diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index 4d9585943f..808669cb93 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -93,11 +93,12 @@ ARCH=stm32
 FLASH_MODE = JTAG
 
 SRC_ARCH = $(ARCH)
-SRC_BETH=beth
+SRC_BETH=firmwares/beth
 SRC_BOOZ=booz
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 SRC_LISA=lisa
 SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
+SRC_FIRMWARE=subsystems
 
 main_stm32.ARCHDIR = stm32
 #main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
@@ -136,13 +137,13 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 #crista IMU
 main_stm32.srcs += math/pprz_trig_int.c
 main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-main_stm32.srcs += $(SRC_FIRMWARE)/imu.c             \
-                        $(SRC_FIRMWARE)/imu/imu_crista.c \
-                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
+main_stm32.srcs += subsystems/imu.c             \
+                        subsystems/imu/imu_crista.c \
+                        arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
 main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
-main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c 
+main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c 
 #\
 #                             $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
 main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -317,7 +318,7 @@ overo_sfb.srcs    += $(SRC_BETH)/overo_sfb_controller.c
 #
 #
 #
-include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile
 
   </makefile>
 
diff --git a/conf/settings/settings_beth.xml b/conf/settings/settings_beth.xml
index b2cfa56c1a..135a0d60d8 100644
--- a/conf/settings/settings_beth.xml
+++ b/conf/settings/settings_beth.xml
@@ -4,7 +4,7 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_twist_controller" shortname ="mode"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_twist_controller" shortname ="mode"/>
 
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/settings_beth_full.xml b/conf/settings/settings_beth_full.xml
index 5540784647..dea2c22efd 100644
--- a/conf/settings/settings_beth_full.xml
+++ b/conf/settings/settings_beth_full.xml
@@ -4,24 +4,24 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
       <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
diff --git a/conf/settings/settings_beth_pid.xml b/conf/settings/settings_beth_pid.xml
index b26c65f493..f59904e713 100644
--- a/conf/settings/settings_beth_pid.xml
+++ b/conf/settings/settings_beth_pid.xml
@@ -4,24 +4,24 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
       <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>
diff --git a/conf/settings/settings_beth_reduced.xml b/conf/settings/settings_beth_reduced.xml
index 934b6a2574..a89f7cacf0 100644
--- a/conf/settings/settings_beth_reduced.xml
+++ b/conf/settings/settings_beth_reduced.xml
@@ -4,7 +4,7 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_controller" shortname ="mode"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_controller" shortname ="mode"/>
 
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/settings_beth_sfb.xml b/conf/settings/settings_beth_sfb.xml
index 72524a21f6..9d213de5bb 100644
--- a/conf/settings/settings_beth_sfb.xml
+++ b/conf/settings/settings_beth_sfb.xml
@@ -4,27 +4,27 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_sfb_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_sfb_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_sfb_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
       
-      <dl_setting var="controller.a" min=".001" step=".01" max=".06" module="beth/overo_sfb_controller">
+      <dl_setting var="controller.a" min=".001" step=".01" max=".06" module="firmwares/beth/overo_sfb_controller">
       </dl_setting>
       
-     <dl_setting var="controller.b" min=".01" step=".01" max=".54" module="beth/overo_sfb_controller">
+     <dl_setting var="controller.b" min=".01" step=".01" max=".54" module="firmwares/beth/overo_sfb_controller">
       </dl_setting>
 
-      <dl_setting var="controller.armed" min="0" step="1" max="2" module="beth/overo_sfb_controller" shortname ="mode"/>
+      <dl_setting var="controller.armed" min="0" step="1" max="2" module="firmwares/beth/overo_sfb_controller" shortname ="mode"/>
 
     </dl_settings>
   </dl_settings>
diff --git a/conf/settings/settings_beth_twist.xml b/conf/settings/settings_beth_twist.xml
index 606781002c..c9d13c8588 100644
--- a/conf/settings/settings_beth_twist.xml
+++ b/conf/settings/settings_beth_twist.xml
@@ -4,37 +4,37 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="beth/overo_twist_controller" shortname="ulim">
+      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="2" module="firmwares/beth/overo_twist_controller" shortname="ulim">
       </dl_setting>
-      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="beth/overo_twist_controller"  shortname="Vm">
+      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="0.2" module="firmwares/beth/overo_twist_controller"  shortname="Vm">
       </dl_setting>
-      <dl_setting var="controller.VM" min="100" step="10" max="700" module="beth/overo_twist_controller"  shortname="VM">
+      <dl_setting var="controller.VM" min="100" step="10" max="700" module="firmwares/beth/overo_twist_controller"  shortname="VM">
       </dl_setting>
-      <dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="beth/overo_twist_controller"  shortname="satval1">
+      <dl_setting var="controller.satval1" min=".01" step="0.05" max="0.174" module="firmwares/beth/overo_twist_controller"  shortname="satval1">
       </dl_setting>
-      <dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="beth/overo_twist_controller"  shortname="satval2">
+      <dl_setting var="controller.satval2" min="0.01" step="0.01" max=".282" module="firmwares/beth/overo_twist_controller"  shortname="satval2">
       </dl_setting>
-      <dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="beth/overo_twist_controller"  shortname="c">
+      <dl_setting var="controller.c" min="0.001" step="0.1" max="9.5" module="firmwares/beth/overo_twist_controller"  shortname="c">
       </dl_setting>
 
   <!--float ulim;  1 
diff --git a/conf/settings/settings_beth_twist_old.xml b/conf/settings/settings_beth_twist_old.xml
index 3f053c7a29..faf1d5cf8b 100644
--- a/conf/settings/settings_beth_twist_old.xml
+++ b/conf/settings/settings_beth_twist_old.xml
@@ -4,37 +4,37 @@
   <dl_settings>
     <dl_settings NAME="Controller">
 
-      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
 
-      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
+      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="beth/overo_estimator"  shortname="azim_gain">
+      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
       </dl_setting>
 
-      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
+      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
       </dl_setting>
 
-      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="elev_lp_coeff">
+      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="tilt_lp_coeff">
+      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="beth/overo_estimator"  shortname="azim_lp_coeff">
+      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
       </dl_setting>
 
-      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="beth/overo_twist_controller" shortname="ulim">
+      <dl_setting var="controller.ulim" min="0.1" step="0.1" max="50" module="firmwares/beth/overo_twist_controller" shortname="ulim">
       </dl_setting>
-      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="beth/overo_twist_controller"  shortname="Vm">
+      <dl_setting var="controller.Vm" min="0.001" step="0.01" max="200" module="firmwares/beth/overo_twist_controller"  shortname="Vm">
       </dl_setting>
-      <dl_setting var="controller.VM" min="100" step="10" max="600" module="beth/overo_twist_controller"  shortname="VM">
+      <dl_setting var="controller.VM" min="100" step="10" max="600" module="firmwares/beth/overo_twist_controller"  shortname="VM">
       </dl_setting>
-      <dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="beth/overo_twist_controller"  shortname="satval1">
+      <dl_setting var="controller.satval1" min="0" step="0.1" max="100" module="firmwares/beth/overo_twist_controller"  shortname="satval1">
       </dl_setting>
-      <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="beth/overo_twist_controller"  shortname="satval2">
+      <dl_setting var="controller.satval2" min="0.01" step="0.1" max="4" module="firmwares/beth/overo_twist_controller"  shortname="satval2">
       </dl_setting>
-      <dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="beth/overo_twist_controller"  shortname="c">
+      <dl_setting var="controller.c" min="0.001" step="0.01" max="10" module="firmwares/beth/overo_twist_controller"  shortname="c">
       </dl_setting>
 
   <!--float ulim;  1 
diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c
index 5b127f2b70..2e927c02ab 100644
--- a/sw/airborne/firmwares/beth/main_coders.c
+++ b/sw/airborne/firmwares/beth/main_coders.c
@@ -15,7 +15,7 @@
 
 #include <string.h>
 
-#include "beth/bench_sensors.h"
+#include "firmwares/beth/bench_sensors.h"
 
 /*
  *
diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c
index 6c8278eed7..e34bf8518e 100644
--- a/sw/airborne/firmwares/beth/main_stm32.c
+++ b/sw/airborne/firmwares/beth/main_stm32.c
@@ -33,7 +33,7 @@
 //#include "booz/booz_radio_control.h"
 #include "subsystems/imu.h"
 #include "lisa/lisa_overo_link.h"
-#include "beth/bench_sensors.h"
+#include "bench_sensors.h"
 
 static inline void main_init( void );
 static inline void main_periodic( void );
diff --git a/sw/airborne/firmwares/beth/overo_gcs_com.c b/sw/airborne/firmwares/beth/overo_gcs_com.c
index d2a74517fc..854a778db5 100644
--- a/sw/airborne/firmwares/beth/overo_gcs_com.c
+++ b/sw/airborne/firmwares/beth/overo_gcs_com.c
@@ -10,11 +10,12 @@
 #include "settings.h"
 
 //bill laptop
-#define GCS_HOST "10.31.4.5"
+//#define GCS_HOST "10.31.4.5"
 //#define GCS_HOST "192.168.2.10"
 //#define GCS_HOST "192.168.2.1"
 //auto4
 //#define GCS_HOST "10.31.4.104"
+#define GCS_HOST "10.31.4.107"
 #define GCS_PORT 4242
 #define DATALINK_PORT 4243
 
diff --git a/sw/airborne/gps.c b/sw/airborne/gps.c
index 9997abd34f..ba189dff39 100644
--- a/sw/airborne/gps.c
+++ b/sw/airborne/gps.c
@@ -51,7 +51,7 @@
 
 #ifdef FMS_PERIODIC_FREQ
 #include "messages2.h"
-#include "beth/overo_gcs_com.h"
+#include "firmwares/beth/overo_gcs_com.h"
 #define DefaultChannel gcs_com.udp_transport
 #else
 #define DOWNLINK_DEVICE DOWNLINK_GPS_DEVICE