diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index ba56023caf..5fd3826906 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -44,7 +44,7 @@ SRC_ARCH=arch/$(ARCH)
 
 CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
 
-BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
+BOOZ_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
 
 
 ap.ARCHDIR = $(ARCH)
@@ -178,7 +178,7 @@ endif
 # include subsystems/rotorcraft/ahrs_lkf.makefile
 #
 
-ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c
+ap.srcs += $(SRC_FIRMWARE)/autopilot.c
 
 ap.srcs += math/pprz_trig_int.c
 ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index efb3495fc0..59c4b8a461 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -86,7 +86,7 @@ sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
 #sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
 #sim.CFLAGS += -DIMU_B2_VERSION_1_1
 
-sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c
+sim.srcs += $(SRC_FIRMWARE)/autopilot.c
 
 #
 # in makefile section of airframe xml
diff --git a/conf/flight_plans/booz_test_sim.xml b/conf/flight_plans/booz_test_sim.xml
index 5bdb752e76..2cb16f0728 100644
--- a/conf/flight_plans/booz_test_sim.xml
+++ b/conf/flight_plans/booz_test_sim.xml
@@ -2,7 +2,7 @@
 
 <flight_plan alt="5" ground_alt="0" lat0="37.6136" lon0="-122.3569" max_dist_from_home="400" name="Booz Test Sim" security_height="2">
   <header>
-#include "booz2_autopilot.h"
+#include "autopilot.h"
   </header>
   <waypoints>
     <waypoint name="HOME" x="0.0" y="0.0"/>
diff --git a/conf/settings/booz_dc.xml b/conf/settings/booz_dc.xml
index 4654d9134b..c6428edfc5 100644
--- a/conf/settings/booz_dc.xml
+++ b/conf/settings/booz_dc.xml
@@ -3,7 +3,7 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="DC">
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="booz2_autopilot_power_switch" module="booz2_autopilot" handler="SetPowerSwitch" shortname="Shutter">
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="booz2_autopilot_power_switch" module="autopilot" handler="SetPowerSwitch" shortname="Shutter">
        <strip_button name="Photo" icon="digital-camera.png" value="1"/>
        <strip_button name="Photo Off" icon="digital-camera-off.png" value="0"/>
       </dl_setting>
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index e529a35e43..5722733701 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -9,13 +9,13 @@
          <key_press key="v" value="7"/>
          <key_press key="h" value="8"/>
        </dl_setting>
-       <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
-      <dl_setting var="kill_throttle" min="0" step="1" max="1" module="booz2_autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
-      <dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1" module="booz2_autopilot" values="OFF|ON" handler="SetPowerSwitch">
+       <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
+      <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
+      <dl_setting var="booz2_autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
         <strip_button name="POWER ON" icon="on.png" value="1"/>
         <strip_button name="POWER OFF" icon="off.png" value="0"/>
       </dl_setting>
-      <dl_setting var="booz2_autopilot_rc" min="0" step="1" max="1" module="booz2_autopilot" values="RC OFF|RC ON">
+      <dl_setting var="booz2_autopilot_rc" min="0" step="1" max="1" module="autopilot" values="RC OFF|RC ON">
         <strip_button name="RC ON" value="1"/>
         <strip_button name="RC OFF" value="0"/>
       </dl_setting>
diff --git a/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c b/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
index 76a1539625..ffd798ece9 100644
--- a/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
+++ b/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
@@ -30,7 +30,7 @@
 #include "uart.h"
 #include "booz_radio_control.h"
 #include "booz_radio_control_spektrum_arch.h"
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 
 
 #define SPEKTRUM_CHANNELS_PER_FRAME 7
diff --git a/sw/airborne/booz/booz2_navigation.c b/sw/airborne/booz/booz2_navigation.c
index c575d20f28..e9e9d12618 100644
--- a/sw/airborne/booz/booz2_navigation.c
+++ b/sw/airborne/booz/booz2_navigation.c
@@ -29,7 +29,7 @@
 #include "booz_gps.h"
 #include "booz2_ins.h"
 
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 #include "modules.h"
 #include "flight_plan.h"
 
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index e508383a27..d05ffbb379 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -34,7 +34,7 @@
 #include "booz_radio_control.h"
 #endif
 
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 #include "booz_guidance.h"
 
 #include "actuators.h"
diff --git a/sw/airborne/booz/booz_fms.h b/sw/airborne/booz/booz_fms.h
index a2ede405f3..4f188bb3e9 100644
--- a/sw/airborne/booz/booz_fms.h
+++ b/sw/airborne/booz/booz_fms.h
@@ -26,7 +26,7 @@
 
 #include "std.h"
 #include "math/pprz_algebra_int.h"
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 #include "booz_guidance.h"
 
 struct Booz_fms_imu_info {
diff --git a/sw/airborne/csc/mercury_ap.c b/sw/airborne/csc/mercury_ap.c
index 64a382e8de..4cea4e684a 100644
--- a/sw/airborne/csc/mercury_ap.c
+++ b/sw/airborne/csc/mercury_ap.c
@@ -26,7 +26,7 @@
 #include <inttypes.h>
 #include "commands.h"
 #include "mercury_xsens.h"
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 #include "booz_stabilization.h"
 #include "stabilization/booz_stabilization_attitude.h"
 #include "led.h"
diff --git a/sw/airborne/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
similarity index 98%
rename from sw/airborne/autopilot.h
rename to sw/airborne/firmwares/fixedwing/autopilot.h
index 63111be0ce..a6eb27a40e 100644
--- a/sw/airborne/autopilot.h
+++ b/sw/airborne/firmwares/fixedwing/autopilot.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  *
  */
 
diff --git a/sw/airborne/booz/booz2_autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
similarity index 99%
rename from sw/airborne/booz/booz2_autopilot.c
rename to sw/airborne/firmwares/rotorcraft/autopilot.c
index 713c54dcac..dd1e9f22fa 100644
--- a/sw/airborne/booz/booz2_autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 
 #include "booz_radio_control.h"
 #include "booz2_commands.h"
diff --git a/sw/airborne/booz/booz2_autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h
similarity index 94%
rename from sw/airborne/booz/booz2_autopilot.h
rename to sw/airborne/firmwares/rotorcraft/autopilot.h
index 2123d3e858..e971f20577 100644
--- a/sw/airborne/booz/booz2_autopilot.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.h
@@ -22,8 +22,8 @@
  *
  */
 
-#ifndef BOOZ2_AUTOPILOT_H
-#define BOOZ2_AUTOPILOT_H
+#ifndef AUTOPILOT_H
+#define AUTOPILOT_H
 
 #include "std.h"
 
@@ -89,13 +89,13 @@ extern uint16_t booz2_autopilot_flight_time;
       _booz_mode = BOOZ2_MODE_MANUAL;					\
   }
 
-#define booz2_autopilot_KillThrottle(_v) {	                        \
+#define autopilot_KillThrottle(_v) {	                        \
     kill_throttle = _v;							\
     if (kill_throttle) booz2_autopilot_motors_on = FALSE;				\
     else booz2_autopilot_motors_on = TRUE; \
   }
 
-#define booz2_autopilot_SetPowerSwitch(_v) { \
+#define autopilot_SetPowerSwitch(_v) { \
   booz2_autopilot_power_switch = _v; \
   if (_v) { LED_OFF(POWER_SWITCH_LED); } \
   else { LED_ON(POWER_SWITCH_LED); } \
@@ -114,4 +114,4 @@ static inline void BoozDetectGroundEvent(void) {
   }
 }
 
-#endif /* BOOZ2_AUTOPILOT_H */
+#endif /* AUTOPILOT_H */
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 09693fedff..fcdb632976 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -47,7 +47,7 @@
 #include "booz2_battery.h"
 
 #include "booz_fms.h"
-#include "booz2_autopilot.h"
+#include "autopilot.h"
 
 #include "booz_stabilization.h"
 #include "booz_guidance.h"
diff --git a/sw/airborne/modules/vehicle_interface/vi.h b/sw/airborne/modules/vehicle_interface/vi.h
index 81d45de76e..8042a65ab5 100644
--- a/sw/airborne/modules/vehicle_interface/vi.h
+++ b/sw/airborne/modules/vehicle_interface/vi.h
@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "math/pprz_algebra_int.h"
-#include "booz/booz2_autopilot.h"
+#include "autopilot.h"
 #include "booz/booz_stabilization.h"
 #include "booz/booz_guidance.h"
 #include "booz/booz2_navigation.h"