diff --git a/conf/modules/settings.xml b/conf/modules/settings.xml
index a1f0a09d89..947b38aed3 100644
--- a/conf/modules/settings.xml
+++ b/conf/modules/settings.xml
@@ -10,12 +10,12 @@
     <provides>settings</provides>
   </dep>
   <header>
-    <file name="settings.h" dir="subsystems"/>
+    <file name="settings.h"/>
   </header>
   <init fun="settings_init()"/>
   <makefile target="!fbw">
-    <file name="settings.c" dir="subsystems"/>
-    <file_arch name="settings_arch.c" dir="subsystems"/>
+    <file name="settings.c"/>
+    <file_arch name="settings_arch.c"/>
     <test/>
   </makefile>
 </module>
diff --git a/conf/modules/settings_rc.xml b/conf/modules/settings_rc.xml
index 92d16c959d..a8a08e8530 100644
--- a/conf/modules/settings_rc.xml
+++ b/conf/modules/settings_rc.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="settings_rc" dir="settings">
+<module name="settings_rc" dir="core" task="core">
   <doc>
     <description>
       Change settings via Remote Control, e.g. tune your aircraft
diff --git a/sw/airborne/arch/chibios/subsystems/settings_arch.c b/sw/airborne/arch/chibios/modules/core/settings_arch.c
similarity index 92%
rename from sw/airborne/arch/chibios/subsystems/settings_arch.c
rename to sw/airborne/arch/chibios/modules/core/settings_arch.c
index 6ab744f016..9a254a4033 100644
--- a/sw/airborne/arch/chibios/subsystems/settings_arch.c
+++ b/sw/airborne/arch/chibios/modules/core/settings_arch.c
@@ -21,14 +21,14 @@
  */
 
 /**
- * @file arch/chibios/subsystems/settings_arch.c
+ * @file arch/chibios/modules/core/settings_arch.c
  * Persistent settings low level flash routines stm32.
  *
  * FIXME dummy file
  *
  */
 
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 
 int32_t persistent_write(void *ptr __attribute__((unused)), uint32_t size __attribute__((unused)))
 {
diff --git a/sw/airborne/arch/linux/subsystems/settings_arch.c b/sw/airborne/arch/linux/modules/core/settings_arch.c
similarity index 96%
rename from sw/airborne/arch/linux/subsystems/settings_arch.c
rename to sw/airborne/arch/linux/modules/core/settings_arch.c
index 07e67ee30f..f6bc7a21b8 100644
--- a/sw/airborne/arch/linux/subsystems/settings_arch.c
+++ b/sw/airborne/arch/linux/modules/core/settings_arch.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file arch/linux/subsystems/settings_arch.c
+ * @file arch/linux/modules/core/settings_arch.c
  * linux arch Persistent settings.
  *
  * Saves the PersistentSettings struct to a binary file.
  */
 
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include <stdio.h>
 
 /** Default file used to store persistent settings */
diff --git a/sw/airborne/arch/sim/subsystems/settings_arch.c b/sw/airborne/arch/sim/modules/core/settings_arch.c
similarity index 92%
rename from sw/airborne/arch/sim/subsystems/settings_arch.c
rename to sw/airborne/arch/sim/modules/core/settings_arch.c
index d6658e2afd..05b732639c 100644
--- a/sw/airborne/arch/sim/subsystems/settings_arch.c
+++ b/sw/airborne/arch/sim/modules/core/settings_arch.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file arch/sim/subsystems/settings_arch.c
+ * @file arch/sim/modules/core/settings_arch.c
  * Sim arch Persistent settings.
  *
  * Unimplemented.
  */
 
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 
 int32_t persistent_write(void *ptr UNUSED, uint32_t size UNUSED)
 {
diff --git a/sw/airborne/arch/stm32/subsystems/settings_arch.c b/sw/airborne/arch/stm32/modules/core/settings_arch.c
similarity index 99%
rename from sw/airborne/arch/stm32/subsystems/settings_arch.c
rename to sw/airborne/arch/stm32/modules/core/settings_arch.c
index d7787789f1..1762c5d447 100644
--- a/sw/airborne/arch/stm32/subsystems/settings_arch.c
+++ b/sw/airborne/arch/stm32/modules/core/settings_arch.c
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file arch/stm32/subsystems/settings_arch.c
+ * @file arch/stm32/modules/core/settings_arch.c
  * Persistent settings low level flash routines stm32.
  *
  * data          flash_addr
@@ -32,7 +32,7 @@
  *        max sector erase time 40ms, max prog time 70us per 2 bytes
  */
 
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 
 #include <libopencm3/stm32/flash.h>
 #include <libopencm3/stm32/crc.h>
diff --git a/sw/airborne/autopilot.c b/sw/airborne/autopilot.c
index 20f62df696..97216a438d 100644
--- a/sw/airborne/autopilot.c
+++ b/sw/airborne/autopilot.c
@@ -42,7 +42,7 @@
 //#include "modules/energy/electrical.h"
 #include "subsystems/datalink/telemetry.h"
 
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "generated/settings.h"
 
 #include "pprz_version.h"
diff --git a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
index fb6922d50c..4203c28f6f 100644
--- a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
+++ b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
@@ -51,7 +51,7 @@
 
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 
 #include "pprz_version.h"
 
diff --git a/sw/airborne/firmwares/fixedwing/autopilot_generated.c b/sw/airborne/firmwares/fixedwing/autopilot_generated.c
index afb6b71408..a5c9182626 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot_generated.c
+++ b/sw/airborne/firmwares/fixedwing/autopilot_generated.c
@@ -32,7 +32,7 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"
 
 #include "generated/settings.h"
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
index 1693eb58df..691c90a97f 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_generated.c
@@ -33,7 +33,7 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"
 
 #include "generated/settings.h"
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.c b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
index d2c6662251..93c7f9e63a 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_static.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
@@ -34,7 +34,7 @@
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
 #include "modules/energy/electrical.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "firmwares/rotorcraft/guidance.h"
 
diff --git a/sw/airborne/firmwares/rover/autopilot_generated.c b/sw/airborne/firmwares/rover/autopilot_generated.c
index e2cb7dba98..1348fb0d76 100644
--- a/sw/airborne/firmwares/rover/autopilot_generated.c
+++ b/sw/airborne/firmwares/rover/autopilot_generated.c
@@ -32,7 +32,7 @@
 #include "subsystems/radio_control.h"
 #include "subsystems/commands.h"
 #include "subsystems/actuators.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "subsystems/datalink/telemetry.h"
 
 #include "generated/settings.h"
diff --git a/sw/airborne/modules/settings/rc_settings.c b/sw/airborne/modules/core/rc_settings.c
similarity index 97%
rename from sw/airborne/modules/settings/rc_settings.c
rename to sw/airborne/modules/core/rc_settings.c
index ffd8aa85bb..5f0ba0c28d 100644
--- a/sw/airborne/modules/settings/rc_settings.c
+++ b/sw/airborne/modules/core/rc_settings.c
@@ -24,7 +24,7 @@
 
 #include <inttypes.h>
 #include "generated/radio.h"
-#include "modules/settings/rc_settings.h"
+#include "modules/core/rc_settings.h"
 #include "autopilot.h"
 #include "firmwares/fixedwing/nav.h"
 #include "inter_mcu.h"
diff --git a/sw/airborne/modules/settings/rc_settings.h b/sw/airborne/modules/core/rc_settings.h
similarity index 98%
rename from sw/airborne/modules/settings/rc_settings.h
rename to sw/airborne/modules/core/rc_settings.h
index 88941ddef3..564d2a7f62 100644
--- a/sw/airborne/modules/settings/rc_settings.h
+++ b/sw/airborne/modules/core/rc_settings.h
@@ -22,7 +22,7 @@
 
 
 /**
- * @file modules/settings/rc_settings.h
+ * @file modules/core/rc_settings.h
  * Variable setting though the radio control
  *
  * The 'rc_control' section of a XML flight plan allows the user to change the
diff --git a/sw/airborne/subsystems/settings.c b/sw/airborne/modules/core/settings.c
similarity index 97%
rename from sw/airborne/subsystems/settings.c
rename to sw/airborne/modules/core/settings.c
index 00740bd3e3..ba9bb378a2 100644
--- a/sw/airborne/subsystems/settings.c
+++ b/sw/airborne/modules/core/settings.c
@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/settings.c
+ * @file modules/core/settings.c
  * Persistent settings interface.
  *
  */
 
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "generated/settings.h"
 
 struct PersistentSettings pers_settings;
diff --git a/sw/airborne/subsystems/settings.h b/sw/airborne/modules/core/settings.h
similarity index 91%
rename from sw/airborne/subsystems/settings.h
rename to sw/airborne/modules/core/settings.h
index 4ab6b87957..2e19f73026 100644
--- a/sw/airborne/subsystems/settings.h
+++ b/sw/airborne/modules/core/settings.h
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/settings.h
+ * @file modules/core/settings.h
  * Persistent settings interface.
  *
  */
 
-#ifndef SUBSYSTEMS_SETTINGS_H
-#define SUBSYSTEMS_SETTINGS_H
+#ifndef CORE_SETTINGS_H
+#define CORE_SETTINGS_H
 
 #include "std.h"
 
@@ -46,4 +46,4 @@ int32_t persistent_read(void *ptr, uint32_t size);
 int32_t persistent_clear(void);
 
 
-#endif /* SUBSYSTEMS_SETTINGS_H */
+#endif /* CORE_SETTINGS_H */
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index a3b74cb10c..e6ee8d6d34 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -32,7 +32,7 @@
 #include "mcu_periph/spi.h"
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/gpio.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 
 /* Default SuperbitRF SPI DEV */
 #ifndef SUPERBITRF_SPI_DEV
diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/subsystems/gps.c
index 7efc3f6d37..25c0683e37 100644
--- a/sw/airborne/subsystems/gps.c
+++ b/sw/airborne/subsystems/gps.c
@@ -40,7 +40,7 @@
 #include "subsystems/abi.h"
 #include "subsystems/gps.h"
 #include "led.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "generated/settings.h"
 #include "math/pprz_geodetic_wgs84.h"
 #include "math/pprz_geodetic.h"
diff --git a/sw/airborne/subsystems/radio_control/cc2500_frsky/cc2500_settings.c b/sw/airborne/subsystems/radio_control/cc2500_frsky/cc2500_settings.c
index 8d8636c2dd..4d1427e219 100644
--- a/sw/airborne/subsystems/radio_control/cc2500_frsky/cc2500_settings.c
+++ b/sw/airborne/subsystems/radio_control/cc2500_frsky/cc2500_settings.c
@@ -29,7 +29,7 @@
 #include BOARD_CONFIG
 #include "mcu_periph/gpio.h"
 #include "generated/airframe.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 
 #include <string.h>
 
diff --git a/sw/airborne/test/subsystems/test_settings.c b/sw/airborne/test/subsystems/test_settings.c
index 4ffd900b72..75eaa2b23f 100644
--- a/sw/airborne/test/subsystems/test_settings.c
+++ b/sw/airborne/test/subsystems/test_settings.c
@@ -35,7 +35,7 @@
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/datalink/datalink.h"
 #include "modules/datalink/pprz_dl.h"
-#include "subsystems/settings.h"
+#include "modules/core/settings.h"
 #include "generated/settings.h"
 
 #if USE_UDP