diff --git a/sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
similarity index 98%
rename from sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
index 17f7cfcee2..83ae5fab7a 100644
--- a/sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
@@ -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.
  */
 
 #include "booz_imu.h"
@@ -33,7 +33,7 @@ static inline bool_t isr_try_mag(void);
 #define SSP_DDS8  0x07 << 0  /* data size         : 8 bits                    */
 #define SSP_DDS16 0x0F << 0  /* data size         : 16 bits                   */
 #define SSP_FRF   0x00 << 4  /* frame format      : SPI                       */
-#define SSP_CPOL  0x00 << 6  /* clock polarity    : data captured on first clock transition */  
+#define SSP_CPOL  0x00 << 6  /* clock polarity    : data captured on first clock transition */
 #define SSP_CPHA  0x00 << 7  /* clock phase       : SCK idles low             */
 #define SSP_SCR   0x0F << 8  /* serial clock rate : divide by 16              */
 
@@ -62,17 +62,17 @@ static inline bool_t isr_try_mag(void);
 
 
 void booz_imu_b2_arch_init(void) {
-  
+
   booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
 
   /* setup pins for SSP (SCK, MISO, MOSI) */
   PINSEL1 |= SSP_PINSEL1_SCK  | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
-  
+
   /* setup SSP */
   SSPCR0 = SSPCR0_VAL16;
   SSPCR1 = SSPCR1_VAL;
   SSPCPSR = 0x02;
-  
+
   /* initialize interrupt vector */
   VICIntSelect &= ~VIC_BIT( VIC_SPI1 );             /* SPI1 selected as IRQ */
   VICIntEnable = VIC_BIT( VIC_SPI1 );               /* enable it            */
@@ -85,7 +85,7 @@ void booz_imu_b2_arch_init(void) {
 void booz_imu_periodic(void) {
   // check ssp idle
   // ASSERT((booz_imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
-  
+
   // setup 16 bits
   BoozImuSetSSP16bits();
   // read adc
@@ -120,7 +120,7 @@ static inline bool_t isr_try_mag(void) {
 
 static void SSP_ISR(void) {
  ISR_ENTRY();
- 
+
  switch (booz2_imu_ssp_status) {
  case BOOZ2_IMU_SSP_STA_BUSY_MAX1168:
    Max1168OnSpiInt();
@@ -137,7 +137,7 @@ static void SSP_ISR(void) {
    // spurious interrupt
    LED_ON(1);
  }
- 
+
  VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
  ISR_EXIT();
 }
@@ -150,7 +150,7 @@ static void SSP_ISR(void) {
  switch (booz_imu_ssp_status) {
  case BOOZ_IMU_SSP_STA_BUSY_MAX1168:
    Max1168OnSpiInt();
-#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
   if (ms2001_status == MS2001_IDLE || ms2001_status == MS2001_GOT_EOC) {
      BoozImuSetSSP8bits();
      if (ms2001_status == MS2001_IDLE) {
@@ -164,11 +164,11 @@ static void SSP_ISR(void) {
    else {
 #endif
      booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
-#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
    }
 #endif
   break;
-#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
  case BOOZ_IMU_SSP_STA_BUSY_MS2100:
    Ms2001OnSpiIt();
    if (ms2001_status == MS2001_IDLE) {
@@ -183,7 +183,7 @@ static void SSP_ISR(void) {
    // spurious interrupt
    // FIXME LED_ON(1);
  }
- 
+
  VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
  ISR_EXIT();
 }
diff --git a/sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.h
similarity index 92%
rename from sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.h
index 63b73a46ec..c60292bd18 100644
--- a/sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.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 BOOZ_IMU_B2_ARCH_H
@@ -26,7 +26,7 @@
 
 /*
 
-  MAX1168 SPI ADC connected on SPI1 
+  MAX1168 SPI ADC connected on SPI1
   SS on P0.20
   EOC on P0.16 ( EINT0 )
 
@@ -39,7 +39,7 @@
 
 #include "std.h"
 #include "LPC21xx.h"
-#include "interrupt_hw.h"  
+#include "interrupt_hw.h"
 
 #define BOOZ_IMU_SSP_STA_IDLE           0
 #define BOOZ_IMU_SSP_STA_BUSY_MAX1168   1
diff --git a/sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
similarity index 95%
rename from sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
index a7284b5109..db1a3a3262 100644
--- a/sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
@@ -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.
  */
 
 #include "booz_imu.h"
@@ -31,7 +31,7 @@
 #define ADS8344_SS_IODIR IO0DIR
 #define ADS8344_SS_IOSET IO0SET
 #define ADS8344_SS_IOCLR IO0CLR
-#define ADS8344_SS_PIN   20 
+#define ADS8344_SS_PIN   20
 
 #define ADS8344Select()   SetBit(ADS8344_SS_IOCLR,ADS8344_SS_PIN)
 #define ADS8344Unselect() SetBit(ADS8344_SS_IOSET,ADS8344_SS_PIN)
@@ -42,7 +42,7 @@
 /* SSPCR0 settings */
 #define SSP_DSS  0x07 << 0  /* data size            : 8 bits   */
 #define SSP_FRF  0x00 << 4  /* frame format         : SPI      */
-#define SSP_CPOL 0x00 << 6  /* clock polarity       : idle low */  
+#define SSP_CPOL 0x00 << 6  /* clock polarity       : idle low */
 #define SSP_CPHA 0x00 << 7  /* clock phase          : 1        */
 #define SSP_SCR  0x09 << 8  /* serial clock rate    : 1MHz     */
 
@@ -60,17 +60,17 @@ void booz_imu_crista_arch_init(void) {
 
   /* setup pins for SSP (SCK, MISO, MOSI) */
   PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
-  
+
   /* setup SSP */
   SSPCR0 = SSP_DSS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
   SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
   SSPCPSR = 2; /* -> 50kHz */
-  
+
   /* initialize interrupt vector */
   VICIntSelect &= ~VIC_BIT(VIC_SPI1);   // SPI1 selected as IRQ
   VICIntEnable = VIC_BIT(VIC_SPI1);     // SPI1 interrupt enabled
   VICVectCntl7 = VIC_ENABLE | VIC_SPI1;
-  VICVectAddr7 = (uint32_t)SPI1_ISR;    // address of the ISR 
+  VICVectAddr7 = (uint32_t)SPI1_ISR;    // address of the ISR
 
   /* setup slave select */
   /* configure SS pin */
@@ -110,7 +110,7 @@ void SPI1_ISR(void) {
  if (channel > 7-1) {
    channel = 0;
    ADS8344_available = TRUE;
-   ADS8344Unselect();    
+   ADS8344Unselect();
  }
  else {
    send_request();
diff --git a/sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h
similarity index 96%
rename from sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h
index fca2b64b70..8f9674dd2c 100644
--- a/sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.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 BOOZ_IMU_INT_HW_H
@@ -35,4 +35,3 @@
 extern void ADS8344_start( void );
 
 #endif /* BOOZ_IMU_INT_HW_H */
-
diff --git a/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
similarity index 98%
rename from sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
index 8ee5c08bbe..38a9900eb1 100644
--- a/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
@@ -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.
  */
 
 #include "booz_imu.h"
diff --git a/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.h
similarity index 96%
rename from sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.h
index cc742a9fab..b501fd9681 100644
--- a/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.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.
  */
 
 /*
diff --git a/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
similarity index 100%
rename from sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
diff --git a/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
similarity index 96%
rename from sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
index aa64552fac..1d761b0579 100644
--- a/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2010 The Paparazzi Team
  *
  * 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.
  */
 
 /*
@@ -39,4 +39,3 @@ extern void booz_imu_feed_mag(void);
 
 
 #endif /* BOOZ_IMU_CRISTA_HW_H */
-
diff --git a/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
similarity index 88%
rename from sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
index de0b15a410..89352f8fec 100644
--- a/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
@@ -26,7 +26,7 @@ void booz_imu_aspirin_arch_init(void) {
   GPIO_InitTypeDef GPIO_InitStructure;
   EXTI_InitTypeDef EXTI_InitStructure;
   NVIC_InitTypeDef NVIC_InitStructure;
-  SPI_InitTypeDef SPI_InitStructure;					
+  SPI_InitTypeDef SPI_InitStructure;
 
   /* Set "mag ss" and "mag reset" as floating inputs ------------------------*/
   /* "mag ss"    (PC12) is shorted to I2C2 SDA       */
@@ -61,8 +61,8 @@ void booz_imu_aspirin_arch_init(void) {
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init(&NVIC_InitStructure); 
-  
+  NVIC_Init(&NVIC_InitStructure);
+
 
   /* Accel */
   /* set accel slave select as output and assert it ( on PB12) */
@@ -91,38 +91,38 @@ void booz_imu_aspirin_arch_init(void) {
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init(&NVIC_InitStructure); 
+  NVIC_Init(&NVIC_InitStructure);
 
   /* Enable SPI2 Periph clock -------------------------------------------------*/
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
-  
+
   /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
-  
+
   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
   SPI_Cmd(SPI2, ENABLE);
 
   /* configure SPI */
-  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;	
-  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;			
-  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;			
-  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;				
-  SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;			
-  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;				
-  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;	
-  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;			
-  SPI_InitStructure.SPI_CRCPolynomial = 7;				
-  SPI_Init(SPI2, &SPI_InitStructure);			
+  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
+  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
+  SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
+  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
+  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+  SPI_InitStructure.SPI_CRCPolynomial = 7;
+  SPI_Init(SPI2, &SPI_InitStructure);
 
   /* Enable DMA1 channel4 IRQ Channel ( SPI RX) */
   NVIC_InitTypeDef NVIC_init_struct = {
     .NVIC_IRQChannel = DMA1_Channel4_IRQn,
     .NVIC_IRQChannelPreemptionPriority = 0,
     .NVIC_IRQChannelSubPriority = 0,
-    .NVIC_IRQChannelCmd = ENABLE 
+    .NVIC_IRQChannelCmd = ENABLE
   };
   NVIC_Init(&NVIC_init_struct);
 
@@ -149,7 +149,7 @@ void booz_imu_aspirin_arch_init(void) {
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init(&NVIC_InitStructure); 
+  NVIC_Init(&NVIC_InitStructure);
 
 }
 
@@ -172,28 +172,28 @@ void adxl345_clear_rx_buf(void) {
 
 void adxl345_start_reading_data(void) {
    Adxl345Select();
- 
+
    imu_aspirin.accel_tx_buf[0] = (1<<7|1<<6|ADXL345_REG_DATA_X0);
-  
+
   /* SPI2_Rx_DMA_Channel configuration ------------------------------------*/
-  DMA_DeInit(DMA1_Channel4);						
+  DMA_DeInit(DMA1_Channel4);
   DMA_InitTypeDef DMA_initStructure_4 = {
     .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
     .DMA_MemoryBaseAddr = (uint32_t)imu_aspirin.accel_rx_buf,
-    .DMA_DIR = DMA_DIR_PeripheralSRC,			
+    .DMA_DIR = DMA_DIR_PeripheralSRC,
     .DMA_BufferSize = 7,
-    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,	
+    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
     .DMA_MemoryInc = DMA_MemoryInc_Enable,
     .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
-    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,	
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
     .DMA_Mode = DMA_Mode_Normal,
-    .DMA_Priority = DMA_Priority_VeryHigh,		
+    .DMA_Priority = DMA_Priority_VeryHigh,
     .DMA_M2M = DMA_M2M_Disable
   };
   DMA_Init(DMA1_Channel4, &DMA_initStructure_4);
 
   /* SPI2_Tx_DMA_Channel configuration ------------------------------------*/
-  DMA_DeInit(DMA1_Channel5);  
+  DMA_DeInit(DMA1_Channel5);
   DMA_InitTypeDef DMA_initStructure_5 = {
     .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
     .DMA_MemoryBaseAddr = (uint32_t)imu_aspirin.accel_tx_buf,
@@ -202,23 +202,23 @@ void adxl345_start_reading_data(void) {
     .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
     .DMA_MemoryInc = DMA_MemoryInc_Enable,
     .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
-    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,	
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
     .DMA_Mode = DMA_Mode_Normal,
     .DMA_Priority = DMA_Priority_Medium,
     .DMA_M2M = DMA_M2M_Disable
   };
   DMA_Init(DMA1_Channel5, &DMA_initStructure_5);
-  
+
   /* Enable SPI_2 Rx request */
   SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, ENABLE);
   /* Enable DMA1 Channel4 */
   DMA_Cmd(DMA1_Channel4, ENABLE);
-  
+
   /* Enable SPI_2 Tx request */
   SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, ENABLE);
   /* Enable DMA1 Channel5 */
   DMA_Cmd(DMA1_Channel5, ENABLE);
-  
+
   /* Enable DMA1 Channel4 Transfer Complete interrupt */
   DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, ENABLE);
 }
@@ -233,7 +233,7 @@ void exti15_10_irq_handler(void) {
   /* clear EXTI */
   if(EXTI_GetITStatus(EXTI_Line14) != RESET)
     EXTI_ClearITPendingBit(EXTI_Line14);
- 
+
   imu_aspirin.i2c_trans_gyro.type = I2CTransTxRx;
   imu_aspirin.i2c_trans_gyro.buf[0] = ITG3200_REG_GYRO_XOUT_H;
   imu_aspirin.i2c_trans_gyro.slave_addr = ITG3200_ADDR;
@@ -283,11 +283,11 @@ void exti2_irq_handler(void) {
 void dma1_c4_irq_handler(void) {
   Adxl345Unselect();
   DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);
-  /* Disable SPI_2 Rx and TX request */			
-  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, DISABLE);	
-  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, DISABLE);	
-  /* Disable DMA1 Channel4 and 5 */			
-  DMA_Cmd(DMA1_Channel4, DISABLE);			
+  /* Disable SPI_2 Rx and TX request */
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, DISABLE);
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, DISABLE);
+  /* Disable DMA1 Channel4 and 5 */
+  DMA_Cmd(DMA1_Channel4, DISABLE);
   DMA_Cmd(DMA1_Channel5, DISABLE);
 
   imu_aspirin.accel_available = TRUE;
diff --git a/sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
similarity index 100%
rename from sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
diff --git a/sw/airborne/booz/arch/stm32/imu/booz_imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
similarity index 97%
rename from sw/airborne/booz/arch/stm32/imu/booz_imu_b2_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
index 32ebaafbd6..fb8cb49b57 100644
--- a/sw/airborne/booz/arch/stm32/imu/booz_imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 20010 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.
  */
 
 #include "booz_imu.h"
@@ -58,7 +58,7 @@ void booz_imu_b2_arch_init(void) {
     .NVIC_IRQChannel = DMA1_Channel4_IRQn,
     .NVIC_IRQChannelPreemptionPriority = 0,
     .NVIC_IRQChannelSubPriority = 0,
-    .NVIC_IRQChannelCmd = ENABLE 
+    .NVIC_IRQChannelCmd = ENABLE
   };
   NVIC_Init(&NVIC_init_struct);
   /* Enable SPI2 IRQ Channel */
@@ -80,7 +80,7 @@ void booz_imu_periodic(void) {
   Max1168ConfigureSPI();
   SPI_Cmd(SPI2, ENABLE);
   booz_max1168_read();
-  
+
 }
 
 void dma1_c4_irq_handler(void) {
diff --git a/sw/airborne/booz/arch/stm32/imu/booz_imu_b2_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
similarity index 96%
rename from sw/airborne/booz/arch/stm32/imu/booz_imu_b2_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
index fda2e58456..7936461890 100644
--- a/sw/airborne/booz/arch/stm32/imu/booz_imu_b2_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
@@ -1,6 +1,6 @@
 /*
  * $Id: booz_imu_b2_arch.h 3732 2009-07-20 17:46:54Z poine $
- *  
+ *
  * 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 BOOZ_IMU_B2_ARCH_H
@@ -27,5 +27,3 @@
 
 
 #endif /* BOOZ_IMU_B2_ARCH_H */
-
-
diff --git a/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
similarity index 79%
rename from sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c
rename to sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
index 2193131c7c..f93a2bf6d7 100644
--- a/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
@@ -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.
  */
 
 #include "booz_imu.h"
@@ -67,27 +67,27 @@ void booz_imu_crista_arch_init(void) {
   ADS8344Unselect();
   /* configure SPI after enabling it*/
   SPI_Cmd(SPI2, ENABLE);
-  SPI_InitTypeDef SPI_InitStructure;					
-  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;	
-  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;			
-  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;			
-  SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;				
-  SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;			
-  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;				
-  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;	
-  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;			
-  SPI_InitStructure.SPI_CRCPolynomial = 7;				
-  SPI_Init(SPI2, &SPI_InitStructure);		
-   
+  SPI_InitTypeDef SPI_InitStructure;
+  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
+  SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
+  SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
+  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;
+  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+  SPI_InitStructure.SPI_CRCPolynomial = 7;
+  SPI_Init(SPI2, &SPI_InitStructure);
+
   /* Enable DMA1 channel4 IRQ Channel */
   NVIC_InitTypeDef NVIC_init_struct = {
     .NVIC_IRQChannel = DMA1_Channel4_IRQn,
     .NVIC_IRQChannelPreemptionPriority = 0,
     .NVIC_IRQChannelSubPriority = 0,
-    .NVIC_IRQChannelCmd = ENABLE 
+    .NVIC_IRQChannelCmd = ENABLE
   };
   NVIC_Init(&NVIC_init_struct);
-  
+
 }
 
 
@@ -100,30 +100,30 @@ void ADS8344_start( void ) {
 }
 
 static void ADS8344_read_channel( void ) {
-  
+
   // control byte
   buf_out[0] = 1 << 7 | channel << 4 | SGL_DIF << 2 | POWER_MODE;
-    
+
   /* trigger 4 bytes read */
   /* SPI2_Rx_DMA_Channel configuration ------------------------------------*/
-  DMA_DeInit(DMA1_Channel4);						
+  DMA_DeInit(DMA1_Channel4);
   DMA_InitTypeDef DMA_initStructure_4 = {
     .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
     .DMA_MemoryBaseAddr = (uint32_t)buf_in,
-    .DMA_DIR = DMA_DIR_PeripheralSRC,			
+    .DMA_DIR = DMA_DIR_PeripheralSRC,
     .DMA_BufferSize = 4,
-    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,	
+    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
     .DMA_MemoryInc = DMA_MemoryInc_Enable,
     .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
-    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,	
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
     .DMA_Mode = DMA_Mode_Normal,
-    .DMA_Priority = DMA_Priority_VeryHigh,		
+    .DMA_Priority = DMA_Priority_VeryHigh,
     .DMA_M2M = DMA_M2M_Disable
   };
   DMA_Init(DMA1_Channel4, &DMA_initStructure_4);
 
   /* SPI2_Tx_DMA_Channel configuration ------------------------------------*/
-  DMA_DeInit(DMA1_Channel5);  
+  DMA_DeInit(DMA1_Channel5);
   DMA_InitTypeDef DMA_initStructure_5 = {
     .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
     .DMA_MemoryBaseAddr = (uint32_t)buf_out,
@@ -132,18 +132,18 @@ static void ADS8344_read_channel( void ) {
     .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
     .DMA_MemoryInc = DMA_MemoryInc_Enable,
     .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
-    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,	
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
     .DMA_Mode = DMA_Mode_Normal,
     .DMA_Priority = DMA_Priority_Medium,
     .DMA_M2M = DMA_M2M_Disable
   };
   DMA_Init(DMA1_Channel5, &DMA_initStructure_5);
-  
+
   /* Enable SPI_2 Rx request */
   SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, ENABLE);
   /* Enable DMA1 Channel4 */
   DMA_Cmd(DMA1_Channel4, ENABLE);
-   
+
   /* Enable SPI_2 Tx request */
   SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, ENABLE);
   /* Enable DMA1 Channel5 */
@@ -156,19 +156,19 @@ static void ADS8344_read_channel( void ) {
 
 
 void dma1_c4_irq_handler(void) {
-  
+
   ADS8344_values[channel] = (buf_in[1] << 8 | buf_in[2]) << 1 | buf_in[3] >> 7;
   channel++;
   if (channel > 6) {
     ADS8344_available = TRUE;
-    ADS8344Unselect(); 
-    DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);		
-    /* Disable SPI_2 Rx and TX request */				
-    SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, DISABLE);			
-    SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, DISABLE);			
-    /* Disable DMA1 Channel4 and 5 */					
-    DMA_Cmd(DMA1_Channel4, DISABLE);					
-    DMA_Cmd(DMA1_Channel5, DISABLE);	
+    ADS8344Unselect();
+    DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);
+    /* Disable SPI_2 Rx and TX request */
+    SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, DISABLE);
+    SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, DISABLE);
+    /* Disable DMA1 Channel4 and 5 */
+    DMA_Cmd(DMA1_Channel4, DISABLE);
+    DMA_Cmd(DMA1_Channel5, DISABLE);
   }
   else {
     ADS8344_read_channel();
diff --git a/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
similarity index 96%
rename from sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h
rename to sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
index d9cbbe7adb..4a1db8ba90 100644
--- a/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2010 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 BOOZ_IMU_CRISTA_ARCH_H
 #define BOOZ_IMU_CRISTA_ARCH_H
diff --git a/sw/airborne/booz/imu/booz_imu_aspirin.c b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
similarity index 92%
rename from sw/airborne/booz/imu/booz_imu_aspirin.c
rename to sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
index cc9dad2437..c7815b66ca 100644
--- a/sw/airborne/booz/imu/booz_imu_aspirin.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
@@ -18,7 +18,7 @@ void booz_imu_impl_init(void) {
   imu_aspirin.mag_ready_for_read = FALSE;
   imu_aspirin.mag_available = FALSE;
   imu_aspirin.accel_available = FALSE;
-  
+
   booz_imu_aspirin_arch_init();
 
 }
@@ -32,13 +32,13 @@ void booz_imu_periodic(void) {
     imu_aspirin.status = AspirinStatusIdle;
   }
   else
-    imu_aspirin.gyro_available_blaaa = TRUE; 
+    imu_aspirin.gyro_available_blaaa = TRUE;
 }
 
 
 /* sends a serie of I2C commands to configure the ITG3200 gyro */
 static void configure_gyro(void) {
-  
+
   struct i2c_transaction t;
   t.type = I2CTransTx;
   t.slave_addr = ITG3200_ADDR;
@@ -63,7 +63,7 @@ static void configure_gyro(void) {
   t.buf[1] = (0x01 | 0x01<<7);
   i2c_submit(&i2c2,&t);
   while (t.status != I2CTransSuccess);
-  
+
 }
 
 /* sends a serie of I2C commands to configure the ITG3200 gyro */
@@ -73,7 +73,7 @@ static void configure_mag(void) {
   t.type = I2CTransTx;
   t.slave_addr = HMC5843_ADDR;
   /* set to rate to 50Hz */
-  t.buf[0] = HMC5843_REG_CFGA; 
+  t.buf[0] = HMC5843_REG_CFGA;
   t.buf[1] = 0x00 | (0x06 << 2);
   i2c_submit(&i2c2,&t);
   while (t.status != I2CTransSuccess);
@@ -83,7 +83,7 @@ static void configure_mag(void) {
   i2c_submit(&i2c2,&t);
   while (t.status != I2CTransSuccess);
   /* set to continuous mode */
-  t.buf[0] = HMC5843_REG_MODE; 
+  t.buf[0] = HMC5843_REG_MODE;
   t.buf[1] = 0x00;
   i2c_submit(&i2c2,&t);
   while (t.status != I2CTransSuccess);
@@ -100,7 +100,7 @@ static void send_i2c_msg_with_retry(struct i2c_transaction* t) {
     if (t.status == I2CTransFailed)
       nb_retry++;
   }
-  while (t.status != I2CTransSuccess || nb_retry < max_retry); 
+  while (t.status != I2CTransSuccess || nb_retry < max_retry);
 }
 
 
@@ -111,7 +111,7 @@ static void configure_accel(void) {
   /* switch to measurememnt mode */
   adxl345_write_to_reg(ADXL345_REG_POWER_CTL, 1<<3);
   /* enable data ready interrupt */
-  adxl345_write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7); 
+  adxl345_write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7);
   /* Enable full res and interrupt active low */
   adxl345_write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5);
   /* clear spi rx reg to make DMA happy */
diff --git a/sw/airborne/booz/imu/booz_imu_aspirin.h b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
similarity index 97%
rename from sw/airborne/booz/imu/booz_imu_aspirin.h
rename to sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
index e85d590045..f50c47695b 100644
--- a/sw/airborne/booz/imu/booz_imu_aspirin.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2010 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 BOOZ_IMU_ASPIRIN_H
@@ -49,7 +49,7 @@
 #define IMU_MAG_Z_SIGN    1
 #endif
 
-enum AspirinStatus 
+enum AspirinStatus
   { AspirinStatusUninit,
     AspirinStatusIdle,
     AspirinStatusReadingGyro,
@@ -88,7 +88,7 @@ extern struct BoozImuAspirin imu_aspirin;
 	imu_aspirin.i2c_trans_mag.len_r = 7;				\
 	i2c_submit(&i2c2,&imu_aspirin.i2c_trans_mag);			\
 	imu_aspirin.mag_ready_for_read = FALSE;				\
-    	imu_aspirin.status = AspirinStatusReadingMag;			\
+	imu_aspirin.status = AspirinStatusReadingMag;			\
       }									\
       else {								\
 	imu_aspirin.status = AspirinStatusIdle;				\
@@ -102,7 +102,7 @@ extern struct BoozImuAspirin imu_aspirin;
       VECT3_ASSIGN(booz_imu.mag_unscaled, mx, my, mz);			\
       imu_aspirin.mag_available = TRUE;					\
       imu_aspirin.status = AspirinStatusIdle;				\
-      									\
+									\
     }									\
     if (imu_aspirin.gyro_available_blaaa) {				\
       imu_aspirin.gyro_available_blaaa = FALSE;				\
@@ -129,4 +129,3 @@ extern struct BoozImuAspirin imu_aspirin;
 extern void booz_imu_b2_arch_init(void);
 
 #endif /* BOOZ_IMU_ASPIRIN_H */
-
diff --git a/sw/airborne/booz/imu/booz_imu_b2.c b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
similarity index 96%
rename from sw/airborne/booz/imu/booz_imu_b2.c
rename to sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
index 470a67fb30..69b081437e 100644
--- a/sw/airborne/booz/imu/booz_imu_b2.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -18,13 +18,13 @@
  * 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.
  */
 
 #include "booz_imu.h"
 
 void booz_imu_impl_init(void) {
-  
+
   booz_imu_b2_arch_init();
 
   booz_max1168_init();
@@ -35,5 +35,3 @@ void booz_imu_impl_init(void) {
 #endif
 
 }
-
-
diff --git a/sw/airborne/booz/imu/booz_imu_b2.h b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
similarity index 99%
rename from sw/airborne/booz/imu/booz_imu_b2.h
rename to sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
index eaa23498db..3d4e0d5649 100644
--- a/sw/airborne/booz/imu/booz_imu_b2.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.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 BOOZ_IMU_B2_H
@@ -161,4 +161,3 @@ extern void booz_imu_b2_arch_init(void);
 
 
 #endif /* BOOZ_IMU_B2_H */
-
diff --git a/sw/airborne/booz/imu/booz_imu_crista.c b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
similarity index 96%
rename from sw/airborne/booz/imu/booz_imu_crista.c
rename to sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
index bfa187fc8c..cfb995028f 100644
--- a/sw/airborne/booz/imu/booz_imu_crista.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
@@ -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.
  */
 
 #include "booz_imu.h"
diff --git a/sw/airborne/booz/imu/booz_imu_crista.h b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
similarity index 98%
rename from sw/airborne/booz/imu/booz_imu_crista.h
rename to sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
index d17de6c42d..73d0f166b3 100644
--- a/sw/airborne/booz/imu/booz_imu_crista.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.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 BOOZ_IMU_CRISTA_H
@@ -71,4 +71,3 @@ extern void booz_imu_crista_arch_init(void);
 
 
 #endif /* BOOZ_IMU_CRISTA_H */
-