diff --git a/conf/messages.xml b/conf/messages.xml
index 81997e986e..072f47a999 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1174,7 +1174,7 @@
       <field name="g"              type="float"/>
   </message>
 
-  <message name="BOOZ2_HFF" id="164">
+  <message name="HFF" id="164">
       <field name="x"              type="float"/>
       <field name="y"              type="float"/>
       <field name="xd"             type="float"/>
@@ -1183,7 +1183,7 @@
       <field name="ydd"            type="float"/>
   </message>
 
-  <message name="BOOZ2_HFF_DBG" id="165">
+  <message name="HFF_DBG" id="165">
       <field name="x_measure"      type="float"/>
       <field name="y_measure"      type="float"/>
       <field name="yd_measure"     type="float"/>
@@ -1194,7 +1194,7 @@
       <field name="Pydyd"          type="float"/>
   </message>
 
-  <message name="BOOZ2_HFF_GPS" id="166">
+  <message name="HFF_GPS" id="166">
       <field name="lag_cnt"     type="uint16"/>
       <field name="lag_cnt_err" type="int16"/>
       <field name="save_cnt"    type="int16"/>
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index 3c86ecfc4a..473c8cb80d 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -86,12 +86,12 @@
       <message name="ALIVE"                   period="0.9"/>
       <message name="BOOZ2_HOVER_LOOP"        period="0.062"/>
       <message name="BOOZ2_STAB_ATTITUDE"     period=".4"/>
-      <message name="BOOZ2_HFF_DBG"           period=".2"/>
+      <message name="HFF_DBG"           period=".2"/>
       <!--<message name="BOOZ2_STAB_ATTITUDE_REF" period=".4"/>-->
       <message name="BOOZ2_FP"                period="0.8"/>
       <message name="BOOZ_STATUS"             period="1.2"/>
       <message name="BOOZ2_NAV_STATUS"        period="1.6"/>
-	  <message name="BOOZ2_HFF_GPS"           period=".03"/>
+	  <message name="HFF_GPS"           period=".03"/>
       <message name="INS_REF"           period="5.1"/>
     </mode>
 
diff --git a/conf/telemetry/telemetry_booz2_flixr.xml b/conf/telemetry/telemetry_booz2_flixr.xml
index aa607bd465..221d34bd00 100644
--- a/conf/telemetry/telemetry_booz2_flixr.xml
+++ b/conf/telemetry/telemetry_booz2_flixr.xml
@@ -85,12 +85,12 @@
       <message name="ALIVE"                   period="0.9"/>
       <message name="BOOZ2_HOVER_LOOP"        period="0.1"/>
       <message name="BOOZ2_STAB_ATTITUDE"     period=".4"/>
-      <message name="BOOZ2_HFF_DBG"           period=".2"/>
+      <message name="HFF_DBG"           period=".2"/>
       <!--<message name="BOOZ2_STAB_ATTITUDE_REF" period=".4"/>-->
       <message name="BOOZ2_FP"                period="0.8"/>
       <message name="BOOZ_STATUS"             period="1.2"/>
       <message name="BOOZ2_NAV_STATUS"        period="1.6"/>
-	  <message name="BOOZ2_HFF_GPS"           period=".1"/>
+	  <message name="HFF_GPS"           period=".1"/>
       <message name="INS_REF"           period="5.1"/>
     </mode>
 
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index c46ebd24a7..14a590e9d7 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -489,8 +489,8 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 #ifdef USE_HFF
 #include "ins/hf_float.h"
-#define PERIODIC_SEND_BOOZ2_HFF(_chan) {	\
-    DOWNLINK_SEND_BOOZ2_HFF(_chan,		\
+#define PERIODIC_SEND_HFF(_chan) {	\
+    DOWNLINK_SEND_HFF(_chan,		\
                             &b2_hff_state.x,			\
                             &b2_hff_state.y,			\
                             &b2_hff_state.xdot,         \
@@ -498,8 +498,8 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
                             &b2_hff_state.xdotdot,      \
                             &b2_hff_state.ydotdot);     \
   }
-#define PERIODIC_SEND_BOOZ2_HFF_DBG(_chan) {                \
-	DOWNLINK_SEND_BOOZ2_HFF_DBG(_chan,                      \
+#define PERIODIC_SEND_HFF_DBG(_chan) {                \
+	DOWNLINK_SEND_HFF_DBG(_chan,                      \
                                 &b2_hff_x_meas,             \
                                 &b2_hff_y_meas,             \
                                 &b2_hff_xd_meas,            \
@@ -510,19 +510,19 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
                                 &b2_hff_state.yP[1][1]);    \
   }
 #ifdef GPS_LAG
-#define PERIODIC_SEND_BOOZ2_HFF_GPS(_chan) {	\
-    DOWNLINK_SEND_BOOZ2_HFF_GPS(_chan,			\
+#define PERIODIC_SEND_HFF_GPS(_chan) {	\
+    DOWNLINK_SEND_HFF_GPS(_chan,			\
 							  &b2_hff_rb_last->lag_counter,		\
 							  &lag_counter_err,	\
 							  &save_counter);	\
   }
 #else
-#define PERIODIC_SEND_BOOZ2_HFF_GPS(_chan) {}
+#define PERIODIC_SEND_HFF_GPS(_chan) {}
 #endif
 #else
-#define PERIODIC_SEND_BOOZ2_HFF(_chan) {}
-#define PERIODIC_SEND_BOOZ2_HFF_DBG(_chan) {}
-#define PERIODIC_SEND_BOOZ2_HFF_GPS(_chan) {}
+#define PERIODIC_SEND_HFF(_chan) {}
+#define PERIODIC_SEND_HFF_DBG(_chan) {}
+#define PERIODIC_SEND_HFF_GPS(_chan) {}
 #endif
 
 #define PERIODIC_SEND_GUIDANCE(_chan) {				\
diff --git a/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c b/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c
index f62cadcb0b..2d9cc871d3 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c
+++ b/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.c
@@ -21,11 +21,11 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "hf_float.h"
-#include "ins.h"
+#include "hf_float-old.h"
+#include <firmwares/rotorcraft/ins.h>
 
 #include <firmwares/rotorcraft/imu.h>
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "math/pprz_algebra_int.h"
 
 
diff --git a/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h b/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h
index bfd15b9559..9b354847ff 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h
+++ b/sw/airborne/firmwares/rotorcraft/ins/hf_float-old.h
@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ2_HF_FLOAT_H
-#define BOOZ2_HF_FLOAT_H
+#ifndef HF_FLOAT_H
+#define HF_FLOAT_H
 
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_algebra_int.h"
@@ -43,4 +43,4 @@ extern void b2ins_init(void);
 extern void b2ins_propagate(void);
 extern void b2ins_update_gps(void);
 
-#endif /* BOOZ2_HF_FLOAT_H */
+#endif /* HF_FLOAT_H */
diff --git a/sw/airborne/firmwares/rotorcraft/ins/hf_float.c b/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
index a6531e5f15..66cb26922e 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
+++ b/sw/airborne/firmwares/rotorcraft/ins/hf_float.c
@@ -23,9 +23,9 @@
  */
 
 #include "hf_float.h"
-#include "ins.h"
+#include <firmwares/rotorcraft/ins.h>
 #include <firmwares/rotorcraft/imu.h>
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "booz_gps.h"
 #include <stdlib.h>
 
@@ -46,25 +46,25 @@
 /* initial covariance diagonal */
 #define INIT_PXX 1.
 /* process noise (is the same for x and y)*/
-#ifndef B2_HFF_ACCEL_NOISE
-#define B2_HFF_ACCEL_NOISE 0.5
+#ifndef HFF_ACCEL_NOISE
+#define HFF_ACCEL_NOISE 0.5
 #endif
-#define Q       B2_HFF_ACCEL_NOISE*DT_HFILTER*DT_HFILTER/2.
-#define Qdotdot B2_HFF_ACCEL_NOISE*DT_HFILTER
+#define Q       HFF_ACCEL_NOISE*DT_HFILTER*DT_HFILTER/2.
+#define Qdotdot HFF_ACCEL_NOISE*DT_HFILTER
 
 //TODO: proper measurement noise
-#ifndef B2_HFF_R_POS
-#define B2_HFF_R_POS   8.
+#ifndef HFF_R_POS
+#define HFF_R_POS   8.
 #endif
-#ifndef B2_HFF_R_POS_MIN
-#define B2_HFF_R_POS_MIN 3.
+#ifndef HFF_R_POS_MIN
+#define HFF_R_POS_MIN 3.
 #endif
 
-#ifndef B2_HFF_R_SPEED
-#define B2_HFF_R_SPEED 2.
+#ifndef HFF_R_SPEED
+#define HFF_R_SPEED 2.
 #endif
-#ifndef B2_HFF_R_SPEED_MIN
-#define B2_HFF_R_SPEED_MIN 1.
+#ifndef HFF_R_SPEED_MIN
+#define HFF_R_SPEED_MIN 1.
 #endif
 
 /* gps measurement noise */
@@ -235,8 +235,8 @@ static inline void b2_hff_update_ydot(struct HfilterFloat* hff_work, float vel,
 
 
 void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) {
-  Rgps_pos = B2_HFF_R_POS;
-  Rgps_vel = B2_HFF_R_SPEED;
+  Rgps_pos = HFF_R_POS;
+  Rgps_vel = HFF_R_SPEED;
   b2_hff_init_x(init_x, init_xdot);
   b2_hff_init_y(init_y, init_ydot);
   /* init buffer for mean accel calculation */
@@ -272,15 +272,15 @@ void b2_hff_init(float init_x, float init_xdot, float init_y, float init_ydot) {
   past_save_counter = SAVE_DONE;
   b2_hff_ps_counter = 1;
   b2_hff_lost_counter = 0;
-  b2_hff_lost_limit = B2_HFF_LOST_LIMIT;
+  b2_hff_lost_limit = HFF_LOST_LIMIT;
 }
 
 static inline void b2_hff_init_x(float init_x, float init_xdot) {
   b2_hff_state.x     = init_x;
   b2_hff_state.xdot  = init_xdot;
   int i, j;
-  for (i=0; i<B2_HFF_STATE_SIZE; i++) {
-    for (j=0; j<B2_HFF_STATE_SIZE; j++)
+  for (i=0; i<HFF_STATE_SIZE; i++) {
+    for (j=0; j<HFF_STATE_SIZE; j++)
       b2_hff_state.xP[i][j] = 0.;
 	b2_hff_state.xP[i][i] = INIT_PXX;
   }
@@ -291,8 +291,8 @@ static inline void b2_hff_init_y(float init_y, float init_ydot) {
   b2_hff_state.y     = init_y;
   b2_hff_state.ydot  = init_ydot;
   int i, j;
-  for (i=0; i<B2_HFF_STATE_SIZE; i++) {
-    for (j=0; j<B2_HFF_STATE_SIZE; j++)
+  for (i=0; i<HFF_STATE_SIZE; i++) {
+    for (j=0; j<HFF_STATE_SIZE; j++)
       b2_hff_state.yP[i][j] = 0.;
 	b2_hff_state.yP[i][i] = INIT_PXX;
   }
@@ -369,8 +369,8 @@ static inline void b2_hff_set_state(struct HfilterFloat* dest, struct HfilterFlo
   dest->y       = source->y;
   dest->ydot    = source->ydot;
   dest->ydotdot = source->ydotdot;
-  for (int i=0; i < B2_HFF_STATE_SIZE; i++) {
-	for (int j=0; j < B2_HFF_STATE_SIZE; j++) {
+  for (int i=0; i < HFF_STATE_SIZE; i++) {
+	for (int j=0; j < HFF_STATE_SIZE; j++) {
 	  dest->xP[i][j] = source->xP[i][j];
 	  dest->yP[i][j] = source->yP[i][j];
 	}
@@ -489,12 +489,12 @@ void b2_hff_update_gps(void) {
 
 #ifdef USE_GPS_ACC4R
   Rgps_pos = (float) booz_gps_state.pacc / 100.;
-  if (Rgps_pos < B2_HFF_R_POS_MIN)
-    Rgps_pos = B2_HFF_R_POS_MIN;
+  if (Rgps_pos < HFF_R_POS_MIN)
+    Rgps_pos = HFF_R_POS_MIN;
 
   Rgps_vel = (float) booz_gps_state.sacc / 100.;
-  if (Rgps_vel < B2_HFF_R_SPEED_MIN)
-    Rgps_vel = B2_HFF_R_SPEED_MIN;
+  if (Rgps_vel < HFF_R_SPEED_MIN)
+    Rgps_vel = HFF_R_SPEED_MIN;
 #endif
 
 #ifdef GPS_LAG
@@ -504,7 +504,7 @@ void b2_hff_update_gps(void) {
     /* update filter state with measurement */
     b2_hff_update_x(&b2_hff_state, ins_gps_pos_m_ned.x, Rgps_pos);
     b2_hff_update_y(&b2_hff_state, ins_gps_pos_m_ned.y, Rgps_pos);
-#ifdef B2_HFF_UPDATE_SPEED
+#ifdef HFF_UPDATE_SPEED
     b2_hff_update_xdot(&b2_hff_state, ins_gps_speed_m_s_ned.x, Rgps_vel);
     b2_hff_update_ydot(&b2_hff_state, ins_gps_speed_m_s_ned.y, Rgps_vel);
 #endif
@@ -526,7 +526,7 @@ void b2_hff_update_gps(void) {
       b2_hff_rb_last->rollback = TRUE;
       b2_hff_update_x(b2_hff_rb_last, ins_gps_pos_m_ned.x, Rgps_pos);
       b2_hff_update_y(b2_hff_rb_last, ins_gps_pos_m_ned.y, Rgps_pos);
-#ifdef B2_HFF_UPDATE_SPEED
+#ifdef HFF_UPDATE_SPEED
       b2_hff_update_xdot(b2_hff_rb_last, ins_gps_speed_m_s_ned.x, Rgps_vel);
       b2_hff_update_ydot(b2_hff_rb_last, ins_gps_speed_m_s_ned.y, Rgps_vel);
 #endif
diff --git a/sw/airborne/firmwares/rotorcraft/ins/hf_float.h b/sw/airborne/firmwares/rotorcraft/ins/hf_float.h
index 737b356e06..897737dde2 100644
--- a/sw/airborne/firmwares/rotorcraft/ins/hf_float.h
+++ b/sw/airborne/firmwares/rotorcraft/ins/hf_float.h
@@ -21,13 +21,13 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ2_HF_FLOAT_H
-#define BOOZ2_HF_FLOAT_H
+#ifndef HF_FLOAT_H
+#define HF_FLOAT_H
 
 #include "std.h"
 #include "math/pprz_algebra_float.h"
 
-#define B2_HFF_STATE_SIZE 2
+#define HFF_STATE_SIZE 2
 
 #ifndef HFF_PRESCALER
 #define HFF_PRESCALER 16
@@ -37,7 +37,7 @@
 #define HFF_FREQ (512./HFF_PRESCALER)
 #define DT_HFILTER (1./HFF_FREQ)
 
-#define B2_HFF_UPDATE_SPEED
+#define HFF_UPDATE_SPEED
 
 struct HfilterFloat {
   float x;
@@ -48,8 +48,8 @@ struct HfilterFloat {
   /* float ybias; */
   float ydot;
   float ydotdot;
-  float xP[B2_HFF_STATE_SIZE][B2_HFF_STATE_SIZE];
-  float yP[B2_HFF_STATE_SIZE][B2_HFF_STATE_SIZE];
+  float xP[HFF_STATE_SIZE][HFF_STATE_SIZE];
+  float yP[HFF_STATE_SIZE][HFF_STATE_SIZE];
   uint8_t lag_counter;
   bool_t rollback;
 };
@@ -70,7 +70,7 @@ extern void b2_hff_update_pos(struct FloatVect2 pos, struct FloatVect2 Rpos);
 extern void b2_hff_update_vel(struct FloatVect2 vel, struct FloatVect2 Rvel);
 extern void b2_hff_realign(struct FloatVect2 pos, struct FloatVect2 vel);
 
-#define B2_HFF_LOST_LIMIT 1000
+#define HFF_LOST_LIMIT 1000
 extern uint16_t b2_hff_lost_limit;
 extern uint16_t b2_hff_lost_counter;
 
@@ -80,4 +80,4 @@ extern struct HfilterFloat *b2_hff_rb_last;
 extern int lag_counter_err;
 extern int save_counter;
 
-#endif /* BOOZ2_HF_FLOAT_H */
+#endif /* HF_FLOAT_H */