diff --git a/conf/settings/basic.xml b/conf/settings/basic.xml
index 997ed9ca38..a69afe1978 100644
--- a/conf/settings/basic.xml
+++ b/conf/settings/basic.xml
@@ -7,9 +7,9 @@
     <dl_settings NAME="flight params">
       <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
       <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1"/>        
         <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
 	<key_press key="greater" value="1"/>
diff --git a/conf/settings/fw_ctl_n.xml b/conf/settings/fw_ctl_n.xml
index 1959e7b649..eb3a8ac9e7 100644
--- a/conf/settings/fw_ctl_n.xml
+++ b/conf/settings/fw_ctl_n.xml
@@ -50,7 +50,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/lisa.xml b/conf/settings/lisa.xml
index 1f1d802734..9facc3d61b 100644
--- a/conf/settings/lisa.xml
+++ b/conf/settings/lisa.xml
@@ -7,9 +7,9 @@
     <dl_settings NAME="flight params">
       <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
       <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1"/>        
         <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
 	<key_press key="greater" value="1"/>
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index 70f9ed3ff0..170cea7188 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -21,7 +21,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
 
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
         <key_press key="greater" value="1"/>
@@ -99,7 +99,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
index 6282e488d4..c70089189a 100644
--- a/conf/settings/tuningJH.xml
+++ b/conf/settings/tuningJH.xml
@@ -83,7 +83,7 @@
         <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
         <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift">
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
 	</dl_setting>
 	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
 	<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 59fc7b5257..373fcf1c06 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -21,7 +21,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
 
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1" group="circle"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1" group="circle"/>
         <key_press key="greater" value="1"/>
@@ -115,7 +115,7 @@
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="1" MIN="0" STEP="0.1" VAR="fp_throttle"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index a778e360f0..f8f1cfee58 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -21,7 +21,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
 
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
         <key_press key="greater" value="1"/>
@@ -88,7 +88,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
index 0122b8b518..87521b9950 100644
--- a/conf/settings/tuning_loiter.xml
+++ b/conf/settings/tuning_loiter.xml
@@ -21,7 +21,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
 
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
         <key_press key="greater" value="1"/>
@@ -99,7 +99,7 @@
         <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
         <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
index 247b28b69f..e335eaeb67 100644
--- a/conf/settings/tuning_tp_auto.xml
+++ b/conf/settings/tuning_tp_auto.xml
@@ -71,7 +71,7 @@
         <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
         <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift">
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
 	</dl_setting>
 	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
 	<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
diff --git a/conf/settings/ugv.xml b/conf/settings/ugv.xml
index febc7b230d..71eba1ade6 100644
--- a/conf/settings/ugv.xml
+++ b/conf/settings/ugv.xml
@@ -6,7 +6,7 @@
   <dl_settings>
     <dl_settings NAME="flight params">
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
       <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
     </dl_settings>