[modules] move actuators from subsystems to modules

conf/autopilot/rotorcraft_autopilot.xml

@@ -13,8 +13,8 @@
       <include name="stabilization/stabilization_attitude.h"/>
       <include name="modules/radio_control/radio_control.h"/>
       <include name="modules/gps/gps.h"/>
-      <include name="subsystems/actuators.h"/>
-      <include name="subsystems/actuators/motor_mixing.h"/>
+      <include name="modules/actuators/actuators.h"/>
+      <include name="modules/actuators/motor_mixing.h"/>
       <!--define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" cond="ifndef MODE_MANUAL"/>
       <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD" cond="ifndef MODE_AUTO1"/-->
       <define name="MODE_AUTO2" value="AP_MODE_NAV" cond="ifndef MODE_AUTO2"/>

conf/autopilot/rover.xml

@@ -9,7 +9,7 @@
       <include name="autopilot.h"/>
       <include name="autopilot_rc_helpers.h"/>
       <include name="modules/gps/gps.h"/>
-      <include name="subsystems/actuators.h"/>
+      <include name="modules/actuators/actuators.h"/>
       <include name="navigation.h"/>
       <include name="guidance/rover_guidance.h"/>
       <include name="modules/radio_control/radio_control.h"/>

conf/autopilot/rover_holonomic.xml

@@ -9,7 +9,7 @@
       <include name="autopilot.h"/>
       <include name="autopilot_rc_helpers.h"/>
       <include name="modules/gps/gps.h"/>
-      <include name="subsystems/actuators.h"/>
+      <include name="modules/actuators/actuators.h"/>
       <include name="navigation.h"/>
       <include name="guidance/rover_guidance_holonomic.h"/>
       <include name="modules/radio_control/radio_control.h"/>

conf/firmwares/demo.makefile

@@ -93,7 +93,7 @@ demo_ahrs_actuators.CFLAGS += $(COMMON_DEMO_CFLAGS)
 demo_ahrs_actuators.srcs   += $(COMMON_DEMO_SRCS)
 demo_ahrs_actuators.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
 demo_ahrs_actuators.srcs   += subsystems/settings.c $(SRC_ARCH)/subsystems/settings_arch.c
-demo_ahrs_actuators.srcs   += subsystems/commands.c subsystems/actuators.c
+demo_ahrs_actuators.srcs   += subsystems/commands.c modules/actuators/actuators.c
 demo_ahrs_actuators.srcs   += state.c
 demo_ahrs_actuators.srcs   += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c math/pprz_orientation_conversion.c math/pprz_algebra_int.c math/pprz_algebra_float.c math/pprz_algebra_double.c
 demo_ahrs_actuators.srcs   += firmwares/demo/demo_ahrs_actuators.c

conf/firmwares/setup.makefile

@@ -104,7 +104,7 @@ setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_P
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
 setup_actuators.srcs += subsystems/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
 
-setup_actuators.srcs   += subsystems/actuators.c
+setup_actuators.srcs   += modules/actuators/actuators.c
 setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c
 
 ifeq ($(TARGET), setup_actuators)

conf/firmwares/subsystems/shared/actuators_pwm.makefile

@@ -1,7 +1,7 @@
 
 
 $(TARGET).CFLAGS += -DACTUATORS
-$(TARGET).srcs   += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
+$(TARGET).srcs   += $(SRC_ARCH)/modules/actuators/actuators_pwm_arch.c
 ifeq ($(ARCH), stm32)
-$(TARGET).srcs   += $(SRC_ARCH)/subsystems/actuators/actuators_shared_arch.c
+$(TARGET).srcs   += $(SRC_ARCH)/modules/actuators/actuators_shared_arch.c
 endif

conf/firmwares/test_progs.makefile

@@ -336,10 +336,10 @@ test_actuators_pwm.srcs   += $(COMMON_TEST_SRCS)
 test_actuators_pwm.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
 test_actuators_pwm.srcs   += $(COMMON_TELEMETRY_SRCS)
 test_actuators_pwm.srcs   += test/test_actuators_pwm.c
-test_actuators_pwm.srcs   += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c $(SRC_ARCH)/subsystems/actuators/actuators_shared_arch.c
+test_actuators_pwm.srcs   += $(SRC_ARCH)/modules/actuators/actuators_pwm_arch.c $(SRC_ARCH)/modules/actuators/actuators_shared_arch.c
 # only add this so it doesn't fail to build if you also have setup_actuators.xml settings file loaded
 # remove me again when we have auto loading of settings according to subsystem/module/target...
-test_actuators_pwm.srcs   += subsystems/actuators.c
+test_actuators_pwm.srcs   += modules/actuators/actuators.c
 
 
 #
@@ -349,7 +349,7 @@ test_actuators_pwm_sin.ARCHDIR = $(ARCH)
 test_actuators_pwm_sin.CFLAGS += $(COMMON_TEST_CFLAGS)
 test_actuators_pwm_sin.srcs   += $(COMMON_TEST_SRCS)
 test_actuators_pwm_sin.srcs   += test/test_actuators_pwm_sin.c
-test_actuators_pwm_sin.srcs   += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c $(SRC_ARCH)/subsystems/actuators/actuators_shared_arch.c
+test_actuators_pwm_sin.srcs   += $(SRC_ARCH)/modules/actuators/actuators_pwm_arch.c $(SRC_ARCH)/modules/actuators/actuators_shared_arch.c
 
 
 #
@@ -363,7 +363,7 @@ test_manual.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
 test_manual.srcs   += $(COMMON_TELEMETRY_SRCS)
 
 test_manual.srcs   += subsystems/commands.c
-test_manual.srcs   += subsystems/actuators.c
+test_manual.srcs   += modules/actuators/actuators.c
 test_manual.srcs   += test/test_manual.c
 
 ifeq ($(TARGET), test_manual)

conf/flight_plans/quadshot_delft.xml

@@ -5,7 +5,7 @@
     #include "autopilot.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/electrical.h"
-    #include "subsystems/actuators.h"
+    #include "modules/actuators/actuators.h"
     #include "firmwares/rotorcraft/guidance/guidance_h.h"
     #include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
 </header>

conf/modules/actuators.xml

@@ -9,12 +9,12 @@
   <dep>
   </dep>
   <header>
-    <file name="actuators.h" dir="subsystems"/>
+    <file name="actuators.h"/>
   </header>
   <init fun="actuators_init()"/>
   <makefile>
     <define name="ACTUATORS"/>
-    <file name="actuators.c" dir="subsystems"/>
+    <file name="actuators.c"/>
     <test/>
   </makefile>
 </module>

conf/modules/actuators_asctec_v2.xml

@@ -16,14 +16,14 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_asctec_v2.h" dir="subsystems/actuators"/>
+    <file name="actuators_asctec_v2.h"/>
   </header>
   <makefile target="!sim|nps">
     <configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" default="i2c1" case="upper|lower"/>
     <configure name="ACTUATORS_ASCTEC_V2_I2C_SCL_TIME" default="150"/>
     <define name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="$(ACTUATORS_ASCTEC_V2_I2C_DEV_LOWER)"/>
     <define name="USE_$(ACTUATORS_ASCTEC_V2_I2C_DEV_UPPER)"/>
-    <file name="actuators_asctec_v2.c" dir="subsystems/actuators"/>
+    <file name="actuators_asctec_v2.c"/>
     <test>
         <define name="SERVO_FRONT" value="0"/>
         <define name="SERVO_BACK" value="1"/>
@@ -36,7 +36,7 @@
   <makefile target="nps">
     <define name="USE_I2C0"/>
     <define name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2c0"/>
-    <file name="actuators_asctec_v2.c" dir="subsystems/actuators"/>
+    <file name="actuators_asctec_v2.c"/>
   </makefile>
 </module>
 

conf/modules/actuators_dualpwm.xml

@@ -11,11 +11,11 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_dualpwm.h" dir="subsystems/actuators"/>
+    <file name="actuators_dualpwm.h"/>
   </header>
   <makefile target="!sim|nps">
-    <file_arch name="actuators_dualpwm_arch.c" dir="subsystems/actuators"/>
-    <file_arch name="actuators_shared_arch.c" dir="subsystems/actuators"/>
+    <file_arch name="actuators_dualpwm_arch.c"/>
+    <file_arch name="actuators_shared_arch.c"/>
   </makefile>
 </module>
 

conf/modules/actuators_esc32.xml

@@ -16,13 +16,13 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_esc32.h" dir="subsystems/actuators"/>
+    <file name="actuators_esc32.h"/>
   </header>
   <makefile target="ap">
     <define name="USE_CAN_EXT_ID"/>
     <file name="can.c" dir="mcu_periph"/>
     <file_arch name="can_arch.c" dir="mcu_periph"/>
-    <file_arch name="actuators_esc32.c" dir="subsystems/actuators"/>
+    <file_arch name="actuators_esc32.c"/>
   </makefile>
 </module>
 

conf/modules/actuators_nps.xml

@@ -11,7 +11,7 @@
     <provides>actuators</provides>
   </dep>
   <makefile target="nps">
-    <file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
+    <file_arch name="actuators_pwm_arch.c"/>
   </makefile>
 </module>
 

conf/modules/actuators_ppm.xml

@@ -16,11 +16,11 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_ppm.h" dir="subsystems/actuators"/>
+    <file name="actuators_ppm.h"/>
   </header>
   <makefile target="!sim">
     <define name="SERVOS_PPM_MAT"/>
-    <file_arch name="actuators_ppm_hw.c" dir="subsystems/actuators"/>
+    <file_arch name="actuators_ppm_hw.c"/>
   </makefile>
 </module>
 

conf/modules/actuators_pwm.xml

@@ -11,11 +11,11 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_pwm.h" dir="subsystems/actuators"/>
+    <file name="actuators_pwm.h"/>
   </header>
   <makefile target="!sim">
-    <file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
-    <file_arch name="actuators_shared_arch.c" dir="subsystems/actuators" cond="ifeq ($(ARCH), stm32)"/>
+    <file_arch name="actuators_pwm_arch.c"/>
+    <file_arch name="actuators_shared_arch.c" cond="ifeq ($(ARCH), stm32)"/>
   </makefile>
 </module>
 

conf/modules/actuators_sbus.xml

@@ -14,7 +14,7 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_sbus.h" dir="subsystems/actuators"/>
+    <file name="actuators_sbus.h"/>
   </header>
   <makefile target="!sim">
     <configure name="ACTUATORS_SBUS_DEV" default="uart4" case="upper|lower"/>
@@ -22,7 +22,7 @@
     <define name="USE_$(ACTUATORS_SBUS_DEV_UPPER)"/>
     <define name="$(ACTUATORS_SBUS_DEV_UPPER)_BAUD" value="100000"/>
     <define name="USE_$(ACTUATORS_SBUS_DEV_UPPER)_RX" value="FALSE"/>
-    <file name="actuators_sbus.c" dir="subsystems/actuators"/>
+    <file name="actuators_sbus.c"/>
     <test>
         <define name="USE_UART1"/>
         <define name="PERIODIC_FREQUENCY" value="500"/>

conf/modules/actuators_spektrum.xml

@@ -17,7 +17,7 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_spektrum.h" dir="subsystems/actuators"/>
+    <file name="actuators_spektrum.h"/>
   </header>
   <makefile target="!sim">
     <configure name="ACTUATORS_SPEKTRUM_DEV" default="uart4" case="upper|lower"/>
@@ -30,7 +30,7 @@
     <define name="USE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)"/>
     <define name="$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_BAUD" value="115200" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
     <define name="USE_$(ACTUATORS_SPEKTRUM_DEV2_UPPER)_RC" value="FALSE" cond="ifdef ACTUATORS_SPEKTRUM_DEV2"/>
-    <file name="actuators_spektrum.c" dir="subsystems/actuators"/>
+    <file name="actuators_spektrum.c"/>
     <test>
         <define name="PERIODIC_FREQUENCY" value="500"/>
         <define name="USE_UART4"/>

conf/modules/actuators_uavcan.xml

@@ -13,10 +13,10 @@
   </dep>
   <autoload name="actuators" type="nps"/>
   <header>
-    <file name="actuators_uavcan.h" dir="subsystems/actuators"/>
+    <file name="actuators_uavcan.h"/>
   </header>
   <makefile target="ap">
-    <file name="actuators_uavcan.c" dir="subsystems/actuators"/>
+    <file name="actuators_uavcan.c"/>
     <file name="pprz_random.c" dir="math"/>
   </makefile>
 </module>

conf/modules/motor_mixing.xml

@@ -24,12 +24,12 @@
     <provides>mixing</provides>
   </dep>
   <header>
-    <file name="motor_mixing.h" dir="subsystems/actuators"/>
+    <file name="motor_mixing.h"/>
   </header>
   <init fun="motor_mixing_init()"/>
   <makefile target="!sim">
     <define name="USE_MOTOR_MIXING"/>
-    <file name="motor_mixing.c" dir="subsystems/actuators"/>
+    <file name="motor_mixing.c"/>
   </makefile>
 </module>
 

conf/settings/modules/config_asctec_v2.xml

@@ -2,9 +2,9 @@
   <dl_settings>
 
     <dl_settings NAME="asctec_v2">
-      <dl_setting var="actuators_asctec_v2.cmd" min="0" step="1" max="3" module="subsystems/actuators/actuators_asctec_v2" shortname="cmd"  values="NONE|TEST|REVERSE|SET_ADDR"  handler="SetCommand"/>
-      <dl_setting var="actuators_asctec_v2.cur_addr"  min="0" step="1" max="3" module="subsystems/actuators/actuators_asctec_v2" shortname="cur_addr"  values="FRONT|BACK|LEFT|RIGHT"  handler="SetCurAddr"/>
-      <dl_setting var="actuators_asctec_v2.new_addr"  min="0" step="1" max="3" module="subsystems/actuators/actuators_asctec_v2" shortname="new_addr"  values="FRONT|BACK|LEFT|RIGHT"  handler="SetNewAddr"/>
+      <dl_setting var="actuators_asctec_v2.cmd" min="0" step="1" max="3" module="modules/actuators/actuators_asctec_v2" shortname="cmd"  values="NONE|TEST|REVERSE|SET_ADDR"  handler="SetCommand"/>
+      <dl_setting var="actuators_asctec_v2.cur_addr"  min="0" step="1" max="3" module="modules/actuators/actuators_asctec_v2" shortname="cur_addr"  values="FRONT|BACK|LEFT|RIGHT"  handler="SetCurAddr"/>
+      <dl_setting var="actuators_asctec_v2.new_addr"  min="0" step="1" max="3" module="modules/actuators/actuators_asctec_v2" shortname="new_addr"  values="FRONT|BACK|LEFT|RIGHT"  handler="SetNewAddr"/>
     </dl_settings>
 
   </dl_settings>

conf/settings/modules/config_esc32.xml

@@ -2,9 +2,9 @@
   <dl_settings>
 
     <dl_settings NAME="esc32">
-      <dl_setting var="actuators_esc32.status" min="0" step="1" max="3" module="subsystems/actuators/actuators_esc32" shortname="status"  values="INIT|SOUND|UNARMED|RUNNING"/>
-      <dl_setting var="actuators_esc32.config_idx" min="0" step="1" max="255" module="subsystems/actuators/actuators_esc32" shortname="esc_id"/>
-      <dl_setting var="actuators_esc32.config_cmd" min="0" step="1" max="2" module="subsystems/actuators/actuators_esc32" shortname="esc_cmd" values="IDLE|BEEP|TURN|DIRECTION" handler="config_cmd"/>
+      <dl_setting var="actuators_esc32.status" min="0" step="1" max="3" module="modules/actuators/actuators_esc32" shortname="status"  values="INIT|SOUND|UNARMED|RUNNING"/>
+      <dl_setting var="actuators_esc32.config_idx" min="0" step="1" max="255" module="modules/actuators/actuators_esc32" shortname="esc_id"/>
+      <dl_setting var="actuators_esc32.config_cmd" min="0" step="1" max="2" module="modules/actuators/actuators_esc32" shortname="esc_cmd" values="IDLE|BEEP|TURN|DIRECTION" handler="config_cmd"/>
     </dl_settings>
 
   </dl_settings>

conf/settings/setup_actuators.xml

@@ -5,7 +5,7 @@
 <settings target="setup_actuators">
   <dl_settings>
     <dl_settings NAME="Actuators" >
-      <dl_setting VAR="actuators[0]" MIN="900" STEP="1" MAX="2100" module="subsystems/actuators" shortname="chan0"/>
+      <dl_setting VAR="actuators[0]" MIN="900" STEP="1" MAX="2100" module="modules/actuators" shortname="chan0"/>
       <dl_setting VAR="actuators[1]" MIN="900" STEP="1" MAX="2100" shortname="chan1"/>
       <dl_setting VAR="actuators[2]" MIN="900" STEP="1" MAX="2100" shortname="chan2"/>
       <dl_setting VAR="actuators[3]" MIN="900" STEP="1" MAX="2100" shortname="chan3"/>

conf/settings/test_actuators_pwm.xml

@@ -5,7 +5,7 @@
 <settings target="test_actuators_pwm">
   <dl_settings>
     <dl_settings NAME="Actuators" >
-      <dl_setting VAR="actuators_pwm_values[0]" MIN="900" STEP="1" MAX="2100" module="subsystems/actuators/actuators_pwm" shortname="chan0"/>
+      <dl_setting VAR="actuators_pwm_values[0]" MIN="900" STEP="1" MAX="2100" module="modules/actuators/actuators_pwm" shortname="chan0"/>
       <dl_setting VAR="actuators_pwm_values[1]" MIN="900" STEP="1" MAX="2100" shortname="chan1"/>
       <dl_setting VAR="actuators_pwm_values[2]" MIN="900" STEP="1" MAX="2100" shortname="chan2"/>
       <dl_setting VAR="actuators_pwm_values[3]" MIN="900" STEP="1" MAX="2100" shortname="chan3"/>

sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.c

@@ -24,14 +24,14 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @file arch/chibios/subsystems/actuators/actuators_pwm_arch.c
+ * @file arch/chibios/modules/actuators/actuators_pwm_arch.c
  * Interface from actuators to ChibiOS PWM driver
  *
  * PWM configuration files are defined in the board file,
  * so maximal architecture independence is ensured.
  */
-#include "subsystems/actuators/actuators_pwm_arch.h"
-#include "subsystems/actuators/actuators_pwm.h"
+#include "modules/actuators/actuators_pwm_arch.h"
+#include "modules/actuators/actuators_pwm.h"
 #include "mcu_periph/gpio.h"
 
 

sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.h

@@ -24,7 +24,7 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @file arch/chibios/subsystems/actuators/actuators_pwm_arch.h
+ * @file arch/chibios/modules/actuators/actuators_pwm_arch.h
  * Interface from actuators to ChibiOS PWM driver
  *
  * PWM configuration files are defined in the board file,

sw/airborne/arch/linux/modules/actuators/actuators_pwm_arch.c

@@ -19,12 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_pwm_arch.c
+/** @file arch/sim/modules/actuators/actuators_pwm_arch.c
  *  dummy servos handling for linux
  */
 
-#include "subsystems/actuators/actuators_pwm_arch.h"
-#include "subsystems/actuators/actuators_pwm.h"
+#include "modules/actuators/actuators_pwm_arch.h"
+#include "modules/actuators/actuators_pwm.h"
 
 void actuators_pwm_arch_init(void)
 {

sw/airborne/arch/linux/modules/actuators/actuators_pwm_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_pwm_arch.h
+/** @file arch/sim/modules/actuators/actuators_pwm_arch.h
  *  dummy servos handling for linux
  */
 

sw/airborne/arch/sim/modules/actuators/actuators_dualpwm_arch.c

@@ -19,11 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_dualpwm_arch.c
+/** @file arch/sim/modules/actuators/actuators_dualpwm_arch.c
  *  dummy servos handling for sim
  */
 
-#include "subsystems/actuators/actuators_dualpwm_arch.h"
+#include "modules/actuators/actuators_dualpwm_arch.h"
 
 void actuators_dualpwm_arch_init(void)
 {

sw/airborne/arch/sim/modules/actuators/actuators_dualpwm_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_dualpwm_arch.h
+/** @file arch/sim/modules/actuators/actuators_dualpwm_arch.h
  *  dummy servos handling for sim
  */
 

sw/airborne/arch/sim/modules/actuators/actuators_pwm_arch.c

@@ -19,11 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_pwm_arch.c
+/** @file arch/sim/modules/actuators/actuators_pwm_arch.c
  *  dummy servos handling for sim
  */
 
-#include "subsystems/actuators/actuators_pwm_arch.h"
+#include "modules/actuators/actuators_pwm_arch.h"
 
 void actuators_pwm_arch_init(void)
 {

sw/airborne/arch/sim/modules/actuators/actuators_pwm_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_pwm_arch.h
+/** @file arch/sim/modules/actuators/actuators_pwm_arch.h
  *  dummy servos handling for sim
  */
 

sw/airborne/arch/sim/modules/actuators/actuators_uavcan_arch.c

@@ -19,11 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_uavcan_arch.c
+/** @file arch/sim/modules/actuators/actuators_uavcan_arch.c
  *  dummy servos handling for sim
  */
 
-#include "subsystems/actuators/actuators_uavcan_arch.h"
+#include "modules/actuators/actuators_uavcan_arch.h"
 
 void actuators_uavcan_arch_init(void)
 {

sw/airborne/arch/sim/modules/actuators/actuators_uavcan_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/sim/subsystems/actuators/actuators_uavcan_arch.h
+/** @file arch/sim/modules/actuators/actuators_uavcan_arch.h
  *  dummy servos handling for sim
  */
 

sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.c

@@ -19,15 +19,15 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c
+/** @file arch/stm32/modules/actuators/actuators_dualpwm_arch.c
  *  STM32 dual PWM servos handling.
  */
 
 //VALID TIMERS IS TIM5 ON THE LISA/M
 
-#include "subsystems/actuators/actuators_shared_arch.h"
-#include "subsystems/actuators/actuators_dualpwm_arch.h"
-#include "subsystems/actuators/actuators_dualpwm.h"
+#include "modules/actuators/actuators_shared_arch.h"
+#include "modules/actuators/actuators_dualpwm_arch.h"
+#include "modules/actuators/actuators_dualpwm.h"
 
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/rcc.h>

sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/stm32/subsystems/actuators/actuators_dualpwm_arch.h
+/** @file arch/stm32/modules/actuators/actuators_dualpwm_arch.h
  *  STM32 PWM servos handling.
  */
 

sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.c

@@ -19,15 +19,15 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/stm32/subsystems/actuators/actuators_pwm_arch.c
+/** @file arch/stm32/modules/actuators/actuators_pwm_arch.c
  *  STM32 PWM servos handling.
  */
 
 //VALID TIMERS ARE TIM1,2,3,4,5,8,9,12
 
-#include "subsystems/actuators/actuators_shared_arch.h"
-#include "subsystems/actuators/actuators_pwm_arch.h"
-#include "subsystems/actuators/actuators_pwm.h"
+#include "modules/actuators/actuators_shared_arch.h"
+#include "modules/actuators/actuators_pwm_arch.h"
+#include "modules/actuators/actuators_pwm.h"
 
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/rcc.h>

sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/stm32/subsystems/actuators/actuators_pwm_arch.h
+/** @file arch/stm32/modules/actuators/actuators_pwm_arch.h
  *  STM32 PWM servos handling.
  */
 

sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.c

@@ -19,11 +19,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/stm32/subsystems/actuators/actuators_shared_arch.c
+/** @file arch/stm32/modules/actuators/actuators_shared_arch.c
  *  STM32 PWM and dualPWM servos shared functions.
  */
 
-#include "arch/stm32/subsystems/actuators/actuators_shared_arch.h"
+#include "arch/stm32/modules/actuators/actuators_shared_arch.h"
 
 #include <libopencm3/stm32/timer.h>
 // for timer_get_frequency

sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file arch/stm32/subsystems/actuators/actuators_shared_arch.h
+/** @file arch/stm32/modules/actuators/actuators_shared_arch.h
  *  STM32 PWM and dualPWM servos shared functions.
  */
 

sw/airborne/autopilot.c

@@ -38,7 +38,7 @@
 #include "mcu_periph/gpio.h"
 #include "modules/radio_control/radio_control.h"
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 //#include "modules/energy/electrical.h"
 #include "subsystems/datalink/telemetry.h"
 

sw/airborne/boards/apogee/chibios/v1.0/board.cfg

@@ -456,7 +456,7 @@ HEADER
  * Actuators for fixedwing
  */
  /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()

sw/airborne/boards/apogee/chibios/v1.0/board.h

@@ -566,7 +566,7 @@
  * Actuators for fixedwing
  */
  /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()

sw/airborne/boards/apogee_1.0.h

@@ -101,7 +101,7 @@
 
 
 /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()

sw/airborne/boards/ardrone/actuators.c

@@ -28,7 +28,7 @@
  * Actuator driver for ardrone2 version
  */
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "actuators.h"
 #include "mcu_periph/gpio.h"
 #include "led_hw.h"

sw/airborne/boards/bebop/actuators.c

@@ -25,7 +25,7 @@
  * Actuator driver for the bebop and bebop 2
  */
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/energy/electrical.h"
 #include "actuators.h"
 #include "led_hw.h"

sw/airborne/boards/cc3d.h

@@ -243,7 +243,7 @@
 
 
 /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()

sw/airborne/boards/chimera/chibios/v1.0/chimera.h

@@ -592,7 +592,7 @@
  * Actuators for fixedwing
  */
  /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()

sw/airborne/boards/cjmcu.h

@@ -44,7 +44,7 @@
 
 
 /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()

sw/airborne/boards/crazybee_f4_1.0.h

@@ -228,7 +228,7 @@
 //#define I2C1_GPIO_SDA GPIO9
 
 /* Default actuators driver */
-#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsPwmInit()
 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()