimu.h
+++ b/sw/airborne/modules/ahrs/ahrs_chimu.h
@@ -20,14 +20,14 @@
  */
 
 /**
- * @file modules/ins/ahrs_chimu.h
+ * @file modules/ahrs/ahrs_chimu.h
  */
 
 #ifndef AHRS_CHIMU_H
 #define AHRS_CHIMU_H
 
 #include "modules/ins/ins_module.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 struct AhrsChimu {
   bool is_enabled;
diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ahrs/ahrs_chimu_spi.c
similarity index 96%
rename from sw/airborne/modules/ins/ahrs_chimu_spi.c
rename to sw/airborne/modules/ahrs/ahrs_chimu_spi.c
index c1a45a3e0d..d25eb32b15 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ahrs/ahrs_chimu_spi.c
@@ -14,7 +14,7 @@
 
 // For centripedal corrections
 #include "modules/gps/gps.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 #include "generated/airframe.h"
 
@@ -24,9 +24,9 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 
-#include "ins_module.h"
-#include "imu_chimu.h"
-#include "ahrs_chimu.h"
+#include "modules/ins/ins_module.h"
+#include "modules/ins/imu_chimu.h"
+#include "modules/ahrs/ahrs_chimu.h"
 
 #include "led.h"
 
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ahrs/ahrs_chimu_uart.c
similarity index 96%
rename from sw/airborne/modules/ins/ahrs_chimu_uart.c
rename to sw/airborne/modules/ahrs/ahrs_chimu_uart.c
index d49748d91e..516078397e 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_uart.c
+++ b/sw/airborne/modules/ahrs/ahrs_chimu_uart.c
@@ -10,7 +10,7 @@
 
 // For centripedal corrections
 #include "modules/gps/gps.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 #include "generated/airframe.h"
 
@@ -20,8 +20,8 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 
-#include "ins_module.h"
-#include "imu_chimu.h"
+#include "modules/ins/ins_module.h"
+#include "modules/ins/imu_chimu.h"
 
 #include "led.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/modules/ahrs/ahrs_float_cmpl.c
similarity index 99%
rename from sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
rename to sw/airborne/modules/ahrs/ahrs_float_cmpl.c
index a7bc991323..1e53484a37 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_cmpl.c
@@ -20,15 +20,15 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_cmpl.c
+ * @file modules/ahrs/ahrs_float_cmpl.c
  *
  * Complementary filter in float to estimate the attitude, heading and gyro bias.
  *
  * Propagation can be done in rotation matrix or quaternion representation.
  */
 
-#include "subsystems/ahrs/ahrs_float_cmpl.h"
-#include "subsystems/ahrs/ahrs_float_utils.h"
+#include "modules/ahrs/ahrs_float_cmpl.h"
+#include "modules/ahrs/ahrs_float_utils.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_simple_matrix.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/modules/ahrs/ahrs_float_cmpl.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
rename to sw/airborne/modules/ahrs/ahrs_float_cmpl.h
index 29f396d8a0..0699c2bceb 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_cmpl.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_cmpl.h
+ * @file modules/ahrs/ahrs_float_cmpl.h
  *
  * Complementary filter in float to estimate the attitude, heading and gyro bias.
  *
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
rename to sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.c
index cb700f18d9..5c68eb96fd 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+ * @file modules/ahrs/ahrs_float_cmpl_wrapper.c
  *
  * Paparazzi specific wrapper to run floating point complementary filter.
  */
 
-#include "subsystems/ahrs/ahrs_float_cmpl_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs_float_cmpl_wrapper.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.h b/sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.h
similarity index 91%
rename from sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.h
rename to sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.h
index 0f37b12ef0..b195d9332e 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_cmpl_wrapper.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_cmpl_wrapper.h
+ * @file modules/ahrs/ahrs_float_cmpl_wrapper.h
  *
  * Paparazzi specific wrapper to run floating point complementary filter.
  */
@@ -27,7 +27,7 @@
 #ifndef AHRS_FLOAT_CMPL_WRAPPER_H
 #define AHRS_FLOAT_CMPL_WRAPPER_H
 
-#include "subsystems/ahrs/ahrs_float_cmpl.h"
+#include "modules/ahrs/ahrs_float_cmpl.h"
 
 #ifndef PRIMARY_AHRS
 #define PRIMARY_AHRS ahrs_fc
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/modules/ahrs/ahrs_float_dcm.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
rename to sw/airborne/modules/ahrs/ahrs_float_dcm.c
index afa76825e3..8949d4c4ae 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_dcm.c
@@ -13,7 +13,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_dcm.c
+ * @file modules/ahrs/ahrs_float_dcm.c
  *
  * Attitude estimation for fixedwings based on the DCM.
  *
@@ -27,11 +27,11 @@
 
 #include "std.h"
 
-#include "subsystems/ahrs/ahrs_float_dcm.h"
-#include "subsystems/ahrs/ahrs_float_utils.h"
+#include "modules/ahrs/ahrs_float_dcm.h"
+#include "modules/ahrs/ahrs_float_utils.h"
 #include "autopilot.h"  // launch detection
 
-#include "subsystems/ahrs/ahrs_float_dcm_algebra.h"
+#include "modules/ahrs/ahrs_float_dcm_algebra.h"
 #include "math/pprz_algebra_float.h"
 
 #if USE_GPS
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/modules/ahrs/ahrs_float_dcm.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
rename to sw/airborne/modules/ahrs/ahrs_float_dcm.h
index 2c431c2130..e082f6ed74 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_dcm.h
@@ -13,7 +13,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_dcm.h
+ * @file modules/ahrs/ahrs_float_dcm.h
  *
  * Attitude estimation for fixedwings based on the DCM.
  *
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h b/sw/airborne/modules/ahrs/ahrs_float_dcm_algebra.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h
rename to sw/airborne/modules/ahrs/ahrs_float_dcm_algebra.h
index 739b1a1eec..e9a291bc39 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_algebra.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_dcm_algebra.h
@@ -10,7 +10,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_dcm_algebra.h
+ * @file modules/ahrs/ahrs_float_dcm_algebra.h
  *
  * Algebra helper functions for DCM.
  *
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c b/sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
rename to sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.c
index b57c4f639b..a376a363a1 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_dcm_wrapper.c
+ * @file modules/ahrs/ahrs_float_dcm_wrapper.c
  *
  * Paparazzi specific wrapper to run floating point complementary filter.
  */
 
-#include "subsystems/ahrs/ahrs_float_dcm_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs_float_dcm_wrapper.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.h b/sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.h
similarity index 91%
rename from sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.h
rename to sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.h
index 7120118ec2..74827b070c 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_dcm_wrapper.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_dcm_wrapper.h
+ * @file modules/ahrs/ahrs_float_dcm_wrapper.h
  *
  * Paparazzi specific wrapper to run floating point DCM filter.
  */
@@ -27,7 +27,7 @@
 #ifndef AHRS_FLOAT_DCM_WRAPPER_H
 #define AHRS_FLOAT_DCM_WRAPPER_H
 
-#include "subsystems/ahrs/ahrs_float_dcm.h"
+#include "modules/ahrs/ahrs_float_dcm.h"
 
 #ifndef PRIMARY_AHRS
 #define PRIMARY_AHRS ahrs_dcm
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c b/sw/airborne/modules/ahrs/ahrs_float_invariant.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_invariant.c
rename to sw/airborne/modules/ahrs/ahrs_float_invariant.c
index cf4d9893b5..72431265d5 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_invariant.c
@@ -19,16 +19,16 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_invariant.c
+ * @file modules/ahrs/ahrs_float_invariant.c
  * @author Jean-Philippe Condomines <jp.condomines@gmail.com>
  *
  * AHRS using invariant filter.
  *
  */
 
-#include "subsystems/ahrs/ahrs_float_invariant.h"
+#include "modules/ahrs/ahrs_float_invariant.h"
 
-#include "subsystems/ahrs/ahrs_int_utils.h"
+#include "modules/ahrs/ahrs_int_utils.h"
 
 #include "generated/airframe.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h b/sw/airborne/modules/ahrs/ahrs_float_invariant.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_invariant.h
rename to sw/airborne/modules/ahrs/ahrs_float_invariant.h
index 8c48459913..2301574bbe 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_invariant.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_invariant.h
+ * @file modules/ahrs/ahrs_float_invariant.h
  * AHRS using invariant filter.
  * For more information, please send an email to "jp.condomines@gmail.com"
  */
@@ -27,7 +27,7 @@
 #ifndef AHRS_FLOAT_INVARIANT_H
 #define AHRS_FLOAT_INVARIANT_H
 
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_orientation_conversion.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c b/sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
rename to sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.c
index c1865e2840..0d86f92553 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_invariant_wrapper.c
+ * @file modules/ahrs/ahrs_float_invariant_wrapper.c
  *
  * Paparazzi specific wrapper to run INVARIANT ahrs filter.
  */
 
-#include "subsystems/ahrs/ahrs_float_invariant_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs_float_invariant_wrapper.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "message_pragmas.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.h b/sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.h
similarity index 91%
rename from sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.h
rename to sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.h
index 9458d4d9e5..64208753d0 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_invariant_wrapper.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_invariant_wrapper.h
+ * @file modules/ahrs/ahrs_float_invariant_wrapper.h
  *
  * Paparazzi specific wrapper to run INVARIANT ahrs filter.
  */
@@ -27,7 +27,7 @@
 #ifndef AHRS_FLOAT_INVARIANT_WRAPPER_H
 #define AHRS_FLOAT_INVARIANT_WRAPPER_H
 
-#include "subsystems/ahrs/ahrs_float_invariant.h"
+#include "modules/ahrs/ahrs_float_invariant.h"
 
 #ifndef PRIMARY_AHRS
 #define PRIMARY_AHRS ahrs_float_invariant
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c b/sw/airborne/modules/ahrs/ahrs_float_mlkf.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
rename to sw/airborne/modules/ahrs/ahrs_float_mlkf.c
index f7c6be557b..badb6e16de 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_mlkf.c
@@ -21,15 +21,15 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_mlkf.c
+ * @file modules/ahrs/ahrs_float_mlkf.c
  *
  * Multiplicative linearized Kalman Filter in quaternion formulation.
  *
  * Estimate the attitude, heading and gyro bias.
  */
 
-#include "subsystems/ahrs/ahrs_float_mlkf.h"
-#include "subsystems/ahrs/ahrs_float_utils.h"
+#include "modules/ahrs/ahrs_float_mlkf.h"
+#include "modules/ahrs/ahrs_float_utils.h"
 
 #include <string.h>  /* for memcpy      */
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h b/sw/airborne/modules/ahrs/ahrs_float_mlkf.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
rename to sw/airborne/modules/ahrs/ahrs_float_mlkf.h
index 1c66ff7bee..74d062c9eb 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_mlkf.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_mlkf.h
+ * @file modules/ahrs/ahrs_float_mlkf.h
  *
  * Multiplicative linearized Kalman Filter in quaternion formulation.
  *
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c b/sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
rename to sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.c
index 427f268e65..104ca070c9 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_mlkf_wrapper.c
+ * @file modules/ahrs/ahrs_float_mlkf_wrapper.c
  *
  * Paparazzi specific wrapper to run MLKF filter.
  */
 
-#include "subsystems/ahrs/ahrs_float_mlkf_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs_float_mlkf_wrapper.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.h b/sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.h
similarity index 91%
rename from sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.h
rename to sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.h
index cb394a23e7..02cade8711 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_mlkf_wrapper.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_mlkf_wrapper.h
+ * @file modules/ahrs/ahrs_float_mlkf_wrapper.h
  *
  * Paparazzi specific wrapper to run MLKF filter.
  */
@@ -27,7 +27,7 @@
 #ifndef AHRS_FLOAT_MLKF_WRAPPER_H
 #define AHRS_FLOAT_MLKF_WRAPPER_H
 
-#include "subsystems/ahrs/ahrs_float_mlkf.h"
+#include "modules/ahrs/ahrs_float_mlkf.h"
 
 #ifndef PRIMARY_AHRS
 #define PRIMARY_AHRS ahrs_mlkf
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_utils.h b/sw/airborne/modules/ahrs/ahrs_float_utils.h
similarity index 97%
rename from sw/airborne/subsystems/ahrs/ahrs_float_utils.h
rename to sw/airborne/modules/ahrs/ahrs_float_utils.h
index d40e6a40b4..a8fad5356d 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_utils.h
+++ b/sw/airborne/modules/ahrs/ahrs_float_utils.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_float_utils.h
+ * @file modules/ahrs/ahrs_float_utils.h
  *
  * Utility functions for floating point AHRS implementations.
  *
@@ -31,7 +31,7 @@
 #define AHRS_FLOAT_UTILS_H
 
 #include "math/pprz_algebra_float.h"
-#include "subsystems/ahrs/ahrs_magnetic_field_model.h"
+#include "modules/ahrs/ahrs_magnetic_field_model.h"
 
 #include "std.h" // for ABS
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/modules/ahrs/ahrs_gx3.c
similarity index 99%
rename from sw/airborne/subsystems/ahrs/ahrs_gx3.c
rename to sw/airborne/modules/ahrs/ahrs_gx3.c
index db299af90d..38771fc2c7 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c
+++ b/sw/airborne/modules/ahrs/ahrs_gx3.c
@@ -31,10 +31,10 @@
  * @author Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
  */
 
-#include "subsystems/ahrs/ahrs_gx3.h"
+#include "modules/ahrs/ahrs_gx3.h"
 
 // for ahrs_register_impl
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 
 #define GX3_CHKSM(_ubx_payload) (uint16_t)((uint16_t)(*((uint8_t*)_ubx_payload+66+1))|(uint16_t)(*((uint8_t*)_ubx_payload+66+0))<<8)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/modules/ahrs/ahrs_gx3.h
similarity index 100%
rename from sw/airborne/subsystems/ahrs/ahrs_gx3.h
rename to sw/airborne/modules/ahrs/ahrs_gx3.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c
similarity index 99%
rename from sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
rename to sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c
index c7981d8e49..d3ee04ad99 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+++ b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_int_cmpl_quat.c
+ * @file modules/ahrs/ahrs_int_cmpl_quat.c
  *
  * Quaternion complementary filter (fixed-point).
  *
@@ -30,8 +30,8 @@
 
 #include "generated/airframe.h"
 
-#include "subsystems/ahrs/ahrs_int_cmpl_quat.h"
-#include "subsystems/ahrs/ahrs_int_utils.h"
+#include "modules/ahrs/ahrs_int_cmpl_quat.h"
+#include "modules/ahrs/ahrs_int_utils.h"
 
 #if USE_GPS
 #include "modules/gps/gps.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.h
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
rename to sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.h
index 23a1329868..e146f3a0c7 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
+++ b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_int_cmpl_quat.h
+ * @file modules/ahrs/ahrs_int_cmpl_quat.h
  *
  * Quaternion complementary filter (fixed-point).
  *
@@ -31,7 +31,7 @@
 #ifndef AHRS_INT_CMPL_QUAT_H
 #define AHRS_INT_CMPL_QUAT_H
 
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/gps/gps.h"
 #include "std.h"
 #include "math/pprz_algebra_int.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
rename to sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.c
index 549ddd9744..5fa1069ecc 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
+ * @file modules/ahrs/ahrs_int_cmpl_quat_wrapper.c
  *
  * Paparazzi specific wrapper to run floating point complementary filter.
  */
 
-#include "subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs_int_cmpl_quat_wrapper.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.h
similarity index 91%
rename from sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h
rename to sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.h
index ec688b28df..150070acae 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h
+++ b/sw/airborne/modules/ahrs/ahrs_int_cmpl_quat_wrapper.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.h
+ * @file modules/ahrs/ahrs_int_cmpl_quat_wrapper.h
  *
  * Paparazzi specific wrapper to run floating point complementary filter.
  */
@@ -27,7 +27,7 @@
 #ifndef AHRS_INT_CMPL_QUAT_WRAPPER_H
 #define AHRS_INT_CMPL_QUAT_WRAPPER_H
 
-#include "subsystems/ahrs/ahrs_int_cmpl_quat.h"
+#include "modules/ahrs/ahrs_int_cmpl_quat.h"
 
 #ifndef PRIMARY_AHRS
 #define PRIMARY_AHRS ahrs_icq
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_utils.h b/sw/airborne/modules/ahrs/ahrs_int_utils.h
similarity index 95%
rename from sw/airborne/subsystems/ahrs/ahrs_int_utils.h
rename to sw/airborne/modules/ahrs/ahrs_int_utils.h
index d89664dffe..016d5c31df 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_utils.h
+++ b/sw/airborne/modules/ahrs/ahrs_int_utils.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_int_utils.h
+ * @file modules/ahrs/ahrs_int_utils.h
  *
  * Utility functions for fixed point AHRS implementations.
  *
@@ -33,9 +33,9 @@
 //#include "../../test/pprz_algebra_print.h"
 #include "math/pprz_algebra_int.h"
 
-#include "subsystems/ahrs/ahrs_magnetic_field_model.h"
+#include "modules/ahrs/ahrs_magnetic_field_model.h"
 
-#include "subsystems/ahrs/ahrs_float_utils.h"
+#include "modules/ahrs/ahrs_float_utils.h"
 
 static inline void ahrs_int_get_euler_from_accel_mag(struct Int32Eulers *e, struct Int32Vect3 *accel,
     struct Int32Vect3 *mag)
diff --git a/sw/airborne/modules/ahrs/ahrs_madgwick.c b/sw/airborne/modules/ahrs/ahrs_madgwick.c
index 723a3947a1..a3175cdc8b 100644
--- a/sw/airborne/modules/ahrs/ahrs_madgwick.c
+++ b/sw/airborne/modules/ahrs/ahrs_madgwick.c
@@ -29,7 +29,7 @@
 #include "modules/ahrs/ahrs_madgwick.h"
 #include "generated/airframe.h"
 #include "math/pprz_algebra_float.h"
-#include "subsystems/ahrs/ahrs_float_utils.h"
+#include "modules/ahrs/ahrs_float_utils.h"
 
 #ifndef AHRS_MADGWICK_BETA
 #define AHRS_MADGWICK_BETA 0.1f    // 2 * proportional gain
diff --git a/sw/airborne/modules/ahrs/ahrs_madgwick.h b/sw/airborne/modules/ahrs/ahrs_madgwick.h
index 20fe150e4e..5c27920899 100644
--- a/sw/airborne/modules/ahrs/ahrs_madgwick.h
+++ b/sw/airborne/modules/ahrs/ahrs_madgwick.h
@@ -29,7 +29,7 @@
 #ifndef AHRS_MADGWICK_H
 #define AHRS_MADGWICK_H
 
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_orientation_conversion.h"
 
diff --git a/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c b/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c
index 3381bf50ba..67877c8d39 100644
--- a/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_madgwick_wrapper.c
@@ -25,7 +25,7 @@
  */
 
 #include "modules/ahrs/ahrs_madgwick_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "message_pragmas.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_magnetic_field_model.h b/sw/airborne/modules/ahrs/ahrs_magnetic_field_model.h
similarity index 100%
rename from sw/airborne/subsystems/ahrs/ahrs_magnetic_field_model.h
rename to sw/airborne/modules/ahrs/ahrs_magnetic_field_model.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.c b/sw/airborne/modules/ahrs/ahrs_sim.c
similarity index 96%
rename from sw/airborne/subsystems/ahrs/ahrs_sim.c
rename to sw/airborne/modules/ahrs/ahrs_sim.c
index 8d3e59a007..72831d18e9 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_sim.c
+++ b/sw/airborne/modules/ahrs/ahrs_sim.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_sim.c
+ * @file modules/ahrs/ahrs_sim.c
  *
  * Dummy plug to set the AHRS from the simple OCaml simulator.
  *
  */
 
-#include "subsystems/ahrs/ahrs_sim.h"
+#include "modules/ahrs/ahrs_sim.h"
 #include "math/pprz_algebra_float.h"
 #include "generated/airframe.h"
 #include "state.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.h b/sw/airborne/modules/ahrs/ahrs_sim.h
similarity index 94%
rename from sw/airborne/subsystems/ahrs/ahrs_sim.h
rename to sw/airborne/modules/ahrs/ahrs_sim.h
index acf3b0952f..5fc431d856 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_sim.h
+++ b/sw/airborne/modules/ahrs/ahrs_sim.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/ahrs/ahrs_sim.h
+ * @file modules/ahrs/ahrs_sim.h
  *
  * Interface to set the AHRS from the simple OCaml simulator.
  *
@@ -29,7 +29,7 @@
 #ifndef AHRS_SIM_H
 #define AHRS_SIM_H
 
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "std.h"
 
 extern float ins_roll_neutral;
diff --git a/sw/airborne/subsystems/ahrs/ahrs_vectornav.c b/sw/airborne/modules/ahrs/ahrs_vectornav.c
similarity index 97%
rename from sw/airborne/subsystems/ahrs/ahrs_vectornav.c
rename to sw/airborne/modules/ahrs/ahrs_vectornav.c
index 662274ca54..417ba7ba65 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_vectornav.c
+++ b/sw/airborne/modules/ahrs/ahrs_vectornav.c
@@ -25,8 +25,8 @@
  *
  * @author Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
  */
-#include "subsystems/ahrs/ahrs_vectornav.h"
-#include "subsystems/ahrs/ahrs_vectornav_wrapper.h"
+#include "modules/ahrs/ahrs_vectornav.h"
+#include "modules/ahrs/ahrs_vectornav_wrapper.h"
 #include "modules/core/abi.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_vectornav.h b/sw/airborne/modules/ahrs/ahrs_vectornav.h
similarity index 100%
rename from sw/airborne/subsystems/ahrs/ahrs_vectornav.h
rename to sw/airborne/modules/ahrs/ahrs_vectornav.h
diff --git a/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c b/sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.c
similarity index 96%
rename from sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c
rename to sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.c
index d7dabc556e..e40c6c147e 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.c
+++ b/sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.c
@@ -25,8 +25,8 @@
  *
  * @author Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
  */
-#include "subsystems/ahrs/ahrs_vectornav_wrapper.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs_vectornav_wrapper.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/core/abi.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.h b/sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.h
similarity index 96%
rename from sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.h
rename to sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.h
index caeb8c3dd7..9a437e691a 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_vectornav_wrapper.h
+++ b/sw/airborne/modules/ahrs/ahrs_vectornav_wrapper.h
@@ -28,7 +28,7 @@
 #ifndef AHRS_VECTORNAV_WRAPPER_H
 #define AHRS_VECTORNAV_WRAPPER_H
 
-#include "subsystems/ahrs/ahrs_vectornav.h"
+#include "modules/ahrs/ahrs_vectornav.h"
 
 #ifndef PRIMARY_AHRS
 #define PRIMARY_AHRS ahrs_vectornav
diff --git a/sw/airborne/modules/calibration/mag_calib_ukf.c b/sw/airborne/modules/calibration/mag_calib_ukf.c
index 87d19b23c9..059f7eb043 100644
--- a/sw/airborne/modules/calibration/mag_calib_ukf.c
+++ b/sw/airborne/modules/calibration/mag_calib_ukf.c
@@ -33,7 +33,7 @@
 #include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "generated/airframe.h"
-#include "subsystems/ahrs/ahrs_magnetic_field_model.h"
+#include "modules/ahrs/ahrs_magnetic_field_model.h"
 #include "subsystems/datalink/telemetry.h"
 #include "TRICAL.h"
 
diff --git a/sw/airborne/modules/imu/imu_um6.h b/sw/airborne/modules/imu/imu_um6.h
index 62f65a5640..b365237647 100644
--- a/sw/airborne/modules/imu/imu_um6.h
+++ b/sw/airborne/modules/imu/imu_um6.h
@@ -36,7 +36,7 @@
 #include "generated/airframe.h"
 #include "modules/imu/imu.h"
 #include "mcu_periph/uart.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 #define IMU_UM6_BUFFER_LENGTH 32
 #define IMU_UM6_DATA_OFFSET 5
diff --git a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
index 79021d0ef4..3ba2e21970 100644
--- a/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
+++ b/sw/airborne/modules/ins/ins_mekf_wind_wrapper.c
@@ -27,9 +27,9 @@
 #include "modules/ins/ins_mekf_wind_wrapper.h"
 #include "modules/ins/ins_mekf_wind.h"
 #include "modules/air_data/air_data.h"
-#include "subsystems/ahrs/ahrs_float_utils.h"
+#include "modules/ahrs/ahrs_float_utils.h"
 #if USE_AHRS_ALIGNER
-#include "subsystems/ahrs/ahrs_aligner.h"
+#include "modules/ahrs/ahrs_aligner.h"
 #endif
 #include "subsystems/ins.h"
 #include "modules/core/abi.h"
diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c
index 7fa7e5bc3d..75fa92a51b 100644
--- a/sw/airborne/modules/vehicle_interface/vi.c
+++ b/sw/airborne/modules/vehicle_interface/vi.c
@@ -22,7 +22,7 @@
 #include "vehicle_interface/vi.h"
 
 #include "modules/imu/imu.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "modules/gps/gps.h"
 
 #include "generated/airframe.h"
diff --git a/sw/airborne/subsystems/ins/ins_ekf2.h b/sw/airborne/subsystems/ins/ins_ekf2.h
index 7f8f0c5472..182b980cf9 100644
--- a/sw/airborne/subsystems/ins/ins_ekf2.h
+++ b/sw/airborne/subsystems/ins/ins_ekf2.h
@@ -33,7 +33,7 @@
 extern "C" {
 #endif
 
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "subsystems/ins.h"
 
 struct ekf2_parameters_t {
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index 0b51db339e..fdeb67b732 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -28,7 +28,7 @@
 
 #include "subsystems/ins/ins_float_invariant.h"
 
-#include "subsystems/ahrs/ahrs_int_utils.h"
+#include "modules/ahrs/ahrs_int_utils.h"
 
 #include "subsystems/ins.h"
 #include "modules/gps/gps.h"
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c b/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
index 8fba3154f7..6f2a3a20be 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
@@ -30,7 +30,7 @@
 #include "mcu_periph/sys_time.h"
 #include "message_pragmas.h"
 #if USE_AHRS_ALIGNER
-#include "subsystems/ahrs/ahrs_aligner.h"
+#include "modules/ahrs/ahrs_aligner.h"
 #endif
 
 #ifndef INS_FINV_FILTER_ID
diff --git a/sw/airborne/test/ahrs/Makefile b/sw/airborne/test/ahrs/Makefile
index 715c4391fd..d7f37ea9c1 100644
--- a/sw/airborne/test/ahrs/Makefile
+++ b/sw/airborne/test/ahrs/Makefile
@@ -34,8 +34,8 @@ CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=50
 
 SRCS= run_ahrs_on_flight_log.c                    \
 	  ../../math/pprz_trig_int.c                  \
-	  ../../subsystems/ahrs.c                     \
-	  ../../subsystems/ahrs/ahrs_aligner.c        \
+	  ../../modules/ahrs/ahrs.c                     \
+	  ../../modules/ahrs/ahrs_aligner.c        \
 	  ../../modules/imu/imu.c                      \
       ../../state.c                               \
       ../../math/pprz_orientation_conversion.c    \
@@ -45,13 +45,13 @@ SRCS= run_ahrs_on_flight_log.c                    \
 
 all: run_ahrs_fcr_on_flight_log run_ahrs_ice_on_flight_log
 
-#run_ahrs_flq_on_flight_log: ../../subsystems/ahrs/ahrs_float_lkf_quat.c $(SRCS)
+#run_ahrs_flq_on_flight_log: ../../modules/ahrs/ahrs_float_lkf_quat.c $(SRCS)
 #	$(CC) -DAHRS_TYPE=AHRS_TYPE_FLQ $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
-run_ahrs_fcr_on_flight_log: ../../subsystems/ahrs/ahrs_float_cmpl.c $(SRCS)
+run_ahrs_fcr_on_flight_log: ../../modules/ahrs/ahrs_float_cmpl.c $(SRCS)
 	$(CC) -DAHRS_TYPE=AHRS_TYPE_FCR -DAHRS_PROPAGATE_QUAT $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
-run_ahrs_ice_on_flight_log: ../../subsystems/ahrs/ahrs_int_cmpl_euler.c $(SRCS)
+run_ahrs_ice_on_flight_log: ../../modules/ahrs/ahrs_int_cmpl_euler.c $(SRCS)
 	$(CC) -DAHRS_TYPE=AHRS_TYPE_ICE $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
 ifndef AHRS_TYPE
@@ -95,31 +95,31 @@ AHRS_CFLAGS += -DUSE_AHRS_GPS_ACCELERATIONS
 endif
 
 
-AHRS_SRCS   += ../../subsystems/ahrs.c                      \
-			   ../../subsystems/ahrs/ahrs_aligner.c         \
+AHRS_SRCS   += ../../modules/ahrs/ahrs.c                      \
+			   ../../modules/ahrs/ahrs_aligner.c         \
 
 ifeq ($(AHRS_TYPE), AHRS_TYPE_ICE)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_int_cmpl_euler.h\"
 AHRS_CFLAGS += -DFACE_REINJ_1=1024
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_int_cmpl_euler.c
+AHRS_SRCS   += ../../modules/ahrs/ahrs_int_cmpl_euler.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_ICQ)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_int_cmpl_quat.c
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_int_cmpl_quat.h\"
+AHRS_SRCS   += ../../modules/ahrs/ahrs_int_cmpl_quat.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_FCR)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_dcm.c
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_dcm.h\"
+AHRS_SRCS   += ../../modules/ahrs/ahrs_float_dcm.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_FCR2)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_cmpl.h\"
 AHRS_CFLAGS += -DAHRS_PROPAGATE_RMAT
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_cmpl.c
+AHRS_SRCS   += ../../modules/ahrs/ahrs_float_cmpl.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_FCQ)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"modules/ahrs/ahrs_float_cmpl.h\"
 AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_cmpl.c
+AHRS_SRCS   += ../../modules/ahrs/ahrs_float_cmpl.c
 endif
 
 
diff --git a/sw/airborne/test/ahrs/ahrs_on_synth.c b/sw/airborne/test/ahrs/ahrs_on_synth.c
index fa474d6313..a1eed6a8f7 100644
--- a/sw/airborne/test/ahrs/ahrs_on_synth.c
+++ b/sw/airborne/test/ahrs/ahrs_on_synth.c
@@ -3,7 +3,7 @@
 #include <stdio.h>
 
 #include "modules/imu/imu.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "../simulator/nps/nps_random.h"
 
 #include "../pprz_algebra_print.h"
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
index 1735946547..dd6bb5c733 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
@@ -13,8 +13,8 @@
 #include "math/pprz_algebra_int.h"
 #include "pprz_algebra_print.h"
 
-#include "subsystems/ahrs.h"
-#include "subsystems/ahrs/ahrs_aligner.h"
+#include "modules/ahrs/ahrs.h"
+#include "modules/ahrs/ahrs_aligner.h"
 #include "modules/imu/imu.h"
 
 #define AHRS_TYPE_FLG 0
@@ -22,13 +22,13 @@
 #define AHRS_TYPE_ICE 2
 
 #if   defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_FLQ
-#include "subsystems/ahrs/ahrs_float_lkf_quat.h"
+#include "modules/ahrs/ahrs_float_lkf_quat.h"
 #define OUT_FILE "./out_flq.txt"
 #elif defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_FCR
-#include "subsystems/ahrs/ahrs_float_cmpl.h"
+#include "modules/ahrs/ahrs_float_cmpl.h"
 #define OUT_FILE "./out_fcr.txt"
 #elif defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_ICE
-#include "subsystems/ahrs/ahrs_int_cmpl_euler.h"
+#include "modules/ahrs/ahrs_int_cmpl_euler.h"
 #define OUT_FILE "./out_ice.txt"
 #endif
 
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth.c b/sw/airborne/test/ahrs/run_ahrs_on_synth.c
index 0d29debdf0..bc38d244dc 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_synth.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_synth.c
@@ -3,8 +3,8 @@
 #include "test/ahrs/ahrs_on_synth.h"
 
 #include "modules/imu/imu.h"
-#include "subsystems/ahrs.h"
-#include "subsystems/ahrs/ahrs_aligner.h"
+#include "modules/ahrs/ahrs.h"
+#include "modules/ahrs/ahrs_aligner.h"
 
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_algebra_int.h"
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
index 1469e3006a..9977da8ecf 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
@@ -10,7 +10,7 @@
 #include "test/ahrs/ahrs_on_synth.h"
 
 #include "modules/imu/imu.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_algebra_int.h"
diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c
index c36c78564e..4f7c08328a 100644
--- a/sw/airborne/test/subsystems/test_ahrs.c
+++ b/sw/airborne/test/subsystems/test_ahrs.c
@@ -49,7 +49,7 @@
 #include "generated/modules.h"
 
 #include "modules/imu/imu.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 
 static inline void main_init(void);
 static inline void main_periodic_task(void);
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index d4a387b398..849990b4ff 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -31,7 +31,7 @@
 #include "modules/imu/imu.h"
 #include "mcu_periph/sys_time.h"
 #include "state.h"
-#include "subsystems/ahrs.h"
+#include "modules/ahrs/ahrs.h"
 #include "subsystems/ins.h"
 #include "math/pprz_algebra.h"