[modules] move IMU from subsystems to modules

conf/modules/ahrs_gx3.xml

@@ -27,7 +27,7 @@
     <define name="USE_IMU"/>
 
     <file name="ahrs.c" dir="subsystems"/>
-    <file name="imu.c" dir="subsystems"/>
+    <file name="imu.c" dir="modules/imu"/>
     <file name="ahrs_gx3.c" dir="subsystems/ahrs"/>
     <test>
       <define name="GX3_PORT" value="uart3"/>

conf/modules/imu_ardrone2.xml

@@ -13,7 +13,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_ardrone2.h" dir="subsystems/imu"/>
+    <file name="imu_ardrone2.h"/>
   </header>
 
   <init fun="imu_ardrone2_init()"/>
@@ -26,9 +26,9 @@
     <configure name="AHRS_CORRECT_FREQUENCY" default="200"/>
     <define name="AHRS_CORRECT_FREQUENCY" value="$(AHRS_CORRECT_FREQUENCY)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_ardrone2.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_ardrone2.h" type="string"/>
 
-    <file name="imu_ardrone2.c" dir="subsystems/imu"/>
+    <file name="imu_ardrone2.c"/>
     <file name="navdata.c" dir="boards/ardrone"/>
     <test>
       <include name="boards/ardrone"/>

conf/modules/imu_aspirin_common.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_aspirin_common" task="sensors">
+<module name="imu_aspirin_common" dir="imu" task="sensors">
   <doc>
     <description>
       Common functionality of Aspirin IMUs.
@@ -28,7 +28,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_aspirin.h" dir="subsystems/imu"/>
+    <file name="imu_aspirin.h"/>
   </header>
   <init fun="imu_aspirin_init()"/>
   <periodic fun="imu_aspirin_periodic()"/>
@@ -51,6 +51,6 @@
     <file name="adxl345_spi.c" dir="peripherals"/>
     <file name="itg3200.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_aspirin.c" dir="subsystems/imu"/>
+    <file name="imu_aspirin.c"/>
   </makefile>
 </module>

conf/modules/imu_aspirin_i2c_common.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_aspirin_i2c_common" task="sensors">
+<module name="imu_aspirin_i2c_common" dir="imu" task="sensors">
   <doc>
     <description>
       Common functionality of Aspirin IMUs using I2C only.
@@ -26,7 +26,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_aspirin_i2c.h" dir="subsystems/imu"/>
+    <file name="imu_aspirin_i2c.h"/>
   </header>
   <init fun="imu_aspirin_i2c_init()"/>
   <periodic fun="imu_aspirin_i2c_periodic()"/>
@@ -42,6 +42,6 @@
     <file name="adxl345_i2c.c" dir="peripherals"/>
     <file name="itg3200.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_aspirin_i2c.c" dir="subsystems/imu"/>
+    <file name="imu_aspirin_i2c.c"/>
   </makefile>
 </module>

conf/modules/imu_aspirin_i2c_v1.0.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_aspirin_i2c_v1.0" dir="sensors" task="sensors">
+<module name="imu_aspirin_i2c_v1.0" dir="imu" task="sensors">
   <doc>
     <description>
       Aspirin v1.0 IMU using I2C only.

conf/modules/imu_aspirin_i2c_v1.5.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_aspirin_i2c_v1.5" dir="sensors" task="sensors">
+<module name="imu_aspirin_i2c_v1.5" dir="imu" task="sensors">
   <doc>
     <description>
       Aspirin v1.5 IMU.

conf/modules/imu_aspirin_v2_common.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_aspirin_v2_common" task="sensors">
+<module name="imu_aspirin_v2_common" dir="imu" task="sensors">
   <doc>
     <description>
       Common functionality of Aspirin v2 IMUs.
@@ -27,7 +27,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_aspirin_2_spi.h" dir="subsystems/imu"/>
+    <file name="imu_aspirin_2_spi.h"/>
   </header>
   <init fun="imu_aspirin2_init()"/>
   <periodic fun="imu_aspirin2_periodic()"/>
@@ -41,10 +41,10 @@
     <define name="ASPIRIN_2_SPI_SLAVE_IDX" value="$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
     <define name="USE_$(ASPIRIN_2_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_aspirin_2_spi.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_aspirin_2_spi.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
-    <file name="imu_aspirin_2_spi.c" dir="subsystems/imu"/>
+    <file name="imu_aspirin_2_spi.c"/>
   </makefile>
 </module>

conf/modules/imu_bebop.xml

@@ -25,7 +25,7 @@
   <autoload name="imu_sim"/>
   <autoload name="sonar_bebop"/>
   <header>
-    <file name="imu_bebop.h" dir="subsystems/imu"/>
+    <file name="imu_bebop.h"/>
   </header>
   <init fun="imu_bebop_init()"/>
   <periodic fun="imu_bebop_periodic()"/>
@@ -36,18 +36,18 @@
     <define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
     <define name="USE_I2C2"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_bebop.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_bebop.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="ak8963.c" dir="peripherals"/>
-    <file name="imu_bebop.c" dir="subsystems/imu"/>
+    <file name="imu_bebop.c"/>
     <test>
       <define name="BEBOP_MAG_I2C_DEV" value="i2c1"/>
       <define name="USE_I2C1"/>
       <define name="BEBOP_MPU_I2C_DEV" value="i2c2"/>
       <define name="USE_I2C2"/>
-      <define name="IMU_TYPE_H" value="subsystems/imu/imu_bebop.h" type="string"/>
+      <define name="IMU_TYPE_H" value="modules/imu/imu_bebop.h" type="string"/>
       <define name="PERIODIC_FREQUENCY" value="512"/>
     </test>
   </makefile>

conf/modules/imu_common.xml

@@ -9,21 +9,21 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="body2imu">
-        <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
-        <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" module="subsystems/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
-        <dl_setting MAX="180" MIN="-180" STEP="0.5" VAR="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="imu.b2i_set_current" values="FALSE|TRUE" shortname="b2i cur roll/pitch" module="subsystems/imu" handler="SetBodyToImuCurrent"/>
+        <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" module="modules/imu/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi" type="float" persistent="true"/>
+        <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.theta" shortname="b2i theta" module="modules/imu/imu" param="IMU_BODY_TO_IMU_THETA" unit="rad" alt_unit="deg" handler="SetBodyToImuTheta" type="float" persistent="true"/>
+        <dl_setting MAX="180" MIN="-180" STEP="0.5" VAR="imu.body_to_imu.eulers_f.psi" shortname="b2i psi" module="modules/imu/imu" param="IMU_BODY_TO_IMU_PSI" unit="rad" alt_unit="deg" handler="SetBodyToImuPsi" type="float" persistent="true"/>
+        <dl_setting MAX="1" MIN="0" STEP="1" VAR="imu.b2i_set_current" values="FALSE|TRUE" shortname="b2i cur roll/pitch" module="modules/imu/imu" handler="SetBodyToImuCurrent"/>
       </dl_settings>
     </dl_settings>
   </settings>
   <header>
-    <file name="imu.h" dir="subsystems"/>
+    <file name="imu.h"/>
   </header>
   <init fun="imu_init()"/>
 
   <makefile target="!sim|fbw">
     <define name="USE_IMU"/>
-    <file name="imu.c" dir="subsystems"/>
+    <file name="imu.c"/>
     <test/>
   </makefile>
 </module>

conf/modules/imu_disco.xml

@@ -25,7 +25,7 @@
   <autoload name="imu_sim"/>
   <autoload name="sonar_bebop"/>
   <header>
-    <file name="imu_disco.h" dir="subsystems/imu"/>
+    <file name="imu_disco.h"/>
   </header>
   <init fun="imu_disco_init()"/>
   <periodic fun="imu_disco_periodic()"/>
@@ -33,13 +33,13 @@
   <makefile target="!sim|nps|fbw">
     <define name="USE_I2C1"/>
     <define name="USE_I2C2"/>
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_disco.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_disco.h" type="string"/>
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="ak8963.c" dir="peripherals"/>
-    <file name="imu_disco.c" dir="subsystems/imu"/>
+    <file name="imu_disco.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="subsystems/imu/imu_disco.h" type="string"/>
+      <define name="IMU_TYPE_H" value="modules/imu/imu_disco.h" type="string"/>
       <define name="USE_I2C2"/>
       <define name="USE_I2C1"/>
       <define name="PERIODIC_FREQUENCY" value="512"/>

conf/modules/imu_drotek_10dof_v2.xml

@@ -25,7 +25,7 @@
   <autoload name="imu_sim"/>
   <autoload name="imu_nps"/>
   <header>
-    <file name="imu_drotek_10dof_v2.h" dir="subsystems/imu"/>
+    <file name="imu_drotek_10dof_v2.h"/>
   </header>
   <init fun="imu_drotek2_init()"/>
   <periodic fun="imu_drotek2_periodic()"/>
@@ -40,7 +40,7 @@
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_drotek_10dof_v2.c" dir="subsystems/imu"/>
+    <file name="imu_drotek_10dof_v2.c"/>
     <test>
       <define name="IMU_TYPE_H" value="imu/imu_drotek_10dof_v2.h" type="string"/>
       <define name="USE_I2C1"/>

conf/modules/imu_gl1.xml

@@ -26,7 +26,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_gl1.h" dir="subsystems/imu"/>
+    <file name="imu_gl1.h"/>
   </header>
   <init fun="imu_gl1_init()"/>
   <periodic fun="imu_gl1_periodic()"/>
@@ -36,11 +36,11 @@
     <define name="GL1_I2C_DEV" value="$(GL1_I2C_DEV_LOWER)"/>
     <define name="USE_$(GL1_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_gl1.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_gl1.h" type="string"/>
 
     <file name="adxl345_i2c.c" dir="peripherals"/>
     <file name="l3g4200.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_gl1.c" dir="subsystems/imu"/>
+    <file name="imu_gl1.c"/>
   </makefile>
 </module>

conf/modules/imu_krooz_sd.xml

@@ -39,6 +39,6 @@
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
     <file name="imu_krooz.c" dir="boards/krooz"/>
-    <file_arch name="imu_krooz_sd_arch.c" dir="subsystems/imu"/>
+    <file_arch name="imu_krooz_sd_arch.c"/>
   </makefile>
 </module>

conf/modules/imu_krooz_sd_memsic.xml

@@ -45,6 +45,6 @@
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
     <file name="imu_krooz_memsic.c" dir="boards/krooz"/>
-    <file_arch name="imu_krooz_sd_arch.c" dir="subsystems/imu"/>
+    <file_arch name="imu_krooz_sd_arch.c"/>
   </makefile>
 </module>

conf/modules/imu_mpu6000.xml

@@ -20,7 +20,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu6000.h" dir="subsystems/imu"/>
+    <file name="imu_mpu6000.h"/>
   </header>
   <init fun="imu_mpu_spi_init()"/>
   <periodic fun="imu_mpu_spi_periodic()"/>
@@ -34,13 +34,13 @@
     <define name="IMU_MPU_SPI_SLAVE_IDX" value="$(IMU_MPU_SPI_SLAVE_IDX)"/>
     <define name="USE_$(IMU_MPU_SPI_SLAVE_IDX)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
-    <file name="imu_mpu6000.c" dir="subsystems/imu"/>
+    <file name="imu_mpu6000.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000.h" type="string"/>
+      <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000.h" type="string"/>
       <define name="SPI_MASTER"/>
       <define name="IMU_MPU_SPI_DEV" value="spi1"/>
       <define name="USE_SPI1"/>

conf/modules/imu_mpu6000_hmc5883.xml

@@ -36,7 +36,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu6000_hmc5883.h" dir="subsystems/imu"/>
+    <file name="imu_mpu6000_hmc5883.h"/>
   </header>
 
   <init fun="imu_mpu_hmc_init()"/>
@@ -56,14 +56,14 @@
     <define name="IMU_HMC_I2C_DEV" value="$(IMU_HMC_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_HMC_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000_hmc5883.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_mpu6000_hmc5883.c" dir="subsystems/imu"/>
+    <file name="imu_mpu6000_hmc5883.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>
+      <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000_hmc5883.h" type="string"/>
       <define name="SPI_MASTER"/>
       <define name="IMU_MPU_SPI_DEV" value="spi1"/>
       <define name="USE_SPI1"/>

conf/modules/imu_mpu60x0_i2c.xml

@@ -19,7 +19,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu60x0_i2c.h" dir="subsystems/imu"/>
+    <file name="imu_mpu60x0_i2c.h"/>
   </header>
 
   <init fun="imu_mpu_i2c_init()"/>
@@ -32,10 +32,10 @@
     <define name="IMU_MPU60X0_I2C_DEV" value="$(IMU_MPU60X0_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_MPU60X0_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu60x0_i2c.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu60x0_i2c.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
-    <file name="imu_mpu60x0_i2c.c" dir="subsystems/imu"/>
+    <file name="imu_mpu60x0_i2c.c"/>
   </makefile>
 </module>

conf/modules/imu_mpu9250.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_mpu9250" dir="sensors" task="sensors">
+<module name="imu_mpu9250" dir="imu" task="sensors">
   <doc>
     <description>
       Test module for the mpu9250 with I2C

conf/modules/imu_mpu9250_i2c.xml

@@ -24,7 +24,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu9250_i2c.h" dir="subsystems/imu"/>
+    <file name="imu_mpu9250_i2c.h"/>
   </header>
 
   <init fun="imu_mpu9250_init()"/>
@@ -37,14 +37,14 @@
     <define name="IMU_MPU9250_I2C_DEV" value="$(IMU_MPU9250_I2C_DEV_LOWER)"/>
     <define name="USE_$(IMU_MPU9250_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu9250_i2c.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu9250_i2c.h" type="string"/>
 
     <file name="mpu9250.c" dir="peripherals"/>
     <file name="mpu9250_i2c.c" dir="peripherals"/>
     <file name="ak8963.c" dir="peripherals"/>
-    <file name="imu_mpu9250_i2c.c" dir="subsystems/imu"/>
+    <file name="imu_mpu9250_i2c.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu9250_i2c.h" type="string"/>
+      <define name="IMU_TYPE_H" value="modules/imu/imu_mpu9250_i2c.h" type="string"/>
       <define name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
       <define name="USE_I2C1"/>
     </test>

conf/modules/imu_mpu9250_spi.xml

@@ -28,7 +28,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu9250_spi.h" dir="subsystems/imu"/>
+    <file name="imu_mpu9250_spi.h"/>
   </header>
 
   <init fun="imu_mpu9250_init()"/>
@@ -48,7 +48,7 @@
 
     <file name="mpu9250.c" dir="peripherals"/>
     <file name="mpu9250_spi.c" dir="peripherals"/>
-    <file name="imu_mpu9250_spi.c" dir="subsystems/imu"/>
+    <file name="imu_mpu9250_spi.c"/>
     <test>
       <define name="IMU_TYPE_H" value="imu/imu_mpu9250_spi.h" type="string"/>
       <define name="SPI_MASTER"/>

conf/modules/imu_navstik.xml

@@ -24,7 +24,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_navstik.h" dir="subsystems/imu"/>
+    <file name="imu_navstik.h"/>
   </header>
   <init fun="imu_navstik_init()"/>
   <periodic fun="imu_navstik_periodic()"/>
@@ -37,11 +37,11 @@
     <define name="NAVSTIK_MPU_I2C_DEV" value="$(NAVSTIK_MPU_I2C_DEV_LOWER)"/>
     <define name="USE_$(NAVSTIK_MPU_I2C_DEV_UPPER)"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_navstik.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_navstik.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_navstik.c" dir="subsystems/imu"/>
+    <file name="imu_navstik.c"/>
   </makefile>
 </module>

conf/modules/imu_nps.xml

@@ -11,13 +11,13 @@
     <provides>imu,mag</provides>
   </dep>
   <header>
-    <file name="imu_nps.h" dir="subsystems/imu"/>
+    <file name="imu_nps.h"/>
   </header>
   <init fun="imu_nps_init()"/>
   <event fun="imu_nps_event()"/>
 
   <makefile target="nps|hitl">
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_nps.h" type="string"/>
-    <file name="imu_nps.c" dir="subsystems/imu"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_nps.h" type="string"/>
+    <file name="imu_nps.c"/>
   </makefile>
 </module>

conf/modules/imu_openpilot_revo.xml

@@ -27,7 +27,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu6000_hmc5883.h" dir="subsystems/imu"/>
+    <file name="imu_mpu6000_hmc5883.h"/>
   </header>
   <init fun="imu_mpu_hmc_init()"/>
   <periodic fun="imu_mpu_hmc_periodic()"/>
@@ -57,11 +57,11 @@
     <define name="IMU_HMC_Y_SIGN" value="1"/>
     <define name="IMU_HMC_Z_SIGN" value="-1"/>
 
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_mpu6000_hmc5883.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_mpu6000_hmc5883.h" type="string"/>
 
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_mpu6000_hmc5883.c" dir="subsystems/imu"/>
+    <file name="imu_mpu6000_hmc5883.c"/>
   </makefile>
 </module>

conf/modules/imu_openpilot_revo_nano.xml

@@ -29,7 +29,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_mpu9250_spi.h" dir="subsystems/imu"/>
+    <file name="imu_mpu9250_spi.h"/>
   </header>
 
   <init fun="imu_mpu9250_init()"/>
@@ -46,6 +46,6 @@
 
     <file name="mpu9250.c" dir="peripherals"/>
     <file name="mpu9250_spi.c" dir="peripherals"/>
-    <file name="imu_mpu9250_spi.c" dir="subsystems/imu"/>
+    <file name="imu_mpu9250_spi.c"/>
   </makefile>
 </module>

conf/modules/imu_pprzuav.xml

@@ -26,7 +26,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_ppzuav.h" dir="subsystems/imu"/>
+    <file name="imu_ppzuav.h"/>
   </header>
   <init fun="imu_ppzuav_init()"/>
   <periodic fun="imu_ppzuav_periodic()"/>
@@ -41,6 +41,6 @@
     <file name="adxl345_i2c.c" dir="peripherals"/>
     <file name="itg3200.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_ppzuav.c" dir="subsystems/imu"/>
+    <file name="imu_ppzuav.c"/>
   </makefile>
 </module>

conf/modules/imu_px4fmu_v1.7.xml

@@ -17,7 +17,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_px4fmu.h" dir="subsystems/imu"/>
+    <file name="imu_px4fmu.h"/>
   </header>
   <init fun="imu_px4fmu_init()"/>
   <periodic fun="imu_px4fmu_periodic()"/>
@@ -34,7 +34,7 @@
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_px4fmu.c" dir="subsystems/imu"/>
+    <file name="imu_px4fmu.c"/>
     <test>
       <define name="IMU_TYPE_H" value="imu/imu_px4fmu.h" type="string"/>
       <define name="SPI_MASTER"/>

conf/modules/imu_px4fmu_v2.4.xml

@@ -19,7 +19,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_px4fmu_v2.4.h" dir="subsystems/imu"/>
+    <file name="imu_px4fmu_v2.4.h"/>
   </header>
   <init fun="imu_px4_init()"/>
   <periodic fun="imu_px4_periodic()"/>
@@ -42,7 +42,7 @@
     <file name="l3gd20_spi.c" dir="peripherals"/>
     <file name="lsm303d_spi.c" dir="peripherals"/>
     <file name="hmc58xx.c" dir="peripherals"/>
-    <file name="imu_px4fmu_v2.4.c" dir="subsystems/imu"/>
+    <file name="imu_px4fmu_v2.4.c"/>
     <test>
       <define name="IMU_TYPE_H" value="imu/imu_px4fmu_v2.4.h" type="string"/>
       <define name="IMU_PX4FMU_SPI_DEV" value="spi1"/>

conf/modules/imu_swing.xml

@@ -15,19 +15,19 @@
   <autoload name="imu_sim"/>
   <!--autoload name="sonar_bebop"/-->
   <header>
-    <file name="imu_swing.h" dir="subsystems/imu"/>
+    <file name="imu_swing.h"/>
   </header>
   <init fun="imu_swing_init()"/>
   <periodic fun="imu_swing_periodic()"/>
   <event fun="imu_swing_event()"/>
   <makefile target="!sim|nps|fbw">
     <define name="USE_I2C0"/>
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_swing.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_swing.h" type="string"/>
     <file name="mpu60x0.c" dir="peripherals"/>
     <file name="mpu60x0_i2c.c" dir="peripherals"/>
-    <file name="imu_swing.c" dir="subsystems/imu"/>
+    <file name="imu_swing.c"/>
     <test>
-      <define name="IMU_TYPE_H" value="subsystems/imu/imu_swing.h" type="string"/>
+      <define name="IMU_TYPE_H" value="modules/imu/imu_swing.h" type="string"/>
       <define name="USE_I2C0"/>
       <define name="PERIODIC_FREQUENCY" value="512"/>
     </test>

conf/modules/imu_um6.xml

@@ -15,7 +15,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_um6.h" dir="subsystems/imu"/>
+    <file name="imu_um6.h"/>
   </header>
   <init fun="imu_um6_init()"/>
   <periodic fun="imu_um6_periodic()"/>
@@ -29,6 +29,6 @@
 
     <define name="IMU_TYPE_H" value="imu/imu_um6.h" type="string"/>
 
-    <file name="imu_um6.c" dir="subsystems/imu"/>
+    <file name="imu_um6.c"/>
   </makefile>
 </module>

conf/modules/imu_vectornav.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="imu_vectornav" task="sensors">
+<module name="imu_vectornav" dir="imu" task="sensors">
   <doc>
     <description>
       Vectornav VN-200 over uart used as IMU.
@@ -17,7 +17,7 @@
   <autoload name="imu_nps"/>
   <autoload name="imu_sim"/>
   <header>
-    <file name="imu_vectornav.h" dir="modules/imu"/>
+    <file name="imu_vectornav.h"/>
   </header>
   <init fun="imu_vectornav_init()"/>
   <periodic fun="imu_vectornav_init()" freq="1"/>
@@ -30,7 +30,7 @@
     <define name="$(VN_PORT_UPPER)_BAUD" value="$(VN_BAUD)"/>
 
     <file name="vn200_serial.c" dir="peripherals"/>
-    <file name="imu_vectornav.c" dir="modules/imu"/>
+    <file name="imu_vectornav.c"/>
 
     <define name="IMU_TYPE_H" value="modules/imu/imu_vectornav.h" type="string"/>
   </makefile>

conf/modules/ins_nps.xml

@@ -16,10 +16,10 @@
   </header>
   <init fun="ins_gps_passthrough_init()"/>
   <makefile target="nps|hitl">
-    <file name="imu.c" dir="subsystems"/>
-    <file name="imu_nps.c" dir="subsystems/imu"/>
+    <file name="imu.c" dir="modules/imu"/>
+    <file name="imu_nps.c" dir="modules/imu"/>
     <define name="USE_IMU"/>
-    <define name="IMU_TYPE_H" value="subsystems/imu/imu_nps.h" type="string"/>
+    <define name="IMU_TYPE_H" value="modules/imu/imu_nps.h" type="string"/>
 
     <!-- use attitude from nps sim -->
     <define name="NPS_BYPASS_AHRS" value="TRUE"/>

conf/simulator/nps/nps_sensors_params_ardrone2.h

@@ -23,7 +23,7 @@
 #define NPS_SENSORS_PARAMS_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 
 #define NPS_BODY_TO_IMU_PHI    IMU_BODY_TO_IMU_PHI

conf/simulator/nps/nps_sensors_params_default.h

@@ -23,7 +23,7 @@
 #define NPS_SENSORS_PARAMS_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 
 #define NPS_BODY_TO_IMU_PHI    IMU_BODY_TO_IMU_PHI

sw/airborne/arch/sim/max1167_hw.c

@@ -22,7 +22,7 @@
 
 #include "max1167_hw.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 void max1167_hw_init(void) {}
 

sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.c

@@ -1,4 +1,4 @@
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/rcc.h>

sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.h

@@ -1,7 +1,7 @@
 #ifndef IMU_ASPIRIN_ARCH_H
 #define IMU_ASPIRIN_ARCH_H
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include <libopencm3/stm32/gpio.h>
 
 extern void imu_aspirin_arch_int_enable(void);

sw/airborne/arch/stm32/modules/imu/imu_krooz_sd_arch.c

@@ -1,11 +1,11 @@
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include <libopencm3/stm32/rcc.h>
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/exti.h>
 #include <libopencm3/cm3/nvic.h>
 
-#include "subsystems/imu/imu_krooz_sd_arch.h"
+#include "modules/imu/imu_krooz_sd_arch.h"
 
 void imu_krooz_sd_arch_init(void)
 {

sw/airborne/arch/stm32/modules/imu/imu_krooz_sd_arch.h

@@ -1,7 +1,7 @@
 #ifndef IMU_KROOZ_SD_ARCH_H
 #define IMU_KROOZ_SD_ARCH_H
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 void imu_krooz_sd_arch_init(void);
 

sw/airborne/boards/apogee/imu_apogee.h

@@ -32,7 +32,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #if APOGEE_USE_MPU9150
 #include "peripherals/ak8975.h"
 #endif

sw/airborne/boards/ardrone/navdata.c

@@ -325,7 +325,7 @@ static void *navdata_read(void *data __attribute__((unused)))
   return NULL;
 }
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 static void navdata_publish_imu(void)
 {
   RATES_ASSIGN(imu.gyro_unscaled, navdata.measure.vx, -navdata.measure.vy, -navdata.measure.vz);

sw/airborne/boards/krooz/imu_krooz.c

@@ -30,7 +30,7 @@
 
 #include <math.h>
 #include "boards/krooz/imu_krooz.h"
-#include "subsystems/imu/imu_krooz_sd_arch.h"
+#include "modules/imu/imu_krooz_sd_arch.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "filters/median_filter.h"

sw/airborne/boards/krooz/imu_krooz.h

@@ -32,7 +32,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_i2c.h"
 #include "peripherals/hmc58xx.h"

sw/airborne/boards/krooz/imu_krooz_memsic.c

@@ -31,7 +31,7 @@
 
 #include <math.h>
 #include "boards/krooz/imu_krooz_memsic.h"
-#include "subsystems/imu/imu_krooz_sd_arch.h"
+#include "modules/imu/imu_krooz_sd_arch.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "filters/median_filter.h"

sw/airborne/boards/krooz/imu_krooz_memsic.h

@@ -34,7 +34,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_i2c.h"
 #include "peripherals/hmc58xx.h"

sw/airborne/firmwares/demo/demo_ahrs_actuators.c

@@ -46,7 +46,7 @@
 #include "led.h"
 
 #include "state.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ahrs.h"
 
 #include "modules/core/commands.h"

sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c

@@ -36,7 +36,7 @@
 #include "subsystems/ins/ins_int.h"
 #include "modules/radio_control/radio_control.h"
 #include "state.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "firmwares/rotorcraft/guidance/guidance_h.h"
 #include "firmwares/rotorcraft/guidance/guidance_v.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"

sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c

@@ -32,7 +32,7 @@
 #include "subsystems/ins/ins_int.h"
 #include "modules/radio_control/radio_control.h"
 #include "state.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "firmwares/rotorcraft/guidance/guidance_h.h"
 #include "firmwares/rotorcraft/guidance/guidance_v.h"
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c

@@ -33,7 +33,7 @@
 
 #include "state.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/radio_control/radio_control.h"
 #include "firmwares/rotorcraft/autopilot_rc_helpers.h"
 

sw/airborne/modules/benchmark/imu_quality_assessment.c

@@ -22,7 +22,7 @@
 
 #include "imu_quality_assessment.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "generated/airframe.h"
 
 struct imu_quality_assessment_data_struct imu_quality_assessment_data;

sw/airborne/modules/calibration/mag_calib_ukf.c

@@ -30,7 +30,7 @@
 
 #include "math/pprz_algebra_double.h"
 #include "state.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "generated/airframe.h"
 #include "subsystems/ahrs/ahrs_magnetic_field_model.h"