diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index 0378a5b232..a3e5a7b411 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -75,7 +75,7 @@ test_led.CFLAGS += -DUSE_LED
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 
 test_servos.ARCHDIR = $(ARCH)
-test_servos.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_servos.CFLAGS  = -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_servos.LDFLAGS += -lm
 test_servos.srcs += $(SRC_LISA)/test_servos.c 	\
@@ -98,7 +98,7 @@ test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/ac
 #   MODEM_BAUD :
 #
 test_telemetry.ARCHDIR = $(ARCH)
-test_telemetry.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
+test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
 test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_telemetry.srcs = test/test_telemetry.c            \
 					  $(SRC_ARCH)/stm32_exceptions.c   \
@@ -125,7 +125,7 @@ test_telemetry.srcs   += $(SRC_ARCH)/uart_hw.c
 #   MODEM_BAUD
 #
 test_baro.ARCHDIR = $(ARCH)
-test_baro.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
+test_baro.CFLAGS  = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
 test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_baro.srcs = $(SRC_BOARD)/test_baro.c	   	  \
 				 $(SRC_ARCH)/stm32_exceptions.c   \
@@ -157,7 +157,7 @@ test_baro.srcs   += i2c.c $(SRC_ARCH)/i2c_hw.c
 #
 test_rc_spektrum.ARCHDIR   = $(ARCH)
 
-test_rc_spektrum.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_rc_spektrum.srcs   += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
 						   $(SRC_ARCH)/stm32_exceptions.c              \
@@ -194,7 +194,7 @@ test_rc_spektrum.srcs   += $(SRC_BOOZ)/booz_radio_control.c
 #
 test_rc_ppm.ARCHDIR   = $(ARCH)
 
-test_rc_ppm.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
+test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
 test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_rc_ppm.srcs   += $(SRC_BOOZ)/test/booz2_test_radio_control.c \
@@ -229,7 +229,7 @@ test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
 #   MODEM_BAUD
 #
 test_adc.ARCHDIR = $(ARCH)
-test_adc.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 
 test_adc.srcs = $(SRC_LISA)/test_adc.c \
@@ -264,7 +264,7 @@ test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
 #   MODEM_BAUD
 #
 test_imu_b2.ARCHDIR = $(ARCH)
-test_imu_b2.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_b2.CFLAGS  = -I$(SRC_FIRMWARE)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
 					$(SRC_ARCH)/stm32_exceptions.c   \
@@ -466,7 +466,7 @@ test_esc_asctecv1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators mkk
 #
 test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
 test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_mkk.srcs = test/test_actuators.c \
 						  $(SRC_ARCH)/stm32_exceptions.c   \
@@ -496,7 +496,7 @@ test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators asctecv1
 #
 test_actuators_asctecv1.ARCHDIR = $(ARCH)
-test_actuators_asctecv1.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
 test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_asctecv1.srcs = test/test_actuators.c            \
 							   $(SRC_ARCH)/stm32_exceptions.c   \
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index b496a9bff9..a2cb329996 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -372,7 +372,7 @@ test_rc_24.srcs += $(SRC_BOOZ)/booz_radio_control.c \
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 
 test_servos.ARCHDIR = $(ARCH)
-test_servos.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_servos.CFLAGS  = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -DPERIPHERALS_AUTO_INIT
 test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_servos.LDFLAGS += -lm
 test_servos.srcs += $(SRC_LISA)/test_servos.c   \
@@ -587,7 +587,7 @@ test_mc5.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators mkk
 #
 test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
 test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_mkk.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
                           $(SRC_ARCH)/stm32_exceptions.c   \
@@ -607,11 +607,10 @@ test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOW
 test_actuators_mkk.srcs += downlink.c pprz_transport.c
 
 test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
-#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c \
-#                           $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_mkk_arch.c
-#test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1  -DUSE_TIM2_IRQ
-test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1  -DUSE_TIM2_IRQ
+#test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1
+#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 test_actuators_mkk.CFLAGS += -DUSE_I2C1
 test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -621,7 +620,7 @@ test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators asctec
 #
 test_actuators_asctec.ARCHDIR = $(ARCH)
-test_actuators_asctec.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_asctec.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
 test_actuators_asctec.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_asctec.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
                           $(SRC_ARCH)/stm32_exceptions.c   \
@@ -642,8 +641,6 @@ test_actuators_asctec.srcs += downlink.c pprz_transport.c
 
 test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
 test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-#\
-#                              $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_asctec_arch.c
 test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 # -DBOOZ_START_DELAY=3
 #  -DUSE_TIM2_IRQ
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index db9b9a4e07..804a2c1fff 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -1,8 +1,8 @@
-#include "actuators.h"
-#include "actuators/actuators_asctec.h"
+#include "firmwares/rotorcraft/actuators.h"
+#include "firmwares/rotorcraft/actuators/actuators_asctec.h"
 
 #ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
-#include "actuators/supervision.h"
+#include "firmwares/rotorcraft/actuators/supervision.h"
 #endif
 
 #include "booz/booz2_commands.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
index 01198b281a..a82e4ef968 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * 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.
  */
 
 #ifndef ACTUATORS_ASCTEC_H
@@ -27,20 +27,20 @@
 #include "i2c.h"
 
 enum actuators_astec_cmd { NONE,
-			   TEST,
-			   REVERSE,
-			   SET_ADDR };
+               TEST,
+               REVERSE,
+               SET_ADDR };
 
 enum actuators_astec_addr { FRONT,
-			    BACK,
-			    LEFT,
-			    RIGHT };
+                BACK,
+                LEFT,
+                RIGHT };
 
 /* this is for the v1 protocol which does its own mixing */
 enum actuators_astec_cmds { PITCH,
-			    ROLL,
-			    YAW,
-			    THRUST,
+                ROLL,
+                YAW,
+                THRUST,
                             CMD_NB };
 
 struct ActuatorsAsctec {
@@ -53,7 +53,7 @@ struct ActuatorsAsctec {
 };
 
 
-extern struct ActuatorsAsctec actuators_asctec; 
+extern struct ActuatorsAsctec actuators_asctec;
 
 #define actuators_asctec_SetCommand(_v) {  \
     actuators_asctec.cmd = _v;			\
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
index deb4ac8d0a..ba37a0ac5b 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
@@ -21,12 +21,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "actuators.h"
-#include "actuators/actuators_heli.h"
+#include "firmwares/rotorcraft/actuators.h"
+#include "firmwares/rotorcraft/actuators/actuators_heli.h"
 #include "booz/booz2_commands.h"
 
 /* let's start butchery now and use the actuators_pwm arch functions */
-#include "actuators/actuators_pwm.h"
+#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
 
 /* get SetActuatorsFromCommands() macro */
 #include "airframe.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index 4296e72996..0cb14b01ab 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "actuators.h"
-#include "actuators/actuators_mkk.h"
+#include "firmwares/rotorcraft/actuators.h"
+#include "firmwares/rotorcraft/actuators/actuators_mkk.h"
 
 #include "booz/booz2_commands.h"
 #include "i2c.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
index b9299ea556..409cd83c44 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
@@ -38,7 +38,7 @@ extern struct ActuatorsMkk actuators_mkk;
 
 
 
-#include "actuators/supervision.h"
+#include "firmwares/rotorcraft/actuators/supervision.h"
 
 
 #endif /* ACTUATORS_MKK_H */
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
index 75422cf32d..1caa4cec56 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
@@ -1,4 +1,4 @@
-#include "actuators/actuators_pwm.h"
+#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
 
 int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
index f4d3943fcc..a38ed0b6e2 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
@@ -25,7 +25,7 @@
 #define ACTUATORS_PWM_H
 
 #include "std.h"
-#include "actuators.h"
+#include "firmwares/rotorcraft/actuators.h"
 
 #define ACTUATORS_PWM_NB 6
 extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
index 1118487e9b..3f543335dd 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "actuators/supervision.h"
+#include "firmwares/rotorcraft/actuators/supervision.h"
 
 //#include <stdint.h>
 #ifndef INT32_MIN
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
index bab049477d..f3579af913 100644
--- a/sw/airborne/test/test_actuators.c
+++ b/sw/airborne/test/test_actuators.c
@@ -28,7 +28,7 @@
 
 #include "i2c.h"
 #include "booz/booz2_commands.h"
-#include "actuators.h"
+#include "firmwares/rotorcraft/actuators.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );