diff --git a/conf/airframes/CDW/DualBoardApFbw.xml b/conf/airframes/CDW/DualBoardApFbw.xml
index 61d2612822..f46838d67c 100644
--- a/conf/airframes/CDW/DualBoardApFbw.xml
+++ b/conf/airframes/CDW/DualBoardApFbw.xml
@@ -248,7 +248,7 @@
       </subsystem>
 
       <subsystem name="control"/>
-      <subsystem name="navigation" type="extra"/>
+      <subsystem name="navigation"/>
     </target>
 
     <target name="fbw" board="lisa_m_2.0">
@@ -271,7 +271,7 @@
     <target name="sim" board="pc">
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="control"/>
-      <subsystem name="navigation" type="extra"/>
+      <subsystem name="navigation"/>
     </target>
 
     <configure name="FLASH_MODE" value="JTAG"/>
diff --git a/conf/airframes/CDW/classix.xml b/conf/airframes/CDW/classix.xml
index 1e87b19a12..6f3f3a87d3 100644
--- a/conf/airframes/CDW/classix.xml
+++ b/conf/airframes/CDW/classix.xml
@@ -189,7 +189,7 @@
       <define name="ADC_6" value="AdcBank0\(3\)"/>
 
       <subsystem name="control"/>
-      <subsystem name="navigation" type="extra"/>
+      <subsystem name="navigation"/>
     </target>
 
     <target name="fbw" board="classix">
@@ -206,7 +206,7 @@
     <target name="sim" board="pc">
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="control"/>
-      <subsystem name="navigation" type="extra"/>
+      <subsystem name="navigation"/>
     </target>
 
     <define name="DC_IMAGE_BUFFER" value="65000" />
diff --git a/conf/airframes/examples/Twinstar_energyadaptive.xml b/conf/airframes/examples/Twinstar_energyadaptive.xml
index 694fbd9aa1..4eb5f11bae 100644
--- a/conf/airframes/examples/Twinstar_energyadaptive.xml
+++ b/conf/airframes/examples/Twinstar_energyadaptive.xml
@@ -41,7 +41,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <subsystem name="ahrs"      type="int_cmpl_quat"/>
     <subsystem name="ins"	type="alt_float"/>
     <subsystem name="control" type="energyadaptive"/>
-    <subsystem name="navigation" type="extra"/>
+    <subsystem name="navigation"/>
 </firmware>
 
   <modules>
@@ -60,6 +60,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <load name="digital_cam.xml">
       <define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
     </load>
+    <load name="nav_survey_poly_adv.xml"/>
   </modules>
 
 <!-- ################################################## -->
diff --git a/conf/airframes/examples/easystar_ets.xml b/conf/airframes/examples/easystar_ets.xml
index 9e0ec4944d..43d1ba1f37 100644
--- a/conf/airframes/examples/easystar_ets.xml
+++ b/conf/airframes/examples/easystar_ets.xml
@@ -25,7 +25,7 @@
     <subsystem name="control"/>
     <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="navigation"    type="extra"/>
+    <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
   </firmware>
 
diff --git a/conf/airframes/examples/funjet_cam.xml b/conf/airframes/examples/funjet_cam.xml
index 6d14f4906c..5f98dddb82 100644
--- a/conf/airframes/examples/funjet_cam.xml
+++ b/conf/airframes/examples/funjet_cam.xml
@@ -29,7 +29,7 @@
     <subsystem name="ahrs" 		  type="infrared"/>
     <subsystem name="gps" 		  type="ublox"/>
     <subsystem name="ins"         type="gps_passthrough"/>
-    <subsystem name="navigation"  type="extra"/>
+    <subsystem name="navigation"/>
   </firmware>
 
 
diff --git a/conf/airframes/examples/separate_fbw_ap.xml b/conf/airframes/examples/separate_fbw_ap.xml
index 4f2584386a..a2747c1603 100644
--- a/conf/airframes/examples/separate_fbw_ap.xml
+++ b/conf/airframes/examples/separate_fbw_ap.xml
@@ -292,7 +292,7 @@
     <!-- Actuators -->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="navigation" type="extra"/>
+    <subsystem name="navigation"/>
     <subsystem name="gps" type="ublox">
       <configure name="GPS_PORT" value="UART1"/>
     </subsystem>
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index c0571178e8..31d7cbb8ba 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -34,7 +34,7 @@
 
     <!-- Control -->
     <subsystem name="control" type="new"/>
-    <subsystem name="navigation" type="extra"/>
+    <subsystem name="navigation"/>
 
     <subsystem name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="0"/>
diff --git a/conf/airframes/obsolete/mentor_tum.xml b/conf/airframes/obsolete/mentor_tum.xml
index 25198861d3..1fc4db4da6 100644
--- a/conf/airframes/obsolete/mentor_tum.xml
+++ b/conf/airframes/obsolete/mentor_tum.xml
@@ -24,7 +24,7 @@
     <subsystem name="control"/>
     <subsystem name="ahrs" type="infrared"/>
     <subsystem name="gps" type="ublox"/>
-    <subsystem name="navigation" type="extra"/>
+    <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
   </firmware>
 
diff --git a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
index f8a2d463fb..086f69fd70 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
@@ -1,13 +1,7 @@
-# Hey Emacs, this is a -*- makefile -*-
+include $(CFG_FIXEDWING)/navigation.makefile
 
-# standard and extra fixed wing navigation
+$(warning Warning: Extra navigation routines have been converted to modules.)
+$(info Please replace <subsystem name="navigation" type="extra"/> with <subsystem name="navigation"/>)
 
 
-#add these to all targets
-
-$(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c