diff --git a/conf/firmwares/subsystems/fixedwing/navigation.makefile b/conf/firmwares/subsystems/fixedwing/navigation.makefile
index 8307ccb49d..223c780a8e 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation.makefile
@@ -6,7 +6,7 @@
 #add these to all targets
 
 $(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
+$(TARGET).srcs += $(SRC_FIRMWARE)/nav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c
diff --git a/conf/settings/control/ctl_adaptive.xml b/conf/settings/control/ctl_adaptive.xml
index 6077e0cd82..d11cb70450 100644
--- a/conf/settings/control/ctl_adaptive.xml
+++ b/conf/settings/control/ctl_adaptive.xml
@@ -61,7 +61,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/control/ctl_basic.xml b/conf/settings/control/ctl_basic.xml
index 9a1d9a084a..c31c7d67b1 100644
--- a/conf/settings/control/ctl_basic.xml
+++ b/conf/settings/control/ctl_basic.xml
@@ -58,7 +58,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/control/ctl_energy.xml b/conf/settings/control/ctl_energy.xml
index 4b56122d34..6158d64598 100644
--- a/conf/settings/control/ctl_energy.xml
+++ b/conf/settings/control/ctl_energy.xml
@@ -100,7 +100,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/control/ctl_energyadaptive.xml b/conf/settings/control/ctl_energyadaptive.xml
index eb8aa9525c..355a2c5007 100644
--- a/conf/settings/control/ctl_energyadaptive.xml
+++ b/conf/settings/control/ctl_energyadaptive.xml
@@ -113,7 +113,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/control/ctl_new.xml b/conf/settings/control/ctl_new.xml
index 49016b696c..6b7c78278b 100644
--- a/conf/settings/control/ctl_new.xml
+++ b/conf/settings/control/ctl_new.xml
@@ -69,7 +69,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/control/ctl_new_airspeed.xml b/conf/settings/control/ctl_new_airspeed.xml
index 2b2e9422db..87dc2f1a0b 100644
--- a/conf/settings/control/ctl_new_airspeed.xml
+++ b/conf/settings/control/ctl_new_airspeed.xml
@@ -82,7 +82,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/fixedwing_basic.xml b/conf/settings/fixedwing_basic.xml
index 84eb2165f5..46880dfab9 100644
--- a/conf/settings/fixedwing_basic.xml
+++ b/conf/settings/fixedwing_basic.xml
@@ -7,9 +7,9 @@
     <dl_settings NAME="flight params">
       <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
+      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="firmwares/fixedwing/nav" handler="IncreaseShift" shortname="inc. shift"/>
       <dl_setting MAX="0" MIN="0" STEP="1" VAR="autopilot_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="firmwares/fixedwing/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1" group="circle"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1" group="circle"/>
         <key_press key="greater" value="1"/>
diff --git a/sw/airborne/arch/sim/jsbsim_hw.h b/sw/airborne/arch/sim/jsbsim_hw.h
index 173b7ecfc0..5c71014772 100644
--- a/sw/airborne/arch/sim/jsbsim_hw.h
+++ b/sw/airborne/arch/sim/jsbsim_hw.h
@@ -36,7 +36,7 @@
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
 #include "generated/settings.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "subsystems/sensors/infrared.h"
diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
index 5df27f6490..9260564c69 100644
--- a/sw/airborne/arch/sim/sim_ap.c
+++ b/sw/airborne/arch/sim/sim_ap.c
@@ -15,7 +15,7 @@
 #include "subsystems/gps.h"
 #include "subsystems/navigation/traffic_info.h"
 #include "generated/settings.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "subsystems/commands.h"
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.c b/sw/airborne/firmwares/fixedwing/autopilot.c
index d78c730936..db1abc313e 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.c
+++ b/sw/airborne/firmwares/fixedwing/autopilot.c
@@ -30,7 +30,7 @@
 
 #include "state.h"
 #include "subsystems/datalink/telemetry.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/settings.h"
 
 #ifdef POWER_SWITCH_GPIO
diff --git a/sw/airborne/firmwares/fixedwing/datalink.c b/sw/airborne/firmwares/fixedwing/datalink.c
index c55b397897..e47d4702f4 100644
--- a/sw/airborne/firmwares/fixedwing/datalink.c
+++ b/sw/airborne/firmwares/fixedwing/datalink.c
@@ -41,7 +41,7 @@
 
 #if defined NAV || defined WIND_INFO
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #endif
 
 #ifdef HITL
diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
index a3c36cd0b9..0e68dc22f8 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
@@ -65,7 +65,7 @@
 
 #include "firmwares/fixedwing/guidance/energy_ctrl.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/autopilot.h"
 #include "subsystems/ahrs.h"
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
index 5b86be06bc..9a6ee1d5b3 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
@@ -27,7 +27,7 @@
 
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/autopilot.h"
 
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index 33cbb6e494..720fe3fb6d 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -28,7 +28,7 @@
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "firmwares/fixedwing/guidance/guidance_v_n.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/autopilot.h"
 
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index a52881744b..3af9b6d61b 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -66,7 +66,7 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
 #include "firmwares/fixedwing/autopilot.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include CTRL_TYPE_H
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #ifdef TRAFFIC_INFO
 #include "subsystems/navigation/traffic_info.h"
diff --git a/sw/airborne/subsystems/nav.c b/sw/airborne/firmwares/fixedwing/nav.c
similarity index 99%
rename from sw/airborne/subsystems/nav.c
rename to sw/airborne/firmwares/fixedwing/nav.c
index 6a0c698f4a..fbfe706f81 100644
--- a/sw/airborne/subsystems/nav.c
+++ b/sw/airborne/firmwares/fixedwing/nav.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/nav.c
+ * @file firmwares/fixedwing/nav.c
  * Fixedwing functions to compute navigation.
  *
  */
@@ -29,7 +29,7 @@
 
 #include <math.h>
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/gps.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/autopilot.h"
diff --git a/sw/airborne/subsystems/nav.h b/sw/airborne/firmwares/fixedwing/nav.h
similarity index 99%
rename from sw/airborne/subsystems/nav.h
rename to sw/airborne/firmwares/fixedwing/nav.h
index 74ce373275..8a2af7b995 100644
--- a/sw/airborne/subsystems/nav.h
+++ b/sw/airborne/firmwares/fixedwing/nav.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/nav.h
+ * @file firmwares/fixedwing/nav.h
  *
  * Fixedwing Navigation library.
  *
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index 9c2a514655..d3e9daa08a 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -31,7 +31,7 @@
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/stabilization/stabilization_adaptive.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
index 9a489eb20a..9ddd5d606c 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -30,7 +30,7 @@
 #include "std.h"
 #include "led.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include CTRL_TYPE_H
 #include "firmwares/fixedwing/autopilot.h"
diff --git a/sw/airborne/modules/benchmark/flight_benchmark.c b/sw/airborne/modules/benchmark/flight_benchmark.c
index 00e67b5c6c..bdc3bf0c84 100644
--- a/sw/airborne/modules/benchmark/flight_benchmark.c
+++ b/sw/airborne/modules/benchmark/flight_benchmark.c
@@ -12,7 +12,7 @@
 #include "subsystems/datalink/downlink.h"
 #include "mcu_periph/uart.h"
 #include "generated/airframe.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 // #include "math/pprz_algebra_int.h"
 // #include "math/pprz_algebra_float.h"
 
diff --git a/sw/airborne/modules/cam_control/cam_roll.c b/sw/airborne/modules/cam_control/cam_roll.c
index 9110cf9998..7427cc64c9 100644
--- a/sw/airborne/modules/cam_control/cam_roll.c
+++ b/sw/airborne/modules/cam_control/cam_roll.c
@@ -27,7 +27,7 @@
 
 #include <math.h>
 #include "cam.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
 #include "state.h"
diff --git a/sw/airborne/modules/cam_control/cam_segment.c b/sw/airborne/modules/cam_control/cam_segment.c
index f402d64a3c..192efa6fff 100644
--- a/sw/airborne/modules/cam_control/cam_segment.c
+++ b/sw/airborne/modules/cam_control/cam_segment.c
@@ -27,7 +27,7 @@
 
 #include "modules/cam_control/cam_segment.h"
 #include "modules/cam_control/cam.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 void cam_segment_init( void ) {
 }
diff --git a/sw/airborne/modules/cartography/cartography.c b/sw/airborne/modules/cartography/cartography.c
index d8a31b2121..7cce1532df 100644
--- a/sw/airborne/modules/cartography/cartography.c
+++ b/sw/airborne/modules/cartography/cartography.c
@@ -30,7 +30,7 @@
 #include "state.h"
 #include "stdio.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 
 #include "std.h"  //macros pas mal dans sw/include
diff --git a/sw/airborne/modules/digital_cam/dc.h b/sw/airborne/modules/digital_cam/dc.h
index 7b50bc5e2f..1fa50efa28 100644
--- a/sw/airborne/modules/digital_cam/dc.h
+++ b/sw/airborne/modules/digital_cam/dc.h
@@ -41,7 +41,7 @@
 #include "std.h"
 #include "led.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/airframe.h"
 #include "subsystems/gps.h"
 
diff --git a/sw/airborne/modules/enose/anemotaxis.c b/sw/airborne/modules/enose/anemotaxis.c
index 26de6eeacb..559f2a9b7e 100644
--- a/sw/airborne/modules/enose/anemotaxis.c
+++ b/sw/airborne/modules/enose/anemotaxis.c
@@ -2,7 +2,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "subsystems/datalink/downlink.h"
 #include "modules/enose/chemo_detect.h"
diff --git a/sw/airborne/modules/enose/chemotaxis.c b/sw/airborne/modules/enose/chemotaxis.c
index be89dc4148..cff12726e5 100644
--- a/sw/airborne/modules/enose/chemotaxis.c
+++ b/sw/airborne/modules/enose/chemotaxis.c
@@ -2,7 +2,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "subsystems/datalink/downlink.h"
 #include "modules/enose/chemo_detect.h"
diff --git a/sw/airborne/modules/max7456/max7456.c b/sw/airborne/modules/max7456/max7456.c
index 500aa20f72..346102c06d 100644
--- a/sw/airborne/modules/max7456/max7456.c
+++ b/sw/airborne/modules/max7456/max7456.c
@@ -34,7 +34,7 @@
 #include "led.h"
 #include "autopilot.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
 #include "subsystems/datalink/datalink.h"
diff --git a/sw/airborne/modules/mission/mission_fw_nav.c b/sw/airborne/modules/mission/mission_fw_nav.c
index f0b24e8094..b65a5cefc8 100644
--- a/sw/airborne/modules/mission/mission_fw_nav.c
+++ b/sw/airborne/modules/mission/mission_fw_nav.c
@@ -30,7 +30,7 @@
 #include <stdio.h>
 #include "modules/mission/mission.h"
 #include "firmwares/fixedwing/autopilot.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 // navigation time step
 const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY);
diff --git a/sw/airborne/modules/multi/formation.h b/sw/airborne/modules/multi/formation.h
index e4c52af109..9112b10cf0 100644
--- a/sw/airborne/modules/multi/formation.h
+++ b/sw/airborne/modules/multi/formation.h
@@ -7,7 +7,7 @@
 #ifndef FORMATION_H
 #define FORMATION_H
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/navigation/traffic_info.h"
 
 #define FORM_MODE_GLOBAL 0
diff --git a/sw/airborne/modules/multi/potential.h b/sw/airborne/modules/multi/potential.h
index 63e659a4dc..4cff965569 100644
--- a/sw/airborne/modules/multi/potential.h
+++ b/sw/airborne/modules/multi/potential.h
@@ -7,7 +7,7 @@
 #ifndef POTENTIAL_H
 #define POTENTIAL_H
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/navigation/traffic_info.h"
 
 struct force_ {
diff --git a/sw/airborne/modules/multi/tcas.c b/sw/airborne/modules/multi/tcas.c
index 819c0e0451..e8f13f5cdf 100644
--- a/sw/airborne/modules/multi/tcas.c
+++ b/sw/airborne/modules/multi/tcas.c
@@ -28,7 +28,7 @@
 #include "multi/tcas.h"
 #include "generated/airframe.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/gps.h"
 #include "generated/flight_plan.h"
 
diff --git a/sw/airborne/modules/nav/nav_bungee_takeoff.c b/sw/airborne/modules/nav/nav_bungee_takeoff.c
index 9434d25bf5..4f39f62d28 100644
--- a/sw/airborne/modules/nav/nav_bungee_takeoff.c
+++ b/sw/airborne/modules/nav/nav_bungee_takeoff.c
@@ -28,7 +28,7 @@
 
 #include "modules/nav/nav_bungee_takeoff.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/nav/nav_catapult.c b/sw/airborne/modules/nav/nav_catapult.c
index 50edba9e4c..f8a9da3b9d 100644
--- a/sw/airborne/modules/nav/nav_catapult.c
+++ b/sw/airborne/modules/nav/nav_catapult.c
@@ -40,7 +40,7 @@
 #include "state.h"
 #include "subsystems/datalink/downlink.h"
 #include "modules/nav/nav_catapult.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "firmwares/fixedwing/autopilot.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
diff --git a/sw/airborne/modules/nav/nav_cube.c b/sw/airborne/modules/nav/nav_cube.c
index f007bf1a0e..05a84dfeef 100644
--- a/sw/airborne/modules/nav/nav_cube.c
+++ b/sw/airborne/modules/nav/nav_cube.c
@@ -28,7 +28,7 @@
 
 #include "generated/airframe.h"
 #include "modules/nav/nav_cube.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 
 #define MAX_LINES_X 8
diff --git a/sw/airborne/modules/nav/nav_drop.h b/sw/airborne/modules/nav/nav_drop.h
index 267e15553d..31460f9622 100644
--- a/sw/airborne/modules/nav/nav_drop.h
+++ b/sw/airborne/modules/nav/nav_drop.h
@@ -30,7 +30,7 @@
 #define NAV_DROP_H
 
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 extern unit_t nav_drop_compute_approach( uint8_t wp_target, uint8_t wp_start, float radius );
 extern unit_t nav_drop_update_release( uint8_t wp_target );
diff --git a/sw/airborne/modules/nav/nav_flower.c b/sw/airborne/modules/nav/nav_flower.c
index 55fe240ad9..39df617a48 100644
--- a/sw/airborne/modules/nav/nav_flower.c
+++ b/sw/airborne/modules/nav/nav_flower.c
@@ -27,7 +27,7 @@
 
 #include "modules/nav/nav_flower.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/nav/nav_gls.c b/sw/airborne/modules/nav/nav_gls.c
index 0d8245c1f1..6d725fab4d 100644
--- a/sw/airborne/modules/nav/nav_gls.c
+++ b/sw/airborne/modules/nav/nav_gls.c
@@ -46,7 +46,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "modules/nav/nav_gls.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 
 float target_speed;
diff --git a/sw/airborne/modules/nav/nav_line.c b/sw/airborne/modules/nav/nav_line.c
index abe079b53f..3fe2ac6765 100644
--- a/sw/airborne/modules/nav/nav_line.c
+++ b/sw/airborne/modules/nav/nav_line.c
@@ -27,7 +27,7 @@
 
 #include "generated/airframe.h"
 #include "modules/nav/nav_line.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 /** Status along the pattern */
 enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
diff --git a/sw/airborne/modules/nav/nav_line_border.c b/sw/airborne/modules/nav/nav_line_border.c
index f806c53c75..c9dc276f63 100644
--- a/sw/airborne/modules/nav/nav_line_border.c
+++ b/sw/airborne/modules/nav/nav_line_border.c
@@ -31,7 +31,7 @@
 
 #include "modules/nav/nav_line_border.h"
 #include "generated/airframe.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 
 enum line_border_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
diff --git a/sw/airborne/modules/nav/nav_line_osam.c b/sw/airborne/modules/nav/nav_line_osam.c
index 3ccd830026..76cbc6d82a 100644
--- a/sw/airborne/modules/nav/nav_line_osam.c
+++ b/sw/airborne/modules/nav/nav_line_osam.c
@@ -29,7 +29,7 @@
 
 #include "modules/nav/nav_line_osam.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/nav/nav_smooth.c b/sw/airborne/modules/nav/nav_smooth.c
index a7b5371ae0..49de503d79 100644
--- a/sw/airborne/modules/nav/nav_smooth.c
+++ b/sw/airborne/modules/nav/nav_smooth.c
@@ -30,7 +30,7 @@
 #include "generated/airframe.h"
 #include "modules/nav/nav_smooth.h"
 #include "state.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/gps.h"
 
 #define Sign(_x) ((_x) > 0 ? 1 : (-1))
diff --git a/sw/airborne/modules/nav/nav_spiral.c b/sw/airborne/modules/nav/nav_spiral.c
index 642288736b..585c888a5c 100644
--- a/sw/airborne/modules/nav/nav_spiral.c
+++ b/sw/airborne/modules/nav/nav_spiral.c
@@ -32,7 +32,7 @@
 
 #include "modules/nav/nav_spiral.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/nav/nav_survey_disc.c b/sw/airborne/modules/nav/nav_survey_disc.c
index 9d6879668f..95714bd7c9 100644
--- a/sw/airborne/modules/nav/nav_survey_disc.c
+++ b/sw/airborne/modules/nav/nav_survey_disc.c
@@ -29,7 +29,7 @@
 #include "generated/airframe.h"
 #include "state.h"
 #include "std.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "generated/flight_plan.h"
 #include "math/pprz_algebra_float.h"
 
diff --git a/sw/airborne/modules/nav/nav_survey_poly_osam.c b/sw/airborne/modules/nav/nav_survey_poly_osam.c
index 7b2f16fd41..93d0c12856 100644
--- a/sw/airborne/modules/nav/nav_survey_poly_osam.c
+++ b/sw/airborne/modules/nav/nav_survey_poly_osam.c
@@ -26,7 +26,7 @@
 
 #include "modules/nav/nav_survey_poly_osam.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/nav/nav_survey_polygon.c b/sw/airborne/modules/nav/nav_survey_polygon.c
index b9e7d7a562..c477cf28b6 100644
--- a/sw/airborne/modules/nav/nav_survey_polygon.c
+++ b/sw/airborne/modules/nav/nav_survey_polygon.c
@@ -28,7 +28,7 @@
 
 #include "nav_survey_polygon.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/nav/nav_survey_zamboni.c b/sw/airborne/modules/nav/nav_survey_zamboni.c
index 15e9a3df5c..614fb01e0b 100644
--- a/sw/airborne/modules/nav/nav_survey_zamboni.c
+++ b/sw/airborne/modules/nav/nav_survey_zamboni.c
@@ -27,7 +27,7 @@
 
 #include "modules/nav/nav_survey_zamboni.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
 
diff --git a/sw/airborne/modules/nav/nav_vertical_raster.c b/sw/airborne/modules/nav/nav_vertical_raster.c
index be9f7db1f1..6f376c22dc 100644
--- a/sw/airborne/modules/nav/nav_vertical_raster.c
+++ b/sw/airborne/modules/nav/nav_vertical_raster.c
@@ -27,7 +27,7 @@
 
 #include "modules/nav/nav_vertical_raster.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c
index 9e5096b4cd..e966a70b8a 100644
--- a/sw/airborne/modules/sensors/baro_MS5534A.c
+++ b/sw/airborne/modules/sensors/baro_MS5534A.c
@@ -34,7 +34,7 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 #include "subsystems/abi.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "state.h"
 
 
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
index 46e3d787b4..7651da3d79 100644
--- a/sw/airborne/modules/sensors/baro_ets.c
+++ b/sw/airborne/modules/sensors/baro_ets.c
@@ -46,7 +46,7 @@
 #include <math.h>
 #include "mcu_periph/sys_time.h"
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 #ifdef BARO_ETS_SYNC_SEND
 
diff --git a/sw/airborne/rc_settings.c b/sw/airborne/rc_settings.c
index 99bf0fd898..6e597cc6dc 100644
--- a/sw/airborne/rc_settings.c
+++ b/sw/airborne/rc_settings.c
@@ -26,7 +26,7 @@
 #include "generated/radio.h"
 #include "rc_settings.h"
 #include "autopilot.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 #include "subsystems/sensors/infrared.h"
 #include "inter_mcu.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index c453b65928..3149b5b1cc 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -33,7 +33,7 @@
 
 #include "state.h"
 #include "subsystems/gps.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 #include "generated/airframe.h"
 #include "generated/modules.h"
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index edf52f88f0..eab68e3964 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -42,7 +42,7 @@
 
 #include "generated/airframe.h"
 #include "generated/flight_plan.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_algebra_int.h"
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
index eb209ff789..cee3eeeafe 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
@@ -33,7 +33,7 @@
 
 #include "state.h"
 #include "subsystems/gps.h"
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 void ins_init(void) {
   struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, 0., nav_utm_zone0 };
diff --git a/sw/airborne/subsystems/navigation/nav_survey_rectangle.h b/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
index 443c98ca7a..fc44fc16bc 100644
--- a/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
+++ b/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
@@ -30,7 +30,7 @@
 #ifndef NAV_SURVEY_RECTANGLE_H
 #define NAV_SURVEY_RECTANGLE_H
 
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 typedef enum {NS, WE} survey_orientation_t;
 
diff --git a/sw/airborne/test/test_nav.c b/sw/airborne/test/test_nav.c
index d3026c2b60..81255fbf89 100644
--- a/sw/airborne/test/test_nav.c
+++ b/sw/airborne/test/test_nav.c
@@ -1,5 +1,5 @@
 #include <assert.h>
-#include "subsystems/nav.h"
+#include "firmwares/fixedwing/nav.h"
 
 #define FloatEqual_3(f1, f2) (fabs(f1 - f2) < 1e-3)