diff --git a/conf/autopilot/rotorcraft_autopilot.xml b/conf/autopilot/rotorcraft_autopilot.xml
index 64e8a8688f..1b38c6f41f 100644
--- a/conf/autopilot/rotorcraft_autopilot.xml
+++ b/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"/>
diff --git a/conf/autopilot/rover.xml b/conf/autopilot/rover.xml
index 0a2db55db3..dc74cf7249 100644
--- a/conf/autopilot/rover.xml
+++ b/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"/>
diff --git a/conf/autopilot/rover_holonomic.xml b/conf/autopilot/rover_holonomic.xml
index e626d6861f..2392c68860 100644
--- a/conf/autopilot/rover_holonomic.xml
+++ b/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"/>
diff --git a/conf/firmwares/demo.makefile b/conf/firmwares/demo.makefile
index 226f738e45..dbd60907fc 100644
--- a/conf/firmwares/demo.makefile
+++ b/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 $(SRC_ARCH)/subsystems/settings_arch.c
-demo_ahrs_actuators.srcs   += subsystems/commands.c subsystems/actuators.c
+demo_ahrs_actuators.srcs   += subsystems/commands.c modules/actuators/actuators.c
 demo_ahrs_actuators.srcs   += state.c
 demo_ahrs_actuators.srcs   += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c math/pprz_orientation_conversion.c math/pprz_algebra_int.c math/pprz_algebra_float.c math/pprz_algebra_double.c
 demo_ahrs_actuators.srcs   += firmwares/demo/demo_ahrs_actuators.c
diff --git a/conf/firmwares/setup.makefile b/conf/firmwares/setup.makefile
index d0ac7993d4..991c6464ab 100644
--- a/conf/firmwares/setup.makefile
+++ b/conf/firmwares/setup.makefile
@@ -104,7 +104,7 @@ setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(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)
diff --git a/conf/firmwares/subsystems/shared/actuators_pwm.makefile b/conf/firmwares/subsystems/shared/actuators_pwm.makefile
index cdb82abe1d..c404e8a7d4 100644
--- a/conf/firmwares/subsystems/shared/actuators_pwm.makefile
+++ b/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
diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile
index 722abe7608..035c1b6982 100644
--- a/conf/firmwares/test_progs.makefile
+++ b/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 ($(TARGET), test_manual)
diff --git a/conf/flight_plans/quadshot_delft.xml b/conf/flight_plans/quadshot_delft.xml
index d23e8e3f24..dbcafa2fe0 100644
--- a/conf/flight_plans/quadshot_delft.xml
+++ b/conf/flight_plans/quadshot_delft.xml
@@ -5,7 +5,7 @@
     #include "autopilot.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/electrical.h"
-    #include "subsystems/actuators.h"
+    #include "modules/actuators/actuators.h"
     #include "firmwares/rotorcraft/guidance/guidance_h.h"
     #include "firmwares/rotorcraft/guidance/guidance_hybrid.h"
 </header>
diff --git a/conf/modules/actuators.xml b/conf/modules/actuators.xml
index 7c46f60656..f4f35b7e5b 100644
--- a/conf/modules/actuators.xml
+++ b/conf/modules/actuators.xml
@@ -9,12 +9,12 @@
   <dep>
   </dep>
   <header>
-    <file name="actuators.h" dir="subsystems"/>
+    <file name="actuators.h"/>
   </header>
   <init fun="actuators_init()"/>
   <makefile>
     <define name="ACTUATORS"/>
-    <file name="actuators.c" dir="subsystems"/>
+    <file name="actuators.c"/>
     <test/>
   </makefile>
 </module>
diff --git a/conf/modules/actuators_asctec_v2.xml b/conf/modules/actuators_asctec_v2.xml
index ecabc320b1..9190539868 100644
--- a/conf/modules/actuators_asctec_v2.xml
+++ b/conf/modules/actuators_asctec_v2.xml
@@ -16,14 +16,14 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_asctec_v2.h" dir="subsystems/actuators"/>
+    <file name="actuators_asctec_v2.h"/>
   </header>
   <makefile target="!sim|nps">
     <configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" default="i2c1" case="upper|lower"/>
     <configure name="ACTUATORS_ASCTEC_V2_I2C_SCL_TIME" default="150"/>
     <define name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="$(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>
 
diff --git a/conf/modules/actuators_dualpwm.xml b/conf/modules/actuators_dualpwm.xml
index 9f7a1ceb90..cfd426c2fd 100644
--- a/conf/modules/actuators_dualpwm.xml
+++ b/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>
 
diff --git a/conf/modules/actuators_esc32.xml b/conf/modules/actuators_esc32.xml
index dce1035fb9..48548c8325 100644
--- a/conf/modules/actuators_esc32.xml
+++ b/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>
 
diff --git a/conf/modules/actuators_nps.xml b/conf/modules/actuators_nps.xml
index 097b27580b..a6571aa52f 100644
--- a/conf/modules/actuators_nps.xml
+++ b/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>
 
diff --git a/conf/modules/actuators_ppm.xml b/conf/modules/actuators_ppm.xml
index f5ddb4a392..b87a67ec50 100644
--- a/conf/modules/actuators_ppm.xml
+++ b/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>
 
diff --git a/conf/modules/actuators_pwm.xml b/conf/modules/actuators_pwm.xml
index ea77285e35..0296318845 100644
--- a/conf/modules/actuators_pwm.xml
+++ b/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>
 
diff --git a/conf/modules/actuators_sbus.xml b/conf/modules/actuators_sbus.xml
index 90f77d7f6d..d7b7565616 100644
--- a/conf/modules/actuators_sbus.xml
+++ b/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_$(ACTUATORS_SBUS_DEV_UPPER)_RX" value="FALSE"/>
-    <file name="actuators_sbus.c" dir="subsystems/actuators"/>
+    <file name="actuators_sbus.c"/>
     <test>
         <define name="USE_UART1"/>
         <define name="PERIODIC_FREQUENCY" value="500"/>
diff --git a/conf/modules/actuators_spektrum.xml b/conf/modules/actuators_spektrum.xml
index a367e6f0fa..90d202e71e 100644
--- a/conf/modules/actuators_spektrum.xml
+++ b/conf/modules/actuators_spektrum.xml
@@ -17,7 +17,7 @@
     <provides>actuators</provides>
   </dep>
   <header>
-    <file name="actuators_spektrum.h" dir="subsystems/actuators"/>
+    <file name="actuators_spektrum.h"/>
   </header>
   <makefile target="!sim">
     <configure name="ACTUATORS_SPEKTRUM_DEV" default="uart4" case="upper|lower"/>
@@ -30,7 +30,7 @@
     <define name="USE_$(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"/>
diff --git a/conf/modules/actuators_uavcan.xml b/conf/modules/actuators_uavcan.xml
index 9ca4c2f5a6..7c6cdf0d6d 100644
--- a/conf/modules/actuators_uavcan.xml
+++ b/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>
diff --git a/conf/modules/motor_mixing.xml b/conf/modules/motor_mixing.xml
index 7622c1ff08..1a7ffdee78 100644
--- a/conf/modules/motor_mixing.xml
+++ b/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>
 
diff --git a/conf/settings/modules/config_asctec_v2.xml b/conf/settings/modules/config_asctec_v2.xml
index 7c3dda650d..2599e25e16 100644
--- a/conf/settings/modules/config_asctec_v2.xml
+++ b/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>
diff --git a/conf/settings/modules/config_esc32.xml b/conf/settings/modules/config_esc32.xml
index e5d3f3e432..926d93854f 100644
--- a/conf/settings/modules/config_esc32.xml
+++ b/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>
diff --git a/conf/settings/setup_actuators.xml b/conf/settings/setup_actuators.xml
index b7e011c2b0..8d5af2bd58 100644
--- a/conf/settings/setup_actuators.xml
+++ b/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"/>
diff --git a/conf/settings/test_actuators_pwm.xml b/conf/settings/test_actuators_pwm.xml
index 32517a384f..c711a83100 100644
--- a/conf/settings/test_actuators_pwm.xml
+++ b/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"/>
diff --git a/sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.c
similarity index 97%
rename from sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.c
rename to sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.c
index d118ed12f1..2144e0648d 100644
--- a/sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.c
+++ b/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"
 
 
diff --git a/sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.h
similarity index 97%
rename from sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.h
rename to sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.h
index f27b331ea6..004f7c1e85 100644
--- a/sw/airborne/arch/chibios/subsystems/actuators/actuators_pwm_arch.h
+++ b/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,
diff --git a/sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/linux/modules/actuators/actuators_pwm_arch.c
similarity index 84%
rename from sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.c
rename to sw/airborne/arch/linux/modules/actuators/actuators_pwm_arch.c
index ee748ac66b..aad1cea25c 100644
--- a/sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.c
+++ b/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)
 {
diff --git a/sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/linux/modules/actuators/actuators_pwm_arch.h
similarity index 94%
rename from sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.h
rename to sw/airborne/arch/linux/modules/actuators/actuators_pwm_arch.h
index d432f00604..04dc9df5fb 100644
--- a/sw/airborne/arch/linux/subsystems/actuators/actuators_pwm_arch.h
+++ b/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
  */
 
diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_dualpwm_arch.c b/sw/airborne/arch/sim/modules/actuators/actuators_dualpwm_arch.c
similarity index 87%
rename from sw/airborne/arch/sim/subsystems/actuators/actuators_dualpwm_arch.c
rename to sw/airborne/arch/sim/modules/actuators/actuators_dualpwm_arch.c
index e1b282f906..2db488f080 100644
--- a/sw/airborne/arch/sim/subsystems/actuators/actuators_dualpwm_arch.c
+++ b/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)
 {
diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_dualpwm_arch.h b/sw/airborne/arch/sim/modules/actuators/actuators_dualpwm_arch.h
similarity index 94%
rename from sw/airborne/arch/sim/subsystems/actuators/actuators_dualpwm_arch.h
rename to sw/airborne/arch/sim/modules/actuators/actuators_dualpwm_arch.h
index 2a22eee305..7d0ee978c2 100644
--- a/sw/airborne/arch/sim/subsystems/actuators/actuators_dualpwm_arch.h
+++ b/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
  */
 
diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/sim/modules/actuators/actuators_pwm_arch.c
similarity index 88%
rename from sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c
rename to sw/airborne/arch/sim/modules/actuators/actuators_pwm_arch.c
index 1894360893..b7e2b10d50 100644
--- a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c
+++ b/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)
 {
diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/sim/modules/actuators/actuators_pwm_arch.h
similarity index 94%
rename from sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h
rename to sw/airborne/arch/sim/modules/actuators/actuators_pwm_arch.h
index 02c159b6b0..57ad96c4f8 100644
--- a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h
+++ b/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
  */
 
diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_uavcan_arch.c b/sw/airborne/arch/sim/modules/actuators/actuators_uavcan_arch.c
similarity index 88%
rename from sw/airborne/arch/sim/subsystems/actuators/actuators_uavcan_arch.c
rename to sw/airborne/arch/sim/modules/actuators/actuators_uavcan_arch.c
index 286d3faa15..dc6ada8af0 100644
--- a/sw/airborne/arch/sim/subsystems/actuators/actuators_uavcan_arch.c
+++ b/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)
 {
diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_uavcan_arch.h b/sw/airborne/arch/sim/modules/actuators/actuators_uavcan_arch.h
similarity index 94%
rename from sw/airborne/arch/sim/subsystems/actuators/actuators_uavcan_arch.h
rename to sw/airborne/arch/sim/modules/actuators/actuators_uavcan_arch.h
index dd1018aac4..3918093ec8 100644
--- a/sw/airborne/arch/sim/subsystems/actuators/actuators_uavcan_arch.h
+++ b/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
  */
 
diff --git a/sw/airborne/arch/sim/subsystems/actuators/servos_ppm_hw.h b/sw/airborne/arch/sim/modules/actuators/servos_ppm_hw.h
similarity index 100%
rename from sw/airborne/arch/sim/subsystems/actuators/servos_ppm_hw.h
rename to sw/airborne/arch/sim/modules/actuators/servos_ppm_hw.h
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c b/sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.c
similarity index 94%
rename from sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c
rename to sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.c
index cfafd2e2cc..05a279c5b1 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c
+++ b/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>
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.h b/sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.h
similarity index 95%
rename from sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.h
rename to sw/airborne/arch/stm32/modules/actuators/actuators_dualpwm_arch.h
index a39f2d8ef7..34b3c8868c 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.h
+++ b/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.
  */
 
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.c
similarity index 96%
rename from sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
rename to sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.c
index 4d136d0019..81b50b728a 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
+++ b/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>
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.h
similarity index 95%
rename from sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h
rename to sw/airborne/arch/stm32/modules/actuators/actuators_pwm_arch.h
index a5878455b1..2e54c4f7df 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h
+++ b/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.
  */
 
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c b/sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.c
similarity index 96%
rename from sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c
rename to sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.c
index f76ce9d589..332aa8aa8f 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c
+++ b/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
diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h b/sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.h
similarity index 96%
rename from sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h
rename to sw/airborne/arch/stm32/modules/actuators/actuators_shared_arch.h
index acc9590639..83c3551c17 100644
--- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h
+++ b/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.
  */
 
diff --git a/sw/airborne/autopilot.c b/sw/airborne/autopilot.c
index f22ea880f8..90bacb9f1f 100644
--- a/sw/airborne/autopilot.c
+++ b/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"
 
diff --git a/sw/airborne/boards/apogee/chibios/v1.0/board.cfg b/sw/airborne/boards/apogee/chibios/v1.0/board.cfg
index 8c9757b30b..60858c70d0 100644
--- a/sw/airborne/boards/apogee/chibios/v1.0/board.cfg
+++ b/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()
diff --git a/sw/airborne/boards/apogee/chibios/v1.0/board.h b/sw/airborne/boards/apogee/chibios/v1.0/board.h
index bed30fee64..f111f2e273 100644
--- a/sw/airborne/boards/apogee/chibios/v1.0/board.h
+++ b/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()
diff --git a/sw/airborne/boards/apogee_1.0.h b/sw/airborne/boards/apogee_1.0.h
index 6accca0f56..05d60ac6a2 100644
--- a/sw/airborne/boards/apogee_1.0.h
+++ b/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()
diff --git a/sw/airborne/boards/ardrone/actuators.c b/sw/airborne/boards/ardrone/actuators.c
index 2f611969bf..11318f3e26 100644
--- a/sw/airborne/boards/ardrone/actuators.c
+++ b/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"
diff --git a/sw/airborne/boards/bebop/actuators.c b/sw/airborne/boards/bebop/actuators.c
index 86cbd12096..641dedeb8c 100644
--- a/sw/airborne/boards/bebop/actuators.c
+++ b/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"
diff --git a/sw/airborne/boards/cc3d.h b/sw/airborne/boards/cc3d.h
index 8820745ed3..64655eb943 100644
--- a/sw/airborne/boards/cc3d.h
+++ b/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()
diff --git a/sw/airborne/boards/chimera/chibios/v1.0/chimera.h b/sw/airborne/boards/chimera/chibios/v1.0/chimera.h
index 0a435683d9..8c454b81f5 100644
--- a/sw/airborne/boards/chimera/chibios/v1.0/chimera.h
+++ b/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()
diff --git a/sw/airborne/boards/cjmcu.h b/sw/airborne/boards/cjmcu.h
index eec2d74782..a3287a2821 100644
--- a/sw/airborne/boards/cjmcu.h
+++ b/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()
diff --git a/sw/airborne/boards/crazybee_f4_1.0.h b/sw/airborne/boards/crazybee_f4_1.0.h
index 8e0c43525f..8937e0807a 100644
--- a/sw/airborne/boards/crazybee_f4_1.0.h
+++ b/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()
diff --git a/sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h b/sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h
index 176b63b6de..82a1333761 100644
--- a/sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h
+++ b/sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h
@@ -348,7 +348,7 @@
  * 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()
diff --git a/sw/airborne/boards/disco/actuators.c b/sw/airborne/boards/disco/actuators.c
index b7cc9ca130..182c94a0f9 100644
--- a/sw/airborne/boards/disco/actuators.c
+++ b/sw/airborne/boards/disco/actuators.c
@@ -30,7 +30,7 @@
  * Some part of this code is coming from the APM Disco and Bebop drivers
  */
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/energy/electrical.h"
 #include "actuators.h"
 #include "autopilot.h"
diff --git a/sw/airborne/boards/elle0_common.h b/sw/airborne/boards/elle0_common.h
index 4fe13f50b2..2540041530 100644
--- a/sw/airborne/boards/elle0_common.h
+++ b/sw/airborne/boards/elle0_common.h
@@ -83,7 +83,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/holybro/kakute_f7/holybro_kakute_f7.h b/sw/airborne/boards/holybro/kakute_f7/holybro_kakute_f7.h
index d5017660ba..4ef2c6f451 100644
--- a/sw/airborne/boards/holybro/kakute_f7/holybro_kakute_f7.h
+++ b/sw/airborne/boards/holybro/kakute_f7/holybro_kakute_f7.h
@@ -457,7 +457,7 @@
  * 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()
diff --git a/sw/airborne/boards/krooz_sd.h b/sw/airborne/boards/krooz_sd.h
index 025c612d20..9322525cbc 100644
--- a/sw/airborne/boards/krooz_sd.h
+++ b/sw/airborne/boards/krooz_sd.h
@@ -70,7 +70,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/lia/chibios/v1.1/board.h b/sw/airborne/boards/lia/chibios/v1.1/board.h
index 887e6be179..763e20ebfc 100644
--- a/sw/airborne/boards/lia/chibios/v1.1/board.h
+++ b/sw/airborne/boards/lia/chibios/v1.1/board.h
@@ -558,7 +558,7 @@
  * 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()
diff --git a/sw/airborne/boards/lia_1.1.h b/sw/airborne/boards/lia_1.1.h
index 01e543420d..02c040d5e7 100644
--- a/sw/airborne/boards/lia_1.1.h
+++ b/sw/airborne/boards/lia_1.1.h
@@ -119,7 +119,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h
index 2a935b05ae..ca64c3d649 100644
--- a/sw/airborne/boards/lisa_l_1.0.h
+++ b/sw/airborne/boards/lisa_l_1.0.h
@@ -173,7 +173,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h
index 39512cf49d..7c5fbaa6fa 100644
--- a/sw/airborne/boards/lisa_m_1.0.h
+++ b/sw/airborne/boards/lisa_m_1.0.h
@@ -77,7 +77,7 @@
 #define SPEKTRUM_BIND_PIN_PORT GPIOC
 
 /* 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()
diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h
index 1a2ae03085..5a1e55cbac 100644
--- a/sw/airborne/boards/lisa_m_2.0.h
+++ b/sw/airborne/boards/lisa_m_2.0.h
@@ -125,7 +125,7 @@
 #define SPEKTRUM_BIND_PIN_PORT GPIOC
 
 /* 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()
diff --git a/sw/airborne/boards/lisa_m_2.1.h b/sw/airborne/boards/lisa_m_2.1.h
index 2e8f3c378b..ee45787a7c 100644
--- a/sw/airborne/boards/lisa_m_2.1.h
+++ b/sw/airborne/boards/lisa_m_2.1.h
@@ -117,7 +117,7 @@
 #define SPEKTRUM_BIND_PIN_PORT GPIOB
 
 /* 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()
diff --git a/sw/airborne/boards/lisa_mx/chibios/v2.1/board.h b/sw/airborne/boards/lisa_mx/chibios/v2.1/board.h
index b969c9c9ac..38a3eb4927 100644
--- a/sw/airborne/boards/lisa_mx/chibios/v2.1/board.h
+++ b/sw/airborne/boards/lisa_mx/chibios/v2.1/board.h
@@ -1428,7 +1428,7 @@
  * 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()
diff --git a/sw/airborne/boards/lisa_mx_common.h b/sw/airborne/boards/lisa_mx_common.h
index 9e712005b3..6505f45eec 100644
--- a/sw/airborne/boards/lisa_mx_common.h
+++ b/sw/airborne/boards/lisa_mx_common.h
@@ -128,7 +128,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/lisa_s_1.0.h b/sw/airborne/boards/lisa_s_1.0.h
index 56a6b1cbb4..2c850a7acc 100644
--- a/sw/airborne/boards/lisa_s_1.0.h
+++ b/sw/airborne/boards/lisa_s_1.0.h
@@ -61,7 +61,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/matek_f405_wing_v1.h b/sw/airborne/boards/matek_f405_wing_v1.h
index 08e57b3ae8..6d384f1c56 100644
--- a/sw/airborne/boards/matek_f405_wing_v1.h
+++ b/sw/airborne/boards/matek_f405_wing_v1.h
@@ -72,7 +72,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/mateksys/F765-WING/matekF765-WING.h b/sw/airborne/boards/mateksys/F765-WING/matekF765-WING.h
index 454c18f01c..b5aa8ae306 100644
--- a/sw/airborne/boards/mateksys/F765-WING/matekF765-WING.h
+++ b/sw/airborne/boards/mateksys/F765-WING/matekF765-WING.h
@@ -669,7 +669,7 @@
  * 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()
diff --git a/sw/airborne/boards/navstik_1.0.h b/sw/airborne/boards/navstik_1.0.h
index 786040b46d..51663f1034 100644
--- a/sw/airborne/boards/navstik_1.0.h
+++ b/sw/airborne/boards/navstik_1.0.h
@@ -59,7 +59,7 @@
 #define IMU_POWER_GPIO GPIOC,GPIO15
 
 /* 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()
diff --git a/sw/airborne/boards/naze32_common.h b/sw/airborne/boards/naze32_common.h
index 5aefd17321..2f9fe81ad1 100644
--- a/sw/airborne/boards/naze32_common.h
+++ b/sw/airborne/boards/naze32_common.h
@@ -295,7 +295,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h b/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h
index 2b40cf0141..e529079a9d 100644
--- a/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h
+++ b/sw/airborne/boards/nucleo/144_f767zi/nucleo144_f767zi.h
@@ -815,7 +815,7 @@
  * 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()
diff --git a/sw/airborne/boards/opa_ftd_1.0.h b/sw/airborne/boards/opa_ftd_1.0.h
index b7e6ef14c4..4ba75f08b9 100644
--- a/sw/airborne/boards/opa_ftd_1.0.h
+++ b/sw/airborne/boards/opa_ftd_1.0.h
@@ -109,7 +109,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/openpilot_revo_1.0.h b/sw/airborne/boards/openpilot_revo_1.0.h
index 1d041b5bea..4c31321d68 100644
--- a/sw/airborne/boards/openpilot_revo_1.0.h
+++ b/sw/airborne/boards/openpilot_revo_1.0.h
@@ -55,7 +55,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/openpilot_revo_nano.h b/sw/airborne/boards/openpilot_revo_nano.h
index 48ba9f04c8..ebde2cfba5 100644
--- a/sw/airborne/boards/openpilot_revo_nano.h
+++ b/sw/airborne/boards/openpilot_revo_nano.h
@@ -61,7 +61,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/pc_sim.h b/sw/airborne/boards/pc_sim.h
index b8974ca4bc..71c9025473 100644
--- a/sw/airborne/boards/pc_sim.h
+++ b/sw/airborne/boards/pc_sim.h
@@ -3,7 +3,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/px4fmu/chibios/v2.4/board.h b/sw/airborne/boards/px4fmu/chibios/v2.4/board.h
index 8745e026fa..03125f7cf1 100644
--- a/sw/airborne/boards/px4fmu/chibios/v2.4/board.h
+++ b/sw/airborne/boards/px4fmu/chibios/v2.4/board.h
@@ -1020,7 +1020,7 @@
  * 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()
diff --git a/sw/airborne/boards/px4fmu/chibios/v4.0/px4fmu.h b/sw/airborne/boards/px4fmu/chibios/v4.0/px4fmu.h
index f10edfe65e..e746005cf4 100644
--- a/sw/airborne/boards/px4fmu/chibios/v4.0/px4fmu.h
+++ b/sw/airborne/boards/px4fmu/chibios/v4.0/px4fmu.h
@@ -415,7 +415,7 @@
  * 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()
diff --git a/sw/airborne/boards/px4fmu/chibios/v5.0/px4fmu.h b/sw/airborne/boards/px4fmu/chibios/v5.0/px4fmu.h
index 86373003ce..eb3615b221 100644
--- a/sw/airborne/boards/px4fmu/chibios/v5.0/px4fmu.h
+++ b/sw/airborne/boards/px4fmu/chibios/v5.0/px4fmu.h
@@ -750,7 +750,7 @@
  * 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()
diff --git a/sw/airborne/boards/px4fmu_1.7.h b/sw/airborne/boards/px4fmu_1.7.h
index 476879d822..165647a7d4 100644
--- a/sw/airborne/boards/px4fmu_1.7.h
+++ b/sw/airborne/boards/px4fmu_1.7.h
@@ -206,7 +206,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/px4fmu_2.4.h b/sw/airborne/boards/px4fmu_2.4.h
index 0c254a73d1..42b536e5e2 100644
--- a/sw/airborne/boards/px4fmu_2.4.h
+++ b/sw/airborne/boards/px4fmu_2.4.h
@@ -245,7 +245,7 @@
 
 
 /* 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()
diff --git a/sw/airborne/boards/px4fmu_4.0.h b/sw/airborne/boards/px4fmu_4.0.h
index e8dc2a3b9e..81855a4215 100644
--- a/sw/airborne/boards/px4fmu_4.0.h
+++ b/sw/airborne/boards/px4fmu_4.0.h
@@ -320,7 +320,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi
 #endif
 
 /* 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()
diff --git a/sw/airborne/boards/px4io_2.4.h b/sw/airborne/boards/px4io_2.4.h
index 5dafde5435..4a85a6b1a5 100644
--- a/sw/airborne/boards/px4io_2.4.h
+++ b/sw/airborne/boards/px4io_2.4.h
@@ -241,7 +241,7 @@
 //#define PWM_TIM3_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)
 
 /* 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()
diff --git a/sw/airborne/boards/swing/actuators.c b/sw/airborne/boards/swing/actuators.c
index 806657559d..8ebbf9870f 100644
--- a/sw/airborne/boards/swing/actuators.c
+++ b/sw/airborne/boards/swing/actuators.c
@@ -47,8 +47,8 @@ typedef struct { unsigned int val[4]; } __attribute__ ((packed)) pwm_delos_quadr
 #define PWM_REG_RATIO_PRECISION_MASK (PWM_NB_BITS<<16)
 #define PWM_REG_SATURATION (PWM_REG_RATIO_PRECISION_MASK|PWM_TOTAL_RANGE)
 
-#include "subsystems/actuators.h"
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/actuators.h"
+#include "modules/actuators/motor_mixing.h"
 #include "actuators.h"
 #include "autopilot.h"
 
diff --git a/sw/airborne/boards/tawaki/chibios/common/tawaki.h b/sw/airborne/boards/tawaki/chibios/common/tawaki.h
index 3475c50a38..5eca3d757e 100644
--- a/sw/airborne/boards/tawaki/chibios/common/tawaki.h
+++ b/sw/airborne/boards/tawaki/chibios/common/tawaki.h
@@ -831,7 +831,7 @@
  * 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()
diff --git a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
index 44ccc0b7db..c471debaf7 100644
--- a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
+++ b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
@@ -50,7 +50,7 @@
 #include "modules/ahrs/ahrs.h"
 
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/core/settings.h"
 
 #include "pprz_version.h"
diff --git a/sw/airborne/firmwares/fixedwing/autopilot_generated.c b/sw/airborne/firmwares/fixedwing/autopilot_generated.c
index 86197eed82..c1b1725481 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot_generated.c
+++ b/sw/airborne/firmwares/fixedwing/autopilot_generated.c
@@ -31,7 +31,7 @@
 
 #include "modules/radio_control/radio_control.h"
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"
 
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index 993725008e..fe838e547b 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -37,7 +37,7 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/energy/electrical.h"
 #include "modules/radio_control/radio_control.h"
 #include "autopilot.h"
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
index bd1506cf60..6cc4632a1c 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -79,7 +79,7 @@ static uint32_t autopilot_in_flight_counter;
 
 
 #if USE_MOTOR_MIXING
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/motor_mixing.h"
 #endif
 
 static void send_status(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
index 3eb02a440c..de44a4342f 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
@@ -32,7 +32,7 @@
 
 #include "modules/radio_control/radio_control.h"
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.c b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
index c0f2aad6cf..2a683eaab9 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_static.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
@@ -32,7 +32,7 @@
 
 #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 "modules/core/settings.h"
 #include "firmwares/rotorcraft/navigation.h"
diff --git a/sw/airborne/firmwares/rotorcraft/main_fbw.c b/sw/airborne/firmwares/rotorcraft/main_fbw.c
index 3cf93037e9..35c44b0e17 100644
--- a/sw/airborne/firmwares/rotorcraft/main_fbw.c
+++ b/sw/airborne/firmwares/rotorcraft/main_fbw.c
@@ -32,9 +32,9 @@
 #include "mcu_periph/sys_time.h"
 
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #if USE_MOTOR_MIXING
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/motor_mixing.h"
 #endif
 
 #include "modules/energy/electrical.h"
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index 620943f278..72f549895f 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -39,7 +39,7 @@
 #include "state.h"
 #include "generated/airframe.h"
 #include "modules/radio_control/radio_control.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/core/abi.h"
 #include "filters/low_pass_filter.h"
 #include "wls/wls_alloc.h"
diff --git a/sw/airborne/firmwares/rover/autopilot_firmware.c b/sw/airborne/firmwares/rover/autopilot_firmware.c
index dbc1e62061..b7e257d3ad 100644
--- a/sw/airborne/firmwares/rover/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rover/autopilot_firmware.c
@@ -49,7 +49,7 @@
 #include "modules/nav/nav_geofence.h"
 
 #if USE_MOTOR_MIXING
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/motor_mixing.h"
 #endif
 
 static void send_status(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/firmwares/rover/autopilot_generated.c b/sw/airborne/firmwares/rover/autopilot_generated.c
index 1082229ec5..c557b99bdc 100644
--- a/sw/airborne/firmwares/rover/autopilot_generated.c
+++ b/sw/airborne/firmwares/rover/autopilot_generated.c
@@ -31,7 +31,7 @@
 
 #include "modules/radio_control/radio_control.h"
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"
 
diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c
index b93e833a84..bcba42953a 100644
--- a/sw/airborne/firmwares/setup/setup_actuators.c
+++ b/sw/airborne/firmwares/setup/setup_actuators.c
@@ -47,7 +47,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 
 
 static inline void main_init(void);
diff --git a/sw/airborne/subsystems/actuators.c b/sw/airborne/modules/actuators/actuators.c
similarity index 94%
rename from sw/airborne/subsystems/actuators.c
rename to sw/airborne/modules/actuators/actuators.c
index 7b241dd893..35cfc88ed7 100644
--- a/sw/airborne/subsystems/actuators.c
+++ b/sw/airborne/modules/actuators/actuators.c
@@ -20,12 +20,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file subsystems/actuators.c
+/** @file modules/actuators/actuators.c
  *  Hardware independent actuators code.
  *
  */
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "mcu_periph/sys_time.h"
 
 #if ACTUATORS_NB
diff --git a/sw/airborne/subsystems/actuators.h b/sw/airborne/modules/actuators/actuators.h
similarity index 97%
rename from sw/airborne/subsystems/actuators.h
rename to sw/airborne/modules/actuators/actuators.h
index d83747a7f4..411a99f7e8 100644
--- a/sw/airborne/subsystems/actuators.h
+++ b/sw/airborne/modules/actuators/actuators.h
@@ -20,7 +20,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file subsystems/actuators.h
+/** @file modules/actuators/actuators.h
  *  Hardware independent API for actuators (servos, motor controllers).
  *
  */
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.c b/sw/airborne/modules/actuators/actuators_asctec_v2.c
similarity index 98%
rename from sw/airborne/subsystems/actuators/actuators_asctec_v2.c
rename to sw/airborne/modules/actuators/actuators_asctec_v2.c
index b2b03cab6a..01ca97e5ff 100644
--- a/sw/airborne/subsystems/actuators/actuators_asctec_v2.c
+++ b/sw/airborne/modules/actuators/actuators_asctec_v2.c
@@ -23,8 +23,8 @@
  *  Actuators driver for Asctec v2 motor controllers.
  */
 
-#include "subsystems/actuators.h"
-#include "subsystems/actuators/actuators_asctec_v2.h"
+#include "modules/actuators/actuators.h"
+#include "modules/actuators/actuators_asctec_v2.h"
 
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"
diff --git a/sw/airborne/subsystems/actuators/actuators_asctec_v2.h b/sw/airborne/modules/actuators/actuators_asctec_v2.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_asctec_v2.h
rename to sw/airborne/modules/actuators/actuators_asctec_v2.h
diff --git a/sw/airborne/subsystems/actuators/actuators_default.h b/sw/airborne/modules/actuators/actuators_default.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_default.h
rename to sw/airborne/modules/actuators/actuators_default.h
diff --git a/sw/airborne/subsystems/actuators/actuators_dualpwm.h b/sw/airborne/modules/actuators/actuators_dualpwm.h
similarity index 94%
rename from sw/airborne/subsystems/actuators/actuators_dualpwm.h
rename to sw/airborne/modules/actuators/actuators_dualpwm.h
index 46e6c52b3e..ffc36bac65 100644
--- a/sw/airborne/subsystems/actuators/actuators_dualpwm.h
+++ b/sw/airborne/modules/actuators/actuators_dualpwm.h
@@ -22,7 +22,7 @@
 #ifndef ACTUATORS_dualpwm_H
 #define ACTUATORS_dualpwm_H
 
-#include "subsystems/actuators/actuators_dualpwm_arch.h"
+#include "modules/actuators/actuators_dualpwm_arch.h"
 
 /** Arch dependent init file.
  * implemented in arch files
diff --git a/sw/airborne/subsystems/actuators/actuators_dummy.h b/sw/airborne/modules/actuators/actuators_dummy.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_dummy.h
rename to sw/airborne/modules/actuators/actuators_dummy.h
diff --git a/sw/airborne/subsystems/actuators/actuators_esc32.c b/sw/airborne/modules/actuators/actuators_esc32.c
similarity index 99%
rename from sw/airborne/subsystems/actuators/actuators_esc32.c
rename to sw/airborne/modules/actuators/actuators_esc32.c
index 7b1403ae03..21a4236995 100644
--- a/sw/airborne/subsystems/actuators/actuators_esc32.c
+++ b/sw/airborne/modules/actuators/actuators_esc32.c
@@ -23,8 +23,8 @@
  *  Actuators driver for AutoQuad ESC32 motor controllers.
  */
 
-#include "subsystems/actuators.h"
-#include "subsystems/actuators/actuators_esc32.h"
+#include "modules/actuators/actuators.h"
+#include "modules/actuators/actuators_esc32.h"
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/can.h"
 #include "autopilot.h"
diff --git a/sw/airborne/subsystems/actuators/actuators_esc32.h b/sw/airborne/modules/actuators/actuators_esc32.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_esc32.h
rename to sw/airborne/modules/actuators/actuators_esc32.h
diff --git a/sw/airborne/modules/actuators/actuators_md25.c b/sw/airborne/modules/actuators/actuators_md25.c
index 4a99aa4b31..ea362a6dbc 100644
--- a/sw/airborne/modules/actuators/actuators_md25.c
+++ b/sw/airborne/modules/actuators/actuators_md25.c
@@ -24,7 +24,7 @@
  * Driver for the MD25 rover controller board
  */
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "modules/actuators/actuators_md25.h"
 
 // Registers
diff --git a/sw/airborne/subsystems/actuators/actuators_ppm.h b/sw/airborne/modules/actuators/actuators_ppm.h
similarity index 94%
rename from sw/airborne/subsystems/actuators/actuators_ppm.h
rename to sw/airborne/modules/actuators/actuators_ppm.h
index eba3f6915e..95cb1115cc 100644
--- a/sw/airborne/subsystems/actuators/actuators_ppm.h
+++ b/sw/airborne/modules/actuators/actuators_ppm.h
@@ -22,6 +22,6 @@
 #ifndef ACTUATORS_PPM_H
 #define ACTUATORS_PPM_H
 
-#include "subsystems/actuators/servos_ppm_hw.h"
+#include "modules/actuators/servos_ppm_hw.h"
 
 #endif /* ACTUATORS_PPM_H */
diff --git a/sw/airborne/subsystems/actuators/actuators_pwm.h b/sw/airborne/modules/actuators/actuators_pwm.h
similarity index 95%
rename from sw/airborne/subsystems/actuators/actuators_pwm.h
rename to sw/airborne/modules/actuators/actuators_pwm.h
index 184d695957..9d832751f3 100644
--- a/sw/airborne/subsystems/actuators/actuators_pwm.h
+++ b/sw/airborne/modules/actuators/actuators_pwm.h
@@ -22,7 +22,7 @@
 #ifndef ACTUATORS_PWM_H
 #define ACTUATORS_PWM_H
 
-#include "subsystems/actuators/actuators_pwm_arch.h"
+#include "modules/actuators/actuators_pwm_arch.h"
 
 /** Arch dependent init file.
  * implemented in arch files
diff --git a/sw/airborne/subsystems/actuators/actuators_sbus.c b/sw/airborne/modules/actuators/actuators_sbus.c
similarity index 97%
rename from sw/airborne/subsystems/actuators/actuators_sbus.c
rename to sw/airborne/modules/actuators/actuators_sbus.c
index e7daafa97f..10343596bc 100644
--- a/sw/airborne/subsystems/actuators/actuators_sbus.c
+++ b/sw/airborne/modules/actuators/actuators_sbus.c
@@ -24,8 +24,8 @@
  *  Channels min, averga and maximum should be: 340, 1024, 1708
  */
 
-#include "subsystems/actuators.h"
-#include "subsystems/actuators/actuators_sbus.h"
+#include "modules/actuators/actuators.h"
+#include "modules/actuators/actuators_sbus.h"
 #include "generated/airframe.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/subsystems/actuators/actuators_sbus.h b/sw/airborne/modules/actuators/actuators_sbus.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_sbus.h
rename to sw/airborne/modules/actuators/actuators_sbus.h
diff --git a/sw/airborne/subsystems/actuators/actuators_spektrum.c b/sw/airborne/modules/actuators/actuators_spektrum.c
similarity index 96%
rename from sw/airborne/subsystems/actuators/actuators_spektrum.c
rename to sw/airborne/modules/actuators/actuators_spektrum.c
index f806fc20ca..4056b27d61 100644
--- a/sw/airborne/subsystems/actuators/actuators_spektrum.c
+++ b/sw/airborne/modules/actuators/actuators_spektrum.c
@@ -24,8 +24,8 @@
  *  Channels min, averga and maximum should be: 340, 1024, 1708
  */
 
-#include "subsystems/actuators.h"
-#include "subsystems/actuators/actuators_spektrum.h"
+#include "modules/actuators/actuators.h"
+#include "modules/actuators/actuators_spektrum.h"
 #include "generated/airframe.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/subsystems/actuators/actuators_spektrum.h b/sw/airborne/modules/actuators/actuators_spektrum.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_spektrum.h
rename to sw/airborne/modules/actuators/actuators_spektrum.h
diff --git a/sw/airborne/subsystems/actuators/actuators_uavcan.c b/sw/airborne/modules/actuators/actuators_uavcan.c
similarity index 99%
rename from sw/airborne/subsystems/actuators/actuators_uavcan.c
rename to sw/airborne/modules/actuators/actuators_uavcan.c
index 946af80bba..93a21e8be4 100644
--- a/sw/airborne/subsystems/actuators/actuators_uavcan.c
+++ b/sw/airborne/modules/actuators/actuators_uavcan.c
@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 /**
- * @file subsystems/actuators/actuators_uavcan.c
+ * @file modules/actuators/actuators_uavcan.c
  * UAVCan actuators using RAWCOMMAND message and ESC_STATUS telemetry
  *
  */
diff --git a/sw/airborne/subsystems/actuators/actuators_uavcan.h b/sw/airborne/modules/actuators/actuators_uavcan.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_uavcan.h
rename to sw/airborne/modules/actuators/actuators_uavcan.h
diff --git a/sw/airborne/subsystems/actuators/actuators_uavcan1.h b/sw/airborne/modules/actuators/actuators_uavcan1.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_uavcan1.h
rename to sw/airborne/modules/actuators/actuators_uavcan1.h
diff --git a/sw/airborne/subsystems/actuators/actuators_uavcan2.h b/sw/airborne/modules/actuators/actuators_uavcan2.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/actuators_uavcan2.h
rename to sw/airborne/modules/actuators/actuators_uavcan2.h
diff --git a/sw/airborne/subsystems/actuators/motor_mixing.c b/sw/airborne/modules/actuators/motor_mixing.c
similarity index 99%
rename from sw/airborne/subsystems/actuators/motor_mixing.c
rename to sw/airborne/modules/actuators/motor_mixing.c
index 3f587ee3b2..f37ba5b777 100644
--- a/sw/airborne/subsystems/actuators/motor_mixing.c
+++ b/sw/airborne/modules/actuators/motor_mixing.c
@@ -25,7 +25,7 @@
  *  to actual motor commands.
  */
 
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/motor_mixing.h"
 #include "paparazzi.h"
 
 //#include <stdint.h>
diff --git a/sw/airborne/subsystems/actuators/motor_mixing.h b/sw/airborne/modules/actuators/motor_mixing.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/motor_mixing.h
rename to sw/airborne/modules/actuators/motor_mixing.h
diff --git a/sw/airborne/subsystems/actuators/motor_mixing_types.h b/sw/airborne/modules/actuators/motor_mixing_types.h
similarity index 100%
rename from sw/airborne/subsystems/actuators/motor_mixing_types.h
rename to sw/airborne/modules/actuators/motor_mixing_types.h
diff --git a/sw/airborne/modules/cam_control/rotorcraft_cam.c b/sw/airborne/modules/cam_control/rotorcraft_cam.c
index 6045d63414..f5dcc8005a 100644
--- a/sw/airborne/modules/cam_control/rotorcraft_cam.c
+++ b/sw/airborne/modules/cam_control/rotorcraft_cam.c
@@ -40,7 +40,7 @@
 
 #include "modules/cam_control/rotorcraft_cam.h"
 
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "state.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "std.h"
diff --git a/sw/airborne/modules/loggers/logger_control_effectiveness.c b/sw/airborne/modules/loggers/logger_control_effectiveness.c
index 2f32b8ccba..0bccc7eac6 100644
--- a/sw/airborne/modules/loggers/logger_control_effectiveness.c
+++ b/sw/airborne/modules/loggers/logger_control_effectiveness.c
@@ -62,7 +62,7 @@
 #endif
 
 #if LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #endif
 
 /** Write the log header line according to the enabled parts */
diff --git a/sw/airborne/modules/px4_gimbal/px4_gimbal.c b/sw/airborne/modules/px4_gimbal/px4_gimbal.c
index 2149d6ee28..d39b1619da 100644
--- a/sw/airborne/modules/px4_gimbal/px4_gimbal.c
+++ b/sw/airborne/modules/px4_gimbal/px4_gimbal.c
@@ -14,7 +14,7 @@
 #include "modules/radio_control/radio_control.h"
 
 #include "generated/airframe.h" // AC_ID is required
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 
 #ifndef PX4_GIMBAL_PWM_CHAN
 #define PX4_GIMBAL_PWM_CHAN 0
diff --git a/sw/airborne/modules/servo_tester/servo_tester.c b/sw/airborne/modules/servo_tester/servo_tester.c
index 8e89529c57..7d9f3d9848 100644
--- a/sw/airborne/modules/servo_tester/servo_tester.c
+++ b/sw/airborne/modules/servo_tester/servo_tester.c
@@ -29,7 +29,7 @@
 #include "modules/core/commands.h"
 #include "generated/airframe.h"
 #include "generated/airframe.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #include "generated/modules.h"
 
 int32_t servo_test_val;
diff --git a/sw/airborne/modules/switching/switch_servo.c b/sw/airborne/modules/switching/switch_servo.c
index 7588d40b83..972d62b77a 100644
--- a/sw/airborne/modules/switching/switch_servo.c
+++ b/sw/airborne/modules/switching/switch_servo.c
@@ -21,7 +21,7 @@
 
 #include "switching/switch_servo.h"
 #include "generated/airframe.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 
 bool switch_servo_on;
 
diff --git a/sw/airborne/subsystems/actuators/actuators_dshot.h b/sw/airborne/subsystems/actuators/actuators_dshot.h
deleted file mode 100644
index e09860efee..0000000000
--- a/sw/airborne/subsystems/actuators/actuators_dshot.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) 2018 Gautier Hattenberger <gautier.hattenberger@enac.fr>
- *
- * This file is part of paparazzi
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-
-/**
- * @file "subsystems/actuators/actuators_dshot.h"
- * @author Gautier Hattenberger
- * dummy file for airframe generator (driver section)
- */
-
-#ifndef SUB_ACTUATORS_DSHOT_H
-#define SUB_ACTUATORS_DSHOT_H
-
-#include "modules/actuators/actuators_dshot.h"
-
-#endif
-
diff --git a/sw/airborne/subsystems/actuators/actuators_md25.h b/sw/airborne/subsystems/actuators/actuators_md25.h
deleted file mode 100644
index c690a9ada4..0000000000
--- a/sw/airborne/subsystems/actuators/actuators_md25.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) 2018 Gautier Hattenberger <gautier.hattenberger@enac.fr>
- *
- * This file is part of paparazzi
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-
-/**
- * @file "subsystems/actuators/actuators_md25.h"
- * @author Gautier Hattenberger
- * dummy file for airframe generator (driver section)
- */
-
-#ifndef SUB_ACTUATORS_MD25_H
-#define SUB_ACTUATORS_MD25_H
-
-#include "modules/actuators/actuators_md25.h"
-
-#endif
-
diff --git a/sw/airborne/subsystems/actuators/actuators_ostrich.h b/sw/airborne/subsystems/actuators/actuators_ostrich.h
deleted file mode 100644
index a53a3f08a9..0000000000
--- a/sw/airborne/subsystems/actuators/actuators_ostrich.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) 2018 Fabien Bonneval <fabien.bonneval@gmail.com>
- *
- * This file is part of paparazzi
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-
-/**
- * @file "subsystems/actuators/actuators_ostrich.h"
- * @author Fabien Bonneval
- * dummy file for airframe generator (driver section)
- */
-
-#ifndef SUB_ACTUATORS_OSTRICH_H
-#define SUB_ACTUATORS_OSTRICH_H
-
-#include "modules/actuators/actuators_ostrich.h"
-
-#endif
-
diff --git a/sw/airborne/test/test_actuators_pwm.c b/sw/airborne/test/test_actuators_pwm.c
index e467537225..baa8092af7 100644
--- a/sw/airborne/test/test_actuators_pwm.c
+++ b/sw/airborne/test/test_actuators_pwm.c
@@ -48,7 +48,7 @@
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 
-#include "subsystems/actuators/actuators_pwm.h"
+#include "modules/actuators/actuators_pwm.h"
 
 
 static inline void main_init(void);
diff --git a/sw/airborne/test/test_actuators_pwm_sin.c b/sw/airborne/test/test_actuators_pwm_sin.c
index f3638a3120..9138a95264 100644
--- a/sw/airborne/test/test_actuators_pwm_sin.c
+++ b/sw/airborne/test/test_actuators_pwm_sin.c
@@ -29,7 +29,7 @@
 
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#include "subsystems/actuators/actuators_pwm.h"
+#include "modules/actuators/actuators_pwm.h"
 #include "led.h"
 
 static inline void main_init(void);
diff --git a/sw/airborne/test/test_manual.c b/sw/airborne/test/test_manual.c
index 25c2967b6d..dd3efa6c7f 100644
--- a/sw/airborne/test/test_manual.c
+++ b/sw/airborne/test/test_manual.c
@@ -39,9 +39,9 @@
 #include "led.h"
 
 #include "modules/core/commands.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 #if USE_MOTOR_MIXING
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/motor_mixing.h"
 #endif
 
 #include "modules/radio_control/radio_control.h"
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index 2fd49756a7..0ff4f588f6 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -36,7 +36,7 @@
 #include "math/pprz_algebra.h"
 
 #ifndef NPS_NO_MOTOR_MIXING
-#include "subsystems/actuators/motor_mixing.h"
+#include "modules/actuators/motor_mixing.h"
 
 #if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR
 #warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!"
@@ -50,7 +50,7 @@
 
 // for datalink_time hack
 #include "subsystems/datalink/datalink.h"
-#include "subsystems/actuators.h"
+#include "modules/actuators/actuators.h"
 
 struct NpsAutopilot nps_autopilot;
 bool nps_bypass_ahrs;
diff --git a/sw/simulator/nps/nps_fdm_gazebo.cpp b/sw/simulator/nps/nps_fdm_gazebo.cpp
index 2ce6432598..5318482ee0 100644
--- a/sw/simulator/nps/nps_fdm_gazebo.cpp
+++ b/sw/simulator/nps/nps_fdm_gazebo.cpp
@@ -56,7 +56,7 @@ extern "C" {
 #include "filters/low_pass_filter.h"
 #include "filters/high_pass_filter.h"
 
-#include "subsystems/actuators/motor_mixing_types.h"
+#include "modules/actuators/motor_mixing_types.h"
 }
 
 #if defined(NPS_DEBUG_VIDEO)
diff --git a/sw/tools/generators/gen_airframe.ml b/sw/tools/generators/gen_airframe.ml
index ff8ed5b5f1..7642ab4ca5 100644
--- a/sw/tools/generators/gen_airframe.ml
+++ b/sw/tools/generators/gen_airframe.ml
@@ -317,7 +317,7 @@ let rec parse_section = fun out ac_id s ->
       let nb_servos = List.fold_right (fun s m -> max (int_of_string (ExtXml.attrib s "no")) m) servos min_int + 1 in
 
       define_out out (sprintf "SERVOS_%s_NB" (String.uppercase_ascii driver)) (string_of_int nb_servos);
-      fprintf out "#include \"subsystems/actuators/actuators_%s.h\"\n" (String.lowercase_ascii driver);
+      fprintf out "#include \"modules/actuators/actuators_%s.h\"\n" (String.lowercase_ascii driver);
       fprintf out "\n";
       List.iter (parse_servo out driver) servos;
       print_reverse_servo_table out driver servos;