diff --git a/conf/modules/ahrs_gx3.xml b/conf/modules/ahrs_gx3.xml
index 2edc98a5bc..1e327ed323 100644
--- a/conf/modules/ahrs_gx3.xml
+++ b/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"/>
diff --git a/conf/modules/imu_ardrone2.xml b/conf/modules/imu_ardrone2.xml
index 6b3b35c497..748727917e 100644
--- a/conf/modules/imu_ardrone2.xml
+++ b/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"/>
diff --git a/conf/modules/imu_aspirin_common.xml b/conf/modules/imu_aspirin_common.xml
index 2e22fcda05..3541ea7592 100644
--- a/conf/modules/imu_aspirin_common.xml
+++ b/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>
diff --git a/conf/modules/imu_aspirin_i2c_common.xml b/conf/modules/imu_aspirin_i2c_common.xml
index cff6f697b5..1436f9cebf 100644
--- a/conf/modules/imu_aspirin_i2c_common.xml
+++ b/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>
diff --git a/conf/modules/imu_aspirin_i2c_v1.0.xml b/conf/modules/imu_aspirin_i2c_v1.0.xml
index a2cd6cc634..79ea7f1c26 100644
--- a/conf/modules/imu_aspirin_i2c_v1.0.xml
+++ b/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.
diff --git a/conf/modules/imu_aspirin_i2c_v1.5.xml b/conf/modules/imu_aspirin_i2c_v1.5.xml
index b9cffe7079..a827312f9a 100644
--- a/conf/modules/imu_aspirin_i2c_v1.5.xml
+++ b/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.
diff --git a/conf/modules/imu_aspirin_v2_common.xml b/conf/modules/imu_aspirin_v2_common.xml
index 02d0c37ebe..763599ec75 100644
--- a/conf/modules/imu_aspirin_v2_common.xml
+++ b/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>
diff --git a/conf/modules/imu_bebop.xml b/conf/modules/imu_bebop.xml
index d10e12d475..b409f7321a 100644
--- a/conf/modules/imu_bebop.xml
+++ b/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>
diff --git a/conf/modules/imu_common.xml b/conf/modules/imu_common.xml
index 165aff563b..d73250e262 100644
--- a/conf/modules/imu_common.xml
+++ b/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>
diff --git a/conf/modules/imu_disco.xml b/conf/modules/imu_disco.xml
index 54c7a1abce..132b3ca25b 100644
--- a/conf/modules/imu_disco.xml
+++ b/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"/>
diff --git a/conf/modules/imu_drotek_10dof_v2.xml b/conf/modules/imu_drotek_10dof_v2.xml
index 0c3e757148..deea39c78e 100644
--- a/conf/modules/imu_drotek_10dof_v2.xml
+++ b/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"/>
diff --git a/conf/modules/imu_gl1.xml b/conf/modules/imu_gl1.xml
index 098d37555f..febe60eb00 100644
--- a/conf/modules/imu_gl1.xml
+++ b/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>
diff --git a/conf/modules/imu_krooz_sd.xml b/conf/modules/imu_krooz_sd.xml
index 949fd756f9..4ec8ffe4c7 100644
--- a/conf/modules/imu_krooz_sd.xml
+++ b/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>
diff --git a/conf/modules/imu_krooz_sd_memsic.xml b/conf/modules/imu_krooz_sd_memsic.xml
index 3097ecc9a1..34819d2f4b 100644
--- a/conf/modules/imu_krooz_sd_memsic.xml
+++ b/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>
diff --git a/conf/modules/imu_mpu6000.xml b/conf/modules/imu_mpu6000.xml
index 6021261c8a..e35ace8d22 100644
--- a/conf/modules/imu_mpu6000.xml
+++ b/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"/>
diff --git a/conf/modules/imu_mpu6000_hmc5883.xml b/conf/modules/imu_mpu6000_hmc5883.xml
index a6da7df2bd..c7615fb763 100644
--- a/conf/modules/imu_mpu6000_hmc5883.xml
+++ b/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"/>
diff --git a/conf/modules/imu_mpu60x0_i2c.xml b/conf/modules/imu_mpu60x0_i2c.xml
index 08eb5f65a9..5f7feeb1d7 100644
--- a/conf/modules/imu_mpu60x0_i2c.xml
+++ b/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>
diff --git a/conf/modules/imu_mpu9250.xml b/conf/modules/imu_mpu9250.xml
index c732ab9813..d177f7f876 100644
--- a/conf/modules/imu_mpu9250.xml
+++ b/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
diff --git a/conf/modules/imu_mpu9250_i2c.xml b/conf/modules/imu_mpu9250_i2c.xml
index 30caf8be22..9538ff027b 100644
--- a/conf/modules/imu_mpu9250_i2c.xml
+++ b/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>
diff --git a/conf/modules/imu_mpu9250_spi.xml b/conf/modules/imu_mpu9250_spi.xml
index 573d99cb35..fdc4c1685b 100644
--- a/conf/modules/imu_mpu9250_spi.xml
+++ b/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"/>
diff --git a/conf/modules/imu_navstik.xml b/conf/modules/imu_navstik.xml
index 58a86d4d6f..4eac80f78d 100644
--- a/conf/modules/imu_navstik.xml
+++ b/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>
diff --git a/conf/modules/imu_nps.xml b/conf/modules/imu_nps.xml
index 646bf39c1f..d92aeceb2c 100644
--- a/conf/modules/imu_nps.xml
+++ b/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>
diff --git a/conf/modules/imu_openpilot_revo.xml b/conf/modules/imu_openpilot_revo.xml
index e45394b46a..7526298997 100644
--- a/conf/modules/imu_openpilot_revo.xml
+++ b/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>
diff --git a/conf/modules/imu_openpilot_revo_nano.xml b/conf/modules/imu_openpilot_revo_nano.xml
index b65ffcf981..0fbb8fecdb 100644
--- a/conf/modules/imu_openpilot_revo_nano.xml
+++ b/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>
diff --git a/conf/modules/imu_pprzuav.xml b/conf/modules/imu_pprzuav.xml
index 6e4702bda6..0c08c82225 100644
--- a/conf/modules/imu_pprzuav.xml
+++ b/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>
diff --git a/conf/modules/imu_px4fmu_v1.7.xml b/conf/modules/imu_px4fmu_v1.7.xml
index 82a8c8faa2..d55ed19947 100644
--- a/conf/modules/imu_px4fmu_v1.7.xml
+++ b/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"/>
diff --git a/conf/modules/imu_px4fmu_v2.4.xml b/conf/modules/imu_px4fmu_v2.4.xml
index f59dca4c5e..f1e7824e16 100644
--- a/conf/modules/imu_px4fmu_v2.4.xml
+++ b/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"/>
diff --git a/conf/modules/imu_swing.xml b/conf/modules/imu_swing.xml
index 61e7fdbef9..43a1390446 100644
--- a/conf/modules/imu_swing.xml
+++ b/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>
diff --git a/conf/modules/imu_um6.xml b/conf/modules/imu_um6.xml
index 52a10446f3..8ea29cd825 100644
--- a/conf/modules/imu_um6.xml
+++ b/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>
diff --git a/conf/modules/imu_vectornav.xml b/conf/modules/imu_vectornav.xml
index 6494b049e6..7471a1163a 100644
--- a/conf/modules/imu_vectornav.xml
+++ b/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>
diff --git a/conf/modules/ins_nps.xml b/conf/modules/ins_nps.xml
index c445087bec..310e1fdc2c 100644
--- a/conf/modules/ins_nps.xml
+++ b/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"/>
diff --git a/conf/simulator/nps/nps_sensors_params_ardrone2.h b/conf/simulator/nps/nps_sensors_params_ardrone2.h
index e9add5df4e..4dc6030b2b 100644
--- a/conf/simulator/nps/nps_sensors_params_ardrone2.h
+++ b/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
diff --git a/conf/simulator/nps/nps_sensors_params_default.h b/conf/simulator/nps/nps_sensors_params_default.h
index 0cc65f756a..eb105a757c 100644
--- a/conf/simulator/nps/nps_sensors_params_default.h
+++ b/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
diff --git a/sw/airborne/arch/sim/max1167_hw.c b/sw/airborne/arch/sim/max1167_hw.c
index 31219f983d..f3142b6751 100644
--- a/sw/airborne/arch/sim/max1167_hw.c
+++ b/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) {}
 
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.c
similarity index 98%
rename from sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
rename to sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.c
index abaf9f902f..9cd2d1f374 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
+++ b/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>
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.h b/sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.h
similarity index 91%
rename from sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.h
rename to sw/airborne/arch/stm32/modules/imu/imu_aspirin_arch.h
index 514ee4177b..42722d7e14 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.h
+++ b/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);
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c b/sw/airborne/arch/stm32/modules/imu/imu_krooz_sd_arch.c
similarity index 92%
rename from sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c
rename to sw/airborne/arch/stm32/modules/imu/imu_krooz_sd_arch.c
index ad5c508669..b957c2da79 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c
+++ b/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)
 {
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.h b/sw/airborne/arch/stm32/modules/imu/imu_krooz_sd_arch.h
similarity index 81%
rename from sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.h
rename to sw/airborne/arch/stm32/modules/imu/imu_krooz_sd_arch.h
index 3917845d68..2fba8bd1dc 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.h
+++ b/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);
 
diff --git a/sw/airborne/boards/apogee/imu_apogee.h b/sw/airborne/boards/apogee/imu_apogee.h
index 72f4f93090..e26500d3d6 100644
--- a/sw/airborne/boards/apogee/imu_apogee.h
+++ b/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
diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
index 1472dd8ed1..c56e257c9c 100644
--- a/sw/airborne/boards/ardrone/navdata.c
+++ b/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);
diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c
index 7804e9861c..77104dccca 100644
--- a/sw/airborne/boards/krooz/imu_krooz.c
+++ b/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"
diff --git a/sw/airborne/boards/krooz/imu_krooz.h b/sw/airborne/boards/krooz/imu_krooz.h
index 3af518dd2e..33b751a005 100644
--- a/sw/airborne/boards/krooz/imu_krooz.h
+++ b/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"
diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.c b/sw/airborne/boards/krooz/imu_krooz_memsic.c
index d9a1d23c8c..7f2319e6f6 100644
--- a/sw/airborne/boards/krooz/imu_krooz_memsic.c
+++ b/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"
diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.h b/sw/airborne/boards/krooz/imu_krooz_memsic.h
index e8ab964fe8..331e5f65dd 100644
--- a/sw/airborne/boards/krooz/imu_krooz_memsic.h
+++ b/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"
diff --git a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c b/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
index b1c4696a84..13660ebb19 100644
--- a/sw/airborne/firmwares/demo/demo_ahrs_actuators.c
+++ b/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"
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
index d59cdd2d86..a34e9f6188 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+++ b/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"
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
index fceb098f14..526769c143 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
+++ b/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"
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
index c958229298..eacf8e616c 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+++ b/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"
 
diff --git a/sw/airborne/modules/benchmark/imu_quality_assessment.c b/sw/airborne/modules/benchmark/imu_quality_assessment.c
index dd75030b5f..3e0c57150f 100644
--- a/sw/airborne/modules/benchmark/imu_quality_assessment.c
+++ b/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;
diff --git a/sw/airborne/modules/calibration/mag_calib_ukf.c b/sw/airborne/modules/calibration/mag_calib_ukf.c
index 5d730252cc..87d19b23c9 100644
--- a/sw/airborne/modules/calibration/mag_calib_ukf.c
+++ b/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"
diff --git a/sw/airborne/modules/calibration/send_imu_mag_current.c b/sw/airborne/modules/calibration/send_imu_mag_current.c
index 0499a885aa..a514d077d7 100644
--- a/sw/airborne/modules/calibration/send_imu_mag_current.c
+++ b/sw/airborne/modules/calibration/send_imu_mag_current.c
@@ -24,7 +24,7 @@
  * Enables sending of IMU_MAG_CURRENT_CALIBRATION message.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/energy/electrical.h"
 
 #include "pprzlink/messages.h"
diff --git a/sw/airborne/modules/gps/gps_datalink.c b/sw/airborne/modules/gps/gps_datalink.c
index f8bead32dc..7ff2656d68 100644
--- a/sw/airborne/modules/gps/gps_datalink.c
+++ b/sw/airborne/modules/gps/gps_datalink.c
@@ -32,7 +32,7 @@
 
 #include "modules/gps/gps.h"
 #include "modules/core/abi.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/datalink/downlink.h"
 
diff --git a/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c b/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c
index 221824bde9..95f0d7e125 100644
--- a/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c
+++ b/sw/airborne/modules/gumstix_interface/qr_code_spi_link.c
@@ -22,7 +22,7 @@
 
 #include "qr_code_spi_link.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/spi.h"
 
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/modules/hott/hott_eam.h b/sw/airborne/modules/hott/hott_eam.h
index 246d88d8ea..fc24bdeca3 100644
--- a/sw/airborne/modules/hott/hott_eam.h
+++ b/sw/airborne/modules/hott/hott_eam.h
@@ -28,7 +28,7 @@
 #define HOTT_EAM_H
 
 #include "modules/energy/electrical.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "autopilot.h"
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/modules/imu/imu.c
similarity index 99%
rename from sw/airborne/subsystems/imu.c
rename to sw/airborne/modules/imu/imu.c
index 181bb9b922..337b083d08 100644
--- a/sw/airborne/subsystems/imu.c
+++ b/sw/airborne/modules/imu/imu.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu.c
+ * @file modules/imu/imu.c
  * Inertial Measurement Unit interface.
  */
 
@@ -28,7 +28,7 @@
 #include BOARD_CONFIG
 #endif
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "state.h"
 #include "modules/core/abi.h"
 
diff --git a/sw/airborne/subsystems/imu.h b/sw/airborne/modules/imu/imu.h
similarity index 99%
rename from sw/airborne/subsystems/imu.h
rename to sw/airborne/modules/imu/imu.h
index 7813d1826a..026dd9af89 100644
--- a/sw/airborne/subsystems/imu.h
+++ b/sw/airborne/modules/imu/imu.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu.h
+ * @file modules/imu/imu.h
  * Inertial Measurement Unit interface.
  */
 
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2.c b/sw/airborne/modules/imu/imu_ardrone2.c
similarity index 93%
rename from sw/airborne/subsystems/imu/imu_ardrone2.c
rename to sw/airborne/modules/imu/imu_ardrone2.c
index fdf009eb18..0c3683f522 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2.c
+++ b/sw/airborne/modules/imu/imu_ardrone2.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_ardrone2.c
+ * @file modules/imu/imu_ardrone2.c
  * IMU implementation for ardrone2.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "navdata.h"
 #include "imu_ardrone2.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2.h b/sw/airborne/modules/imu/imu_ardrone2.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_ardrone2.h
rename to sw/airborne/modules/imu/imu_ardrone2.h
index 10f87697af..bc46ebf3d0 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2.h
+++ b/sw/airborne/modules/imu/imu_ardrone2.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_ardrone2.h
+ * @file modules/imu/imu_ardrone2.h
  * IMU implementation for ardrone2.
  */
 
@@ -82,7 +82,7 @@
 /*
  * we include imh.h after the definitions of the neutrals
  */
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 extern void imu_ardrone2_init(void);
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/modules/imu/imu_aspirin.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_aspirin.c
rename to sw/airborne/modules/imu/imu_aspirin.c
index 5a36cbefb6..f30a4dc1dc 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.c
+++ b/sw/airborne/modules/imu/imu_aspirin.c
@@ -21,11 +21,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin.c
+ * @file modules/imu/imu_aspirin.c
  * Driver for the Aspirin v1.x IMU using SPI for the accelerometer.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/spi.h"
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.h b/sw/airborne/modules/imu/imu_aspirin.h
similarity index 91%
rename from sw/airborne/subsystems/imu/imu_aspirin.h
rename to sw/airborne/modules/imu/imu_aspirin.h
index 38d847e5ce..d05dea0476 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.h
+++ b/sw/airborne/modules/imu/imu_aspirin.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin.h
+ * @file modules/imu/imu_aspirin.h
  * Interface for the Aspirin v1.x IMU using SPI for the accelerometer.
  */
 
@@ -30,14 +30,14 @@
 #define IMU_ASPIRIN_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/itg3200.h"
 #include "peripherals/hmc58xx.h"
 #include "peripherals/adxl345_spi.h"
 
 /* include default aspirin sensitivity definitions */
-#include "subsystems/imu/imu_aspirin_defaults.h"
+#include "modules/imu/imu_aspirin_defaults.h"
 
 struct ImuAspirin {
   volatile uint8_t accel_valid;
@@ -56,7 +56,7 @@ extern void imu_aspirin_event(void);
 
 #if !ASPIRIN_ARCH_INDEP
 /* underlying architecture */
-#include "subsystems/imu/imu_aspirin_arch.h"
+#include "modules/imu/imu_aspirin_arch.h"
 /* must be implemented by underlying architecture */
 extern void imu_aspirin_arch_init(void);
 #endif
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/modules/imu/imu_aspirin_2_spi.c
similarity index 99%
rename from sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
rename to sw/airborne/modules/imu/imu_aspirin_2_spi.c
index 2e92da2b14..73032875dd 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
+++ b/sw/airborne/modules/imu/imu_aspirin_2_spi.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin_2_spi.c
+ * @file modules/imu/imu_aspirin_2_spi.c
  * Driver for the Aspirin v2.x IMU using SPI for the MPU6000.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/spi.h"
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h b/sw/airborne/modules/imu/imu_aspirin_2_spi.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
rename to sw/airborne/modules/imu/imu_aspirin_2_spi.h
index b3b0c0729a..7c4fb21432 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
+++ b/sw/airborne/modules/imu/imu_aspirin_2_spi.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin_2_spi.h
+ * @file modules/imu/imu_aspirin_2_spi.h
  * Driver for the Aspirin v2.x IMU using SPI for the MPU6000.
  */
 
@@ -29,7 +29,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_spi.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_defaults.h b/sw/airborne/modules/imu/imu_aspirin_defaults.h
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_aspirin_defaults.h
rename to sw/airborne/modules/imu/imu_aspirin_defaults.h
index ded959a2ce..bb47a630c4 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_defaults.h
+++ b/sw/airborne/modules/imu/imu_aspirin_defaults.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin_defaults.h
+ * @file modules/imu/imu_aspirin_defaults.h
  * Default sensitivity definitions for IMU Aspirin 1x.
  */
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c b/sw/airborne/modules/imu/imu_aspirin_i2c.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_aspirin_i2c.c
rename to sw/airborne/modules/imu/imu_aspirin_i2c.c
index f8c605d019..1e7d0fa98c 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
+++ b/sw/airborne/modules/imu/imu_aspirin_i2c.c
@@ -21,11 +21,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin.c
+ * @file modules/imu/imu_aspirin.c
  * Driver for the Aspirin v1.x IMU using I2C for the accelerometer.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.h b/sw/airborne/modules/imu/imu_aspirin_i2c.h
similarity index 92%
rename from sw/airborne/subsystems/imu/imu_aspirin_i2c.h
rename to sw/airborne/modules/imu/imu_aspirin_i2c.h
index 406311bd54..203c524cc9 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.h
+++ b/sw/airborne/modules/imu/imu_aspirin_i2c.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_aspirin.h
+ * @file modules/imu/imu_aspirin.h
  * Interface for the Aspirin v1.x IMU using I2C for the accelerometer.
  */
 
@@ -30,14 +30,14 @@
 #define IMU_ASPIRIN_I2C_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/itg3200.h"
 #include "peripherals/hmc58xx.h"
 #include "peripherals/adxl345_i2c.h"
 
 /* include default aspirin sensitivity/channel definitions */
-#include "subsystems/imu/imu_aspirin_defaults.h"
+#include "modules/imu/imu_aspirin_defaults.h"
 
 
 struct ImuAspirinI2c {
diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/modules/imu/imu_bebop.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_bebop.c
rename to sw/airborne/modules/imu/imu_bebop.c
index b76f510797..410e732fe3 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.c
+++ b/sw/airborne/modules/imu/imu_bebop.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_bebop.c
+ * @file modules/imu/imu_bebop.c
  * Driver for the Bebop (2) magnetometer, accelerometer and gyroscope
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_bebop.h b/sw/airborne/modules/imu/imu_bebop.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_bebop.h
rename to sw/airborne/modules/imu/imu_bebop.h
index 669041437c..2a97146839 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.h
+++ b/sw/airborne/modules/imu/imu_bebop.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_bebop.h
+ * @file modules/imu/imu_bebop.h
  * Interface for the Bebop magnetometer, accelerometer and gyroscope
  */
 
@@ -29,7 +29,7 @@
 #define IMU_BEBOP_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/ak8963.h"
 #include "peripherals/mpu60x0_i2c.h"
diff --git a/sw/airborne/modules/imu/imu_bmi088_i2c.c b/sw/airborne/modules/imu/imu_bmi088_i2c.c
index 0959131aa0..958835a440 100644
--- a/sw/airborne/modules/imu/imu_bmi088_i2c.c
+++ b/sw/airborne/modules/imu/imu_bmi088_i2c.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file subsystems/imu/imu_bmi088_i2c.c
+ * @file modules/imu/imu_bmi088_i2c.c
  *
  * IMU driver for the BMI088 using I2C
  *
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"
 #include "modules/core/abi.h"
diff --git a/sw/airborne/modules/imu/imu_bmi088_i2c.h b/sw/airborne/modules/imu/imu_bmi088_i2c.h
index fadd2269dd..ac0d504245 100644
--- a/sw/airborne/modules/imu/imu_bmi088_i2c.h
+++ b/sw/airborne/modules/imu/imu_bmi088_i2c.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_bmi088_i2c.h
+ * @file modules/imu/imu_bmi088_i2c.h
  *
  * IMU driver for the BMI088 using I2C
  *
@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/bmi088_i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_disco.c b/sw/airborne/modules/imu/imu_disco.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_disco.c
rename to sw/airborne/modules/imu/imu_disco.c
index b25e775d07..c6529720cd 100644
--- a/sw/airborne/subsystems/imu/imu_disco.c
+++ b/sw/airborne/modules/imu/imu_disco.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_disco.c
+ * @file modules/imu/imu_disco.c
  * Driver for the Disco magnetometer, accelerometer and gyroscope
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_disco.h b/sw/airborne/modules/imu/imu_disco.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_disco.h
rename to sw/airborne/modules/imu/imu_disco.h
index a1710072f5..18eaf0a1ad 100644
--- a/sw/airborne/subsystems/imu/imu_disco.h
+++ b/sw/airborne/modules/imu/imu_disco.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_disco.h
+ * @file modules/imu/imu_disco.h
  * Interface for the Disco magnetometer, accelerometer and gyroscope
  */
 
@@ -29,7 +29,7 @@
 #define IMU_DISCO_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/ak8963.h"
 #include "peripherals/mpu60x0_i2c.h"
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c b/sw/airborne/modules/imu/imu_drotek_10dof_v2.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
rename to sw/airborne/modules/imu/imu_drotek_10dof_v2.c
index 5197915ad3..d420e07098 100644
--- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
+++ b/sw/airborne/modules/imu/imu_drotek_10dof_v2.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_drotek_10dof_v2.c
+ * @file modules/imu/imu_drotek_10dof_v2.c
  *
  * Driver for the Drotek 10DOF V2 IMU.
  * MPU6050 + HMC5883 + MS5611
@@ -32,7 +32,7 @@
  * by defining IMU_DROTEK_2_ORIENTATION_IC_UP.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h b/sw/airborne/modules/imu/imu_drotek_10dof_v2.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
rename to sw/airborne/modules/imu/imu_drotek_10dof_v2.h
index b5b0e4dac1..418f4a39a2 100644
--- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
+++ b/sw/airborne/modules/imu/imu_drotek_10dof_v2.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_drotek_10dof_v2.h
+ * @file modules/imu/imu_drotek_10dof_v2.h
  *
  * Driver for the Drotek 10DOF V2 IMU.
  * MPU6050 + HMC5883 + MS5611
@@ -31,7 +31,7 @@
 
 #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"
diff --git a/sw/airborne/subsystems/imu/imu_gl1.c b/sw/airborne/modules/imu/imu_gl1.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_gl1.c
rename to sw/airborne/modules/imu/imu_gl1.c
index 2df41b7a5f..af85723bb5 100644
--- a/sw/airborne/subsystems/imu/imu_gl1.c
+++ b/sw/airborne/modules/imu/imu_gl1.c
@@ -22,11 +22,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_gl1.c
+ * @file modules/imu/imu_gl1.c
  * Driver for I2C IMU using L3G4200, ADXL345, HMC5883 and BMP085.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_gl1.h b/sw/airborne/modules/imu/imu_gl1.h
similarity index 93%
rename from sw/airborne/subsystems/imu/imu_gl1.h
rename to sw/airborne/modules/imu/imu_gl1.h
index 560fc91d66..7cb2d25b72 100644
--- a/sw/airborne/subsystems/imu/imu_gl1.h
+++ b/sw/airborne/modules/imu/imu_gl1.h
@@ -22,7 +22,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_gl1.h
+ * @file modules/imu/imu_gl1.h
  * Interface for I2c IMU using using L3G4200, ADXL345, HMC5883 and BMP085.
  */
 
@@ -31,10 +31,10 @@
 #define IMU_GL1_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 /* include default GL1 sensitivity/channel definitions */
-#include "subsystems/imu/imu_gl1_defaults.h"
+#include "modules/imu/imu_gl1_defaults.h"
 
 #include "peripherals/l3g4200.h"
 #include "peripherals/hmc58xx.h"
diff --git a/sw/airborne/subsystems/imu/imu_gl1_defaults.h b/sw/airborne/modules/imu/imu_gl1_defaults.h
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_gl1_defaults.h
rename to sw/airborne/modules/imu/imu_gl1_defaults.h
index 153397338d..df93cc8ec9 100644
--- a/sw/airborne/subsystems/imu/imu_gl1_defaults.h
+++ b/sw/airborne/modules/imu/imu_gl1_defaults.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_gl1_defaults.h
+ * @file modules/imu/imu_gl1_defaults.h
  * Default sensitivity definitions for IMU GL1.
  */
 
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.c b/sw/airborne/modules/imu/imu_mpu6000.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_mpu6000.c
rename to sw/airborne/modules/imu/imu_mpu6000.c
index c4350ad9d0..dcf2e1b332 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000.c
+++ b/sw/airborne/modules/imu/imu_mpu6000.c
@@ -21,11 +21,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu6000.c
+ * @file modules/imu/imu_mpu6000.c
  * Driver for IMU with only MPU6000 via SPI.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/spi.h"
 #if IMU_MPU_USE_MEDIAN_FILTER
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.h b/sw/airborne/modules/imu/imu_mpu6000.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_mpu6000.h
rename to sw/airborne/modules/imu/imu_mpu6000.h
index 07caacc935..a753133bdd 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000.h
+++ b/sw/airborne/modules/imu/imu_mpu6000.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu6000.h
+ * @file modules/imu/imu_mpu6000.h
  * Driver for IMU with only MPU6000 via SPI.
  */
 
@@ -29,7 +29,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_spi.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c b/sw/airborne/modules/imu/imu_mpu6000_hmc5883.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
rename to sw/airborne/modules/imu/imu_mpu6000_hmc5883.c
index e1d56e6904..77fbcd5e6f 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
+++ b/sw/airborne/modules/imu/imu_mpu6000_hmc5883.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu6000_hmc5883.c
+ * @file modules/imu/imu_mpu6000_hmc5883.c
  * Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/spi.h"
 #include "peripherals/hmc58xx_regs.h"
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h b/sw/airborne/modules/imu/imu_mpu6000_hmc5883.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
rename to sw/airborne/modules/imu/imu_mpu6000_hmc5883.h
index 51e16e5d55..7a669512ca 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
+++ b/sw/airborne/modules/imu/imu_mpu6000_hmc5883.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu6000_hmc5883.h
+ * @file modules/imu/imu_mpu6000_hmc5883.h
  * Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.
  * E.g. for Aspirin 2.1
  */
@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_spi.h"
 #include "peripherals/hmc58xx.h"
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c b/sw/airborne/modules/imu/imu_mpu60x0_i2c.c
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
rename to sw/airborne/modules/imu/imu_mpu60x0_i2c.c
index 299dea0d99..3fe377be36 100644
--- a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
+++ b/sw/airborne/modules/imu/imu_mpu60x0_i2c.c
@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu60x0_i2c.c
+ * @file modules/imu/imu_mpu60x0_i2c.c
  * Driver for IMU with only MPU60X0 via I2C.
  */
 
 #include <math.h>
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h b/sw/airborne/modules/imu/imu_mpu60x0_i2c.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
rename to sw/airborne/modules/imu/imu_mpu60x0_i2c.h
index 2cfd311aef..8a8eb213e1 100644
--- a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
+++ b/sw/airborne/modules/imu/imu_mpu60x0_i2c.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu60x0_i2c.h
+ * @file modules/imu/imu_mpu60x0_i2c.h
  * Driver for IMU with only MPU60x0 via I2C.
  */
 
@@ -29,7 +29,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_i2c.h"
 
diff --git a/sw/airborne/modules/sensors/imu_mpu9250.c b/sw/airborne/modules/imu/imu_mpu9250.c
similarity index 96%
rename from sw/airborne/modules/sensors/imu_mpu9250.c
rename to sw/airborne/modules/imu/imu_mpu9250.c
index 1d72446d4f..fa7297cb56 100644
--- a/sw/airborne/modules/sensors/imu_mpu9250.c
+++ b/sw/airborne/modules/imu/imu_mpu9250.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file "modules/sensors/imu_mpu9250.c"
+ * @file "modules/imu/imu_mpu9250.c"
  * @author Gautier Hattenberger
  *
  * Test module for the mpu9250
  */
 
-#include "modules/sensors/imu_mpu9250.h"
+#include "modules/imu/imu_mpu9250.h"
 
 // Default I2C address
 #ifndef IMU_MPU9250_ADDR
diff --git a/sw/airborne/modules/sensors/imu_mpu9250.h b/sw/airborne/modules/imu/imu_mpu9250.h
similarity index 96%
rename from sw/airborne/modules/sensors/imu_mpu9250.h
rename to sw/airborne/modules/imu/imu_mpu9250.h
index a5c272cf75..033b78234a 100644
--- a/sw/airborne/modules/sensors/imu_mpu9250.h
+++ b/sw/airborne/modules/imu/imu_mpu9250.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file "modules/sensors/imu_mpu9250.h"
+ * @file "modules/imu/imu_mpu9250.h"
  * @author Gautier Hattenberger
  *
  * Test module for the mpu9250
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
rename to sw/airborne/modules/imu/imu_mpu9250_i2c.c
index 52763321d1..46e3b25fde 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu9250_i2c.c
+ * @file modules/imu/imu_mpu9250_i2c.c
  *
  * IMU driver for the MPU9250 using I2C
  *
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"
 #include "modules/core/abi.h"
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h b/sw/airborne/modules/imu/imu_mpu9250_i2c.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
rename to sw/airborne/modules/imu/imu_mpu9250_i2c.h
index c5cb7940dd..746a0e474b 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
+++ b/sw/airborne/modules/imu/imu_mpu9250_i2c.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu9250_i2c.h
+ * @file modules/imu/imu_mpu9250_i2c.h
  *
  * IMU driver for the MPU9250 using I2C
  *
@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu9250_i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/modules/imu/imu_mpu9250_spi.c
similarity index 99%
rename from sw/airborne/subsystems/imu/imu_mpu9250_spi.c
rename to sw/airborne/modules/imu/imu_mpu9250_spi.c
index 35a908e275..469dce6a0e 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
+++ b/sw/airborne/modules/imu/imu_mpu9250_spi.c
@@ -19,13 +19,13 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu9250_spi.c
+ * @file modules/imu/imu_mpu9250_spi.c
  *
  * IMU driver for the MPU9250 using SPI
  *
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/spi.h"
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h b/sw/airborne/modules/imu/imu_mpu9250_spi.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_mpu9250_spi.h
rename to sw/airborne/modules/imu/imu_mpu9250_spi.h
index 22406bdca5..7527427e15 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
+++ b/sw/airborne/modules/imu/imu_mpu9250_spi.h
@@ -19,7 +19,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_mpu9250_spi.h
+ * @file modules/imu/imu_mpu9250_spi.h
  *
  * IMU driver for the MPU9250 using SPI
  *
@@ -30,7 +30,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu9250_spi.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_navstik.c b/sw/airborne/modules/imu/imu_navstik.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_navstik.c
rename to sw/airborne/modules/imu/imu_navstik.c
index b1bd957815..9e2b857b50 100644
--- a/sw/airborne/subsystems/imu/imu_navstik.c
+++ b/sw/airborne/modules/imu/imu_navstik.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_navstik.c
+ * @file modules/imu/imu_navstik.c
  * Driver for the Navstik magnetometer, accelerometer and gyroscope
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_navstik.h b/sw/airborne/modules/imu/imu_navstik.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_navstik.h
rename to sw/airborne/modules/imu/imu_navstik.h
index 7de296a281..b466133cde 100644
--- a/sw/airborne/subsystems/imu/imu_navstik.h
+++ b/sw/airborne/modules/imu/imu_navstik.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_navstik.h
+ * @file modules/imu/imu_navstik.h
  * Interface for the Navstik magnetometer, accelerometer and gyroscope
  */
 
@@ -29,7 +29,7 @@
 #define IMU_NAVSTIK_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/hmc58xx.h"
 #include "peripherals/mpu60x0_i2c.h"
diff --git a/sw/airborne/subsystems/imu/imu_nps.c b/sw/airborne/modules/imu/imu_nps.c
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_nps.c
rename to sw/airborne/modules/imu/imu_nps.c
index 4dbb61ad53..28480c22d7 100644
--- a/sw/airborne/subsystems/imu/imu_nps.c
+++ b/sw/airborne/modules/imu/imu_nps.c
@@ -19,10 +19,10 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "generated/airframe.h"
-#include "subsystems/imu/imu_nps.h"
+#include "modules/imu/imu_nps.h"
 #include "nps_sensors.h"
 
 struct ImuNps imu_nps;
diff --git a/sw/airborne/subsystems/imu/imu_nps.h b/sw/airborne/modules/imu/imu_nps.h
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_nps.h
rename to sw/airborne/modules/imu/imu_nps.h
index f13e375201..8155b7ef37 100644
--- a/sw/airborne/subsystems/imu/imu_nps.h
+++ b/sw/airborne/modules/imu/imu_nps.h
@@ -22,7 +22,7 @@
 #ifndef IMU_NPS_H
 #define IMU_NPS_H
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "generated/airframe.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c b/sw/airborne/modules/imu/imu_ppzuav.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_ppzuav.c
rename to sw/airborne/modules/imu/imu_ppzuav.c
index 57b7d5a4b7..7663e388cf 100644
--- a/sw/airborne/subsystems/imu/imu_ppzuav.c
+++ b/sw/airborne/modules/imu/imu_ppzuav.c
@@ -21,14 +21,14 @@
  */
 
 /**
- * @file subsystems/imu/imu_ppzuav.h
+ * @file modules/imu/imu_ppzuav.h
  *
  * Driver for the PPZUAV IMU.
  *
  * 9DoM IMU with ITG-3200, ADXL345 and HMC5843, all via I2C.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.h b/sw/airborne/modules/imu/imu_ppzuav.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_ppzuav.h
rename to sw/airborne/modules/imu/imu_ppzuav.h
index e83878d291..7abeabab95 100644
--- a/sw/airborne/subsystems/imu/imu_ppzuav.h
+++ b/sw/airborne/modules/imu/imu_ppzuav.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_ppzuav.h
+ * @file modules/imu/imu_ppzuav.h
  *
  * Interface and defaults for the PPZUAV IMU.
  *
@@ -33,7 +33,7 @@
 #define IMU_PPZUAV_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/itg3200.h"
 #include "peripherals/hmc58xx.h"
diff --git a/sw/airborne/subsystems/imu/imu_px4_defaults.h b/sw/airborne/modules/imu/imu_px4_defaults.h
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_px4_defaults.h
rename to sw/airborne/modules/imu/imu_px4_defaults.h
index 7750693a01..11bc0702b1 100644
--- a/sw/airborne/subsystems/imu/imu_px4_defaults.h
+++ b/sw/airborne/modules/imu/imu_px4_defaults.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_px4_defaults.h
+ * @file modules/imu/imu_px4_defaults.h
  * Default sensitivity definitions for the Pixhawk IMU using the l3d20 gyro and lsm303dlc acc.
  */
 
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c b/sw/airborne/modules/imu/imu_px4fmu.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_px4fmu.c
rename to sw/airborne/modules/imu/imu_px4fmu.c
index 09846c10fd..a0d9554cc3 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu.c
+++ b/sw/airborne/modules/imu/imu_px4fmu.c
@@ -20,11 +20,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_px4fmu.c
+ * @file modules/imu/imu_px4fmu.c
  * Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883.
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/spi.h"
 #include "peripherals/hmc58xx_regs.h"
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.h b/sw/airborne/modules/imu/imu_px4fmu.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_px4fmu.h
rename to sw/airborne/modules/imu/imu_px4fmu.h
index dc4a736001..4993aec414 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu.h
+++ b/sw/airborne/modules/imu/imu_px4fmu.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_px4fmu.h
+ * @file modules/imu/imu_px4fmu.h
  * Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883.
  */
 
@@ -29,7 +29,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_spi.h"
 #include "peripherals/hmc58xx.h"
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c b/sw/airborne/modules/imu/imu_px4fmu_v2.4.c
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c
rename to sw/airborne/modules/imu/imu_px4fmu_v2.4.c
index 0cc165fe86..7a40b8c678 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.c
+++ b/sw/airborne/modules/imu/imu_px4fmu_v2.4.c
@@ -21,11 +21,11 @@
 
 
 /**
- * @file subsystems/imu/imu_px4fmu_v2.4.h
+ * @file modules/imu/imu_px4fmu_v2.4.h
  * Driver for pixhawk IMU's.
  * L3GD20H + LSM303D (both on spi)
  */
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/spi.h"
 #include "peripherals/l3gd20_regs.h"
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.h b/sw/airborne/modules/imu/imu_px4fmu_v2.4.h
similarity index 92%
rename from sw/airborne/subsystems/imu/imu_px4fmu_v2.4.h
rename to sw/airborne/modules/imu/imu_px4fmu_v2.4.h
index d1194c3f78..e091816b8d 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu_v2.4.h
+++ b/sw/airborne/modules/imu/imu_px4fmu_v2.4.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_px4fmu_v2.4.h
+ * @file modules/imu/imu_px4fmu_v2.4.h
  * Driver for pixhawk IMU's.
  * L3GD20H + LSM303D (both on spi)
  */
@@ -30,9 +30,9 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
-#include "subsystems/imu/imu_px4_defaults.h"
+#include "modules/imu/imu_px4_defaults.h"
 #include "peripherals/l3gd20_spi.h"
 #include "peripherals/lsm303d_spi.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_swing.c b/sw/airborne/modules/imu/imu_swing.c
similarity index 98%
rename from sw/airborne/subsystems/imu/imu_swing.c
rename to sw/airborne/modules/imu/imu_swing.c
index ae5b624813..83b61bc632 100644
--- a/sw/airborne/subsystems/imu/imu_swing.c
+++ b/sw/airborne/modules/imu/imu_swing.c
@@ -21,11 +21,11 @@
  */
 
 /**
- * @file subsystems/imu/imu_swing.c
+ * @file modules/imu/imu_swing.c
  * Driver for the Swing accelerometer and gyroscope
  */
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_swing.h b/sw/airborne/modules/imu/imu_swing.h
similarity index 97%
rename from sw/airborne/subsystems/imu/imu_swing.h
rename to sw/airborne/modules/imu/imu_swing.h
index 6e948708f2..7e7bebc42b 100644
--- a/sw/airborne/subsystems/imu/imu_swing.h
+++ b/sw/airborne/modules/imu/imu_swing.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/imu/imu_swing.h
+ * @file modules/imu/imu_swing.h
  * Interface for the Swing accelerometer and gyroscope
  */
 
@@ -30,7 +30,7 @@
 #define IMU_SWING_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #include "peripherals/mpu60x0_i2c.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_um6.c b/sw/airborne/modules/imu/imu_um6.c
similarity index 99%
rename from sw/airborne/subsystems/imu/imu_um6.c
rename to sw/airborne/modules/imu/imu_um6.c
index 5495f8f694..cc4d372446 100644
--- a/sw/airborne/subsystems/imu/imu_um6.c
+++ b/sw/airborne/modules/imu/imu_um6.c
@@ -30,8 +30,8 @@
 *
 * @author Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
 */
-#include "subsystems/imu/imu_um6.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu_um6.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_um6.h b/sw/airborne/modules/imu/imu_um6.h
similarity index 99%
rename from sw/airborne/subsystems/imu/imu_um6.h
rename to sw/airborne/modules/imu/imu_um6.h
index 7e2ca98f94..62f65a5640 100644
--- a/sw/airborne/subsystems/imu/imu_um6.h
+++ b/sw/airborne/modules/imu/imu_um6.h
@@ -34,7 +34,7 @@
 #define IMU_UM6_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/uart.h"
 #include "subsystems/ahrs.h"
 
diff --git a/sw/airborne/modules/imu/imu_vectornav.h b/sw/airborne/modules/imu/imu_vectornav.h
index a2b68c26cf..c27e650651 100644
--- a/sw/airborne/modules/imu/imu_vectornav.h
+++ b/sw/airborne/modules/imu/imu_vectornav.h
@@ -30,7 +30,7 @@
 #define IMU_VECTORNAV_H
 
 // Subsystem
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 // Peripheral
 #include "peripherals/vn200_serial.h"
diff --git a/sw/airborne/modules/ins/imu_xsens.h b/sw/airborne/modules/ins/imu_xsens.h
index 5fe305a678..da1d5d0568 100644
--- a/sw/airborne/modules/ins/imu_xsens.h
+++ b/sw/airborne/modules/ins/imu_xsens.h
@@ -32,7 +32,7 @@
 
 #include "std.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "xsens.h"
 
 extern void imu_xsens_init(void);
diff --git a/sw/airborne/modules/loggers/direct_memory_logger.c b/sw/airborne/modules/loggers/direct_memory_logger.c
index 15d81efeb2..9968648a2c 100644
--- a/sw/airborne/modules/loggers/direct_memory_logger.c
+++ b/sw/airborne/modules/loggers/direct_memory_logger.c
@@ -27,7 +27,7 @@
 
 #include "direct_memory_logger.h"
 #include "mcu_periph/uart.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "stabilization.h"
 
 struct DirectMemoryLogger dml;
diff --git a/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c b/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c
index 7070b51b12..a8fe98617a 100644
--- a/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c
+++ b/sw/airborne/modules/loggers/high_speed_logger_direct_memory.c
@@ -29,7 +29,7 @@
 
 #include <string.h>
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/spi.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c
index edfae797e8..5fdea8a5db 100644
--- a/sw/airborne/modules/loggers/high_speed_logger_spi_link.c
+++ b/sw/airborne/modules/loggers/high_speed_logger_spi_link.c
@@ -22,7 +22,7 @@
 
 #include "high_speed_logger_spi_link.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/spi.h"
 
 
diff --git a/sw/airborne/modules/loggers/logger_uart.c b/sw/airborne/modules/loggers/logger_uart.c
index dd6566adc1..178b4ca925 100644
--- a/sw/airborne/modules/loggers/logger_uart.c
+++ b/sw/airborne/modules/loggers/logger_uart.c
@@ -24,7 +24,7 @@
 
 #include "state.h"
 #include "led.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/uart.h"
 
 struct logger_uart_data_struct logger_uart_data;
diff --git a/sw/airborne/modules/meteo/wind_estimator.c b/sw/airborne/modules/meteo/wind_estimator.c
index 35edf65bbc..3db8b573be 100644
--- a/sw/airborne/modules/meteo/wind_estimator.c
+++ b/sw/airborne/modules/meteo/wind_estimator.c
@@ -285,7 +285,7 @@ static inline void wind_estimator_step(void)
 #endif
 }
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 /*----------------wind_estimator_periodic-------------*/
 /*  Put Data from State in struct use by the Thread   */
 /*----------------------------------------------------*/
diff --git a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c
index 43fb046f01..29f41de825 100644
--- a/sw/airborne/modules/sensors/cameras/jevois_mavlink.c
+++ b/sw/airborne/modules/sensors/cameras/jevois_mavlink.c
@@ -37,7 +37,7 @@
 #include <mavlink/mavlink_types.h>
 #include "mavlink/paparazzi/mavlink.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "autopilot.h"
 #include "generated/modules.h"
 
diff --git a/sw/airborne/modules/sensors/mag_hmc58xx.c b/sw/airborne/modules/sensors/mag_hmc58xx.c
index 09ec640a91..dd219e3fdf 100644
--- a/sw/airborne/modules/sensors/mag_hmc58xx.c
+++ b/sw/airborne/modules/sensors/mag_hmc58xx.c
@@ -51,7 +51,7 @@
 #endif
 
 #if MODULE_HMC58XX_UPDATE_AHRS
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 
 #if defined HMC58XX_MAG_TO_IMU_PHI && defined HMC58XX_MAG_TO_IMU_THETA && defined HMC58XX_MAG_TO_IMU_PSI
diff --git a/sw/airborne/modules/sensors/mag_ist8310.c b/sw/airborne/modules/sensors/mag_ist8310.c
index 6569463041..027174cf5d 100644
--- a/sw/airborne/modules/sensors/mag_ist8310.c
+++ b/sw/airborne/modules/sensors/mag_ist8310.c
@@ -50,7 +50,7 @@
 #endif
 
 #if MODULE_IST8310_UPDATE_AHRS
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 
 #if defined IST8310_MAG_TO_IMU_PHI && defined IST8310_MAG_TO_IMU_THETA && defined IST8310_MAG_TO_IMU_PSI
diff --git a/sw/airborne/modules/sensors/mag_lis3mdl.c b/sw/airborne/modules/sensors/mag_lis3mdl.c
index 7b89a0fa61..4716be098d 100644
--- a/sw/airborne/modules/sensors/mag_lis3mdl.c
+++ b/sw/airborne/modules/sensors/mag_lis3mdl.c
@@ -50,7 +50,7 @@
 #endif
 
 #if MODULE_LIS3MDL_UPDATE_AHRS
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 
 #if defined LIS3MDL_MAG_TO_IMU_PHI && defined LIS3MDL_MAG_TO_IMU_THETA && defined LIS3MDL_MAG_TO_IMU_PSI
diff --git a/sw/airborne/modules/sensors/mag_pitot_uart.c b/sw/airborne/modules/sensors/mag_pitot_uart.c
index 2853081571..7f9e940deb 100644
--- a/sw/airborne/modules/sensors/mag_pitot_uart.c
+++ b/sw/airborne/modules/sensors/mag_pitot_uart.c
@@ -30,7 +30,7 @@
 #include "pprzlink/intermcu_msg.h"
 #include "mcu_periph/uart.h"
 #include "modules/core/abi.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "state.h"
 
 /* Main magneto structure */
diff --git a/sw/airborne/modules/sensors/mag_rm3100.c b/sw/airborne/modules/sensors/mag_rm3100.c
index d0641c59cc..f41ca01ef2 100644
--- a/sw/airborne/modules/sensors/mag_rm3100.c
+++ b/sw/airborne/modules/sensors/mag_rm3100.c
@@ -58,7 +58,7 @@
 #endif
 
 #if MODULE_RM3100_UPDATE_AHRS
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 
 #if defined RM3100_MAG_TO_IMU_PHI && defined RM3100_MAG_TO_IMU_THETA && defined RM3100_MAG_TO_IMU_PSI
diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c
index e64ecf8599..7fa7e5bc3d 100644
--- a/sw/airborne/modules/vehicle_interface/vi.c
+++ b/sw/airborne/modules/vehicle_interface/vi.c
@@ -21,7 +21,7 @@
 
 #include "vehicle_interface/vi.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ahrs.h"
 #include "modules/gps/gps.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
index 68b41aed25..5a2795876e 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
@@ -29,7 +29,7 @@
 #include "ahrs_aligner.h"
 
 #include <stdlib.h> /* for abs() */
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "led.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/sys_time.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
index dd7cec5453..470f1d795f 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
@@ -33,7 +33,7 @@
 #define AHRS_GX3_H
 
 #include "generated/airframe.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ins.h"
 #include "modules/gps/gps.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c
index f12759c689..bbe441ad58 100644
--- a/sw/airborne/subsystems/ins/hf_float.c
+++ b/sw/airborne/subsystems/ins/hf_float.c
@@ -28,7 +28,7 @@
  */
 
 #include "subsystems/ins/hf_float.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "state.h"
 #include "modules/gps/gps.h"
 #include <stdlib.h>
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index e602bd6e95..e37f7306c4 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -30,7 +30,7 @@
 
 #include "modules/core/abi.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/gps/gps.h"
 
 #include "generated/airframe.h"
diff --git a/sw/airborne/test/ahrs/Makefile b/sw/airborne/test/ahrs/Makefile
index 5c5e56bf71..715c4391fd 100644
--- a/sw/airborne/test/ahrs/Makefile
+++ b/sw/airborne/test/ahrs/Makefile
@@ -36,7 +36,7 @@ SRCS= run_ahrs_on_flight_log.c                    \
 	  ../../math/pprz_trig_int.c                  \
 	  ../../subsystems/ahrs.c                     \
 	  ../../subsystems/ahrs/ahrs_aligner.c        \
-	  ../../subsystems/imu.c                      \
+	  ../../modules/imu/imu.c                      \
       ../../state.c                               \
       ../../math/pprz_orientation_conversion.c    \
       ../../math/pprz_geodetic_double.c           \
@@ -125,8 +125,8 @@ endif
 
 RAOS_SRCS =  ./ahrs_on_synth.c			 \
 			 ../../state.c \
-			 ../../subsystems/imu.c              \
-			 ../../subsystems/imu/imu_dummy.c    \
+			 ../../modules/imu/imu.c              \
+			 ../../modules/imu/imu_dummy.c    \
 			 ../../math/pprz_trig_int.c          \
 			 ../../math/pprz_orientation_conversion.c \
 			 ../../math/pprz_geodetic_int.c \
diff --git a/sw/airborne/test/ahrs/ahrs_on_synth.c b/sw/airborne/test/ahrs/ahrs_on_synth.c
index 4d30acb7fb..fa474d6313 100644
--- a/sw/airborne/test/ahrs/ahrs_on_synth.c
+++ b/sw/airborne/test/ahrs/ahrs_on_synth.c
@@ -2,7 +2,7 @@
 
 #include <stdio.h>
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ahrs.h"
 #include "../simulator/nps/nps_random.h"
 
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
index f97b1504a0..1735946547 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
@@ -15,7 +15,7 @@
 
 #include "subsystems/ahrs.h"
 #include "subsystems/ahrs/ahrs_aligner.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 
 #define AHRS_TYPE_FLG 0
 #define AHRS_TYPE_FCR 1
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth.c b/sw/airborne/test/ahrs/run_ahrs_on_synth.c
index 62573fb9da..0d29debdf0 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_synth.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_synth.c
@@ -2,7 +2,7 @@
 
 #include "test/ahrs/ahrs_on_synth.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ahrs.h"
 #include "subsystems/ahrs/ahrs_aligner.h"
 
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
index a12185cd9e..1469e3006a 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_synth_ivy.c
@@ -9,7 +9,7 @@
 
 #include "test/ahrs/ahrs_on_synth.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ahrs.h"
 
 #include "math/pprz_algebra_float.h"
diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c
index 2a4d3c3a25..c36c78564e 100644
--- a/sw/airborne/test/subsystems/test_ahrs.c
+++ b/sw/airborne/test/subsystems/test_ahrs.c
@@ -48,7 +48,7 @@
 #include "generated/settings.h"
 #include "generated/modules.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "subsystems/ahrs.h"
 
 static inline void main_init(void);
diff --git a/sw/airborne/test/subsystems/test_imu.c b/sw/airborne/test/subsystems/test_imu.c
index b2a4970383..972731fd92 100644
--- a/sw/airborne/test/subsystems/test_imu.c
+++ b/sw/airborne/test/subsystems/test_imu.c
@@ -37,7 +37,7 @@
 #include "subsystems/datalink/downlink.h"
 #include "modules/datalink/pprz_dl.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "modules/core/abi.h"
 
 #include "generated/modules.h"
diff --git a/sw/airborne/test/test_baro_board_imu.c b/sw/airborne/test/test_baro_board_imu.c
index 8234d10a88..b98dee6c52 100644
--- a/sw/airborne/test/test_baro_board_imu.c
+++ b/sw/airborne/test/test_baro_board_imu.c
@@ -30,7 +30,7 @@
 
 #include "mcu_periph/sys_time.h"
 
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "test_baro_board_imu.h"
 
 void test_baro_board_imu_init(void)
diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c
index 0531789ef7..cd50437944 100644
--- a/sw/simulator/nps/nps_autopilot_fixedwing.c
+++ b/sw/simulator/nps/nps_autopilot_fixedwing.c
@@ -42,7 +42,7 @@
 #include "nps_fdm.h"
 
 #include "modules/radio_control/radio_control.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/sys_time.h"
 #include "state.h"
 #include "modules/core/commands.h"
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index b0def137c2..d4a387b398 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -28,7 +28,7 @@
 #include "nps_fdm.h"
 
 #include "modules/radio_control/radio_control.h"
-#include "subsystems/imu.h"
+#include "modules/imu/imu.h"
 #include "mcu_periph/sys_time.h"
 #include "state.h"
 #include "subsystems/ahrs.h"