diff --git a/conf/autopilot/booz2_actuators_asctec.makefile b/conf/autopilot/booz2_actuators_asctec.makefile
index 467f0a3da0..b3d4f479bd 100644
--- a/conf/autopilot/booz2_actuators_asctec.makefile
+++ b/conf/autopilot/booz2_actuators_asctec.makefile
@@ -8,5 +8,5 @@ ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 # asctec controllers
 sim.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
-sim.srcs += $(SRC_BOOZ_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
+sim.srcs += $(SRC_BOOZ_SIM)/actuators_asctec_twi_blmc_hw.c actuators.c
 
diff --git a/conf/autopilot/booz2_imu_b2v1.makefile b/conf/autopilot/booz2_imu_b2v1.makefile
index 010a53db59..218fe51b6d 100644
--- a/conf/autopilot/booz2_imu_b2v1.makefile
+++ b/conf/autopilot/booz2_imu_b2v1.makefile
@@ -47,11 +47,11 @@
 #
 
 # imu Booz2 v1
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"impl/booz_imu_b2.h\"
+ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
 ap.CFLAGS += -DSSP_VIC_SLOT=9
-ap.srcs += $(SRC_BOOZ)/booz_imu.c                    \
-           $(SRC_BOOZ)/impl/booz_imu_b2.c            \
-           $(SRC_BOOZ_ARCH)/impl/booz_imu_b2_arch.c
+ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \
+           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
+           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
 
 ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
@@ -62,3 +62,16 @@ ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
 ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
 
 
+#
+# Simulator
+#
+
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"impl/booz_imu_b2.h\"
+sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
+            $(SRC_BOOZ)/imu/booz_imu_b2.c          \
+            $(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
+
+
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+            $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+
diff --git a/conf/autopilot/booz2_imu_b2v1_1.makefile b/conf/autopilot/booz2_imu_b2v1_1.makefile
index 1949861f25..675745aa60 100644
--- a/conf/autopilot/booz2_imu_b2v1_1.makefile
+++ b/conf/autopilot/booz2_imu_b2v1_1.makefile
@@ -47,17 +47,17 @@
 #
 
 # imu Booz2 v1.1
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"impl/booz_imu_b2.h\"
+ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
 ap.srcs += $(SRC_BOOZ)/booz_imu.c
 ap.CFLAGS += -DSSP_VIC_SLOT=9 -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ap.srcs += $(SRC_BOOZ)/impl/booz_imu_b2.c \
-           $(SRC_BOOZ_ARCH)/impl/booz_imu_b2_arch.c
+ap.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c \
+           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
 
 ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
            $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 
-ap.CFLAGS += -DUSE_MICROMAG -DMICROMAG_DRDY_VIC_SLOT=11
+ap.CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
            $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
diff --git a/conf/autopilot/booz2_imu_crista.makefile b/conf/autopilot/booz2_imu_crista.makefile
index ab5cb2df68..62cb80c18a 100644
--- a/conf/autopilot/booz2_imu_crista.makefile
+++ b/conf/autopilot/booz2_imu_crista.makefile
@@ -48,13 +48,14 @@
 
 
 
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"impl/booz_imu_crista.h\"
+ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\"
 ap.srcs += $(SRC_BOOZ)/booz_imu.c             \
-           $(SRC_BOOZ_IMPL)/booz_imu_crista.c \
-           $(SRC_BOOZ_ARCH_IMPL)/booz_imu_crista_arch.c
+           $(SRC_BOOZ)/imu/booz_imu_crista.c \
+           $(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
+
 ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
 ap.CFLAGS += -DUSE_AMI601
-ap.srcs += $(SRC_BOOZ_PERIPH)/booz_ami601.c
+ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
 
 
 
diff --git a/conf/autopilot/booz2_radio_control_ppm.makefile b/conf/autopilot/booz2_radio_control_ppm.makefile
index d38b606d61..1d04b27026 100644
--- a/conf/autopilot/booz2_radio_control_ppm.makefile
+++ b/conf/autopilot/booz2_radio_control_ppm.makefile
@@ -1,7 +1,19 @@
-
+#
+# Autopilot
+#
 ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
-ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"impl/booz_radio_control_ppm.h\"
+ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
 ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
 ap.srcs += $(SRC_BOOZ)/booz_radio_control.c                    \
-           $(SRC_BOOZ_IMPL)/booz_radio_control_ppm.c           \
-           $(SRC_BOOZ_ARCH_IMPL)/booz_radio_control_ppm_arch.c
\ No newline at end of file
+           $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c  \
+           $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+
+#
+# Simulator
+#
+sim.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
+sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+sim.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+            $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
+            $(SRC_BOOZ_SIM)/radio_contrl/booz_radio_control_ppm_arch.c
diff --git a/conf/autopilot/booz2_radio_control_spektrum.makefile b/conf/autopilot/booz2_radio_control_spektrum.makefile
index 92900e17bc..4b2eaf84e0 100644
--- a/conf/autopilot/booz2_radio_control_spektrum.makefile
+++ b/conf/autopilot/booz2_radio_control_spektrum.makefile
@@ -1,6 +1,6 @@
 
 ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
-ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"impl/booz_radio_control_spektrum.h\"
+ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"impl/booz_radio_control_spektrum_dx7se.h\"
 ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
 ap.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
diff --git a/conf/autopilot/booz2_simulator_nps.makefile b/conf/autopilot/booz2_simulator_nps.makefile
index 73e8974108..9d3e7951f2 100644
--- a/conf/autopilot/booz2_simulator_nps.makefile
+++ b/conf/autopilot/booz2_simulator_nps.makefile
@@ -9,7 +9,7 @@ JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
 JSBSIM_LIB = $(JSBSIM_ROOT)/lib
 
 SRC_BOOZ=booz
-SRC_BOOZ_SIM = $(SRC_BOOZ)/sim
+SRC_BOOZ_SIM = $(SRC_BOOZ)/arch/sim
 
 
 sim.ARCHDIR = $(ARCHI)
@@ -42,9 +42,9 @@ sim.srcs = $(SIMDIR)/nps_main.c                      \
 	   $(SIMDIR)/nps_flightgear.c                \
 
 
-sim.srcs += $(SRC_BOOZ)/booz_trig_int.c \
-            pprz_geodetic_float.c       \
-            pprz_geodetic_double.c      \
+sim.srcs += math/pprz_trig_int.c             \
+            math/pprz_geodetic_float.c       \
+            math/pprz_geodetic_double.c      \
 
 
 
@@ -66,15 +66,10 @@ sim.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
 
 sim.srcs   += $(SRC_BOOZ)/booz2_commands.c
 
-#sim.CFLAGS += -DRADIO_CONTROL -DRC_LED=1
-#sim.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-sim.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
-sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz_radio_control_ppm.h\"
-sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-sim.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-            $(SRC_BOOZ)/booz_radio_control_ppm.c \
-            $(SRC_BOOZ_SIM)/booz_radio_control_ppm_hw.c
+#
+#
+#
 
 
 sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
@@ -101,7 +96,7 @@ sim.srcs += $(SRC_BOOZ)/booz2_stabilization_attitude.c
 
 sim.srcs += $(SRC_BOOZ)/booz2_guidance_h.c
 sim.srcs += $(SRC_BOOZ)/booz2_guidance_v.c
-sim.srcs += pprz_geodetic_int.c
+sim.srcs += math/pprz_geodetic_int.c
 sim.srcs += $(SRC_BOOZ)/booz2_ins.c
 #  vertical filter float version
 sim.srcs += $(SRC_BOOZ)/booz2_vf_float.c
@@ -112,8 +107,4 @@ sim.srcs += $(SRC_BOOZ)/booz2_hf_float.c
 
 sim.srcs += $(SRC_BOOZ)/booz2_navigation.c
 
-sim.srcs += $(SRC_BOOZ)/booz2_fms.c
-sim.CFLAGS += -DBOOZ2_FMS_TYPE=BOOZ2_FMS_TYPE_TEST_SIGNAL
-sim.srcs += $(SRC_BOOZ)/booz2_fms_test_signal.c
-
 
diff --git a/sw/airborne/arm7/sys_time_hw.c b/sw/airborne/arm7/sys_time_hw.c
index 0e0f76bce9..d2aebba475 100644
--- a/sw/airborne/arm7/sys_time_hw.c
+++ b/sw/airborne/arm7/sys_time_hw.c
@@ -20,7 +20,7 @@ uint32_t sys_time_chrono;       /* T0TC ticks */
 #endif
 
 #if defined USE_RADIO_CONTROL && defined RADIO_CONTROL_TYPE_PPM
-#include RADIO_CONTROL_TYPE_H
+#include "radio_control/booz_radio_control_ppm.h"
 #else
 #define RADIO_CONTROL_PPM_IT 0x00
 #endif
diff --git a/sw/airborne/booz/arch/lpc21/impl/booz_imu_b2_arch.c b/sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.c
similarity index 100%
rename from sw/airborne/booz/arch/lpc21/impl/booz_imu_b2_arch.c
rename to sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.c
diff --git a/sw/airborne/booz/arch/lpc21/impl/booz_imu_b2_arch.h b/sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.h
similarity index 100%
rename from sw/airborne/booz/arch/lpc21/impl/booz_imu_b2_arch.h
rename to sw/airborne/booz/arch/lpc21/imu/booz_imu_b2_arch.h
diff --git a/sw/airborne/booz/arch/lpc21/impl/booz_imu_crista_arch.c b/sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.c
similarity index 100%
rename from sw/airborne/booz/arch/lpc21/impl/booz_imu_crista_arch.c
rename to sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.c
diff --git a/sw/airborne/booz/arch/lpc21/impl/booz_imu_crista_arch.h b/sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.h
similarity index 100%
rename from sw/airborne/booz/arch/lpc21/impl/booz_imu_crista_arch.h
rename to sw/airborne/booz/arch/lpc21/imu/booz_imu_crista_arch.h
diff --git a/sw/airborne/booz/arch/lpc21/peripherals/booz_ms2001_arch.c b/sw/airborne/booz/arch/lpc21/peripherals/booz_ms2001_arch.c
index e8b74147e5..b41db8ea8b 100644
--- a/sw/airborne/booz/arch/lpc21/peripherals/booz_ms2001_arch.c
+++ b/sw/airborne/booz/arch/lpc21/peripherals/booz_ms2001_arch.c
@@ -14,13 +14,13 @@ static void EXTINT_ISR(void) __attribute__((naked));
 
 void ms2001_arch_init( void ) {
 
-  Ms2001Unselect();                   /* pin idles high */
   /* configure SS pin */
+  Ms2001Unselect();                       /* pin idles high */
   SetBit(MS2001_SS_IODIR, MS2001_SS_PIN); /* pin is output  */
 
   /* configure RESET pin */
-  SetBit(MS2001_RESET_IODIR, MS2001_RESET_PIN); /* pin is output  */
   Ms2001Reset();                                /* pin idles low  */
+  SetBit(MS2001_RESET_IODIR, MS2001_RESET_PIN); /* pin is output  */
 
   /* configure DRDY pin */
   /* connected pin to EXINT */ 
@@ -32,8 +32,8 @@ void ms2001_arch_init( void ) {
   /* initialize interrupt vector */
   VICIntSelect &= ~VIC_BIT( MS2001_DRDY_VIC_IT );                       /* select EINT as IRQ source */
   VICIntEnable = VIC_BIT( MS2001_DRDY_VIC_IT );                         /* enable it                 */
-  _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MS2001_DRDY_VIC_IT;
-  _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR;         // address of the ISR 
+  _VIC_CNTL(MS2001_DRDY_VIC_SLOT) = VIC_ENABLE | MS2001_DRDY_VIC_IT;
+  _VIC_ADDR(MS2001_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR;         // address of the ISR 
 
 }
 
diff --git a/sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.c b/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
similarity index 100%
rename from sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.c
rename to sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
diff --git a/sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.h b/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
similarity index 92%
rename from sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.h
rename to sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
index a30916fae2..bd42f99bcb 100644
--- a/sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.h
+++ b/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
@@ -21,9 +21,8 @@
  * Boston, MA 02111-1307, USA. 
  */
 
-#ifndef BOOZ_RADIO_CONTROL_PPM_HW_H
-#define BOOZ_RADIO_CONTROL_PPM_HW_H
-
+#ifndef BOOZ_RADIO_CONTROL_PPM_ARCH_H
+#define BOOZ_RADIO_CONTROL_PPM_ARCH_H
 
 
 #include "LPC21xx.h"
@@ -32,7 +31,6 @@
 extern uint8_t  booz_radio_control_ppm_cur_pulse;
 extern uint32_t booz_radio_control_ppm_last_pulse_time;
 
-extern void booz_radio_control_ppm_arch_init ( void );
 
 #define RADIO_CONTROL_PPM_IT PPM_CRI
 #define RADIO_CONTROL_PPM_ISR() {					\
@@ -62,4 +60,4 @@ extern void booz_radio_control_ppm_arch_init ( void );
   }
 
 
-#endif /* BOOZ_RADIO_CONTROL_PPM_HW_H */
+#endif /* BOOZ_RADIO_CONTROL_PPM_ARCH_H */
diff --git a/sw/airborne/booz/arch/sim/booz2_max1168_sim.c b/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.c
similarity index 89%
rename from sw/airborne/booz/arch/sim/booz2_max1168_sim.c
rename to sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.c
index f8cf89db2e..97ab97f782 100644
--- a/sw/airborne/booz/arch/sim/booz2_max1168_sim.c
+++ b/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.c
@@ -21,8 +21,13 @@
  * Boston, MA 02111-1307, USA. 
  */
 
-#include "booz2_max1168.h"
+#include "booz_imu.h"
 
-void booz2_max1168_hw_init( void ) {}
+void booz_imu_b2_arch_init(void) {
+
+}
+
+void booz_imu_periodic(void) {
+
+}
 
-void booz2_max1168_read( void ) {}
diff --git a/sw/airborne/booz/arch/sim/booz2_imu_b2_hw.h b/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.h
similarity index 81%
rename from sw/airborne/booz/arch/sim/booz2_imu_b2_hw.h
rename to sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.h
index b069470405..e001586274 100644
--- a/sw/airborne/booz/arch/sim/booz2_imu_b2_hw.h
+++ b/sw/airborne/booz/arch/sim/imu/booz_imu_b2_arch.h
@@ -23,15 +23,14 @@
 
 /*
  *
- * simulator plug for the booz2 v1 imu hw funtions
+ * simulator plug for the booz2 v1 imu arch dependant functions
  *
  */
-#ifndef BOOZ2_IMU_B2_HW_H
-#define BOOZ2_IMU_B2_HW_H
+#ifndef BOOZ2_IMU_B2_ARCH_H
+#define BOOZ2_IMU_B2_ARCH_H
 
-extern void booz2_imu_b2_hw_init(void);
 
-#define booz2_imu_feed_data() {						\
+#define booz_imu_feed_gyro_accel() {					\
     booz2_max1168_values[IMU_GYRO_P_CHAN] = bsm.gyro->ve[AXIS_P];	\
     booz2_max1168_values[IMU_GYRO_Q_CHAN] = bsm.gyro->ve[AXIS_Q];	\
     booz2_max1168_values[IMU_GYRO_R_CHAN] = bsm.gyro->ve[AXIS_R];	\
@@ -41,11 +40,5 @@ extern void booz2_imu_b2_hw_init(void);
     booz2_max1168_status = STA_MAX1168_DATA_AVAILABLE;			\
   }
 
-#ifdef USE_MICROMAG
-#define Booz2ImuSpiEvent(_handler1,_handler2) {}
-#else // NO MICROMAG
-#define Booz2ImuSpiEvent(_handler) {}
-#endif
-
 
 #endif /* BOOZ2_IMU_B2_HW_H */
diff --git a/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c b/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c
new file mode 100644
index 0000000000..6c8536431b
--- /dev/null
+++ b/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c
@@ -0,0 +1,28 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "peripherals/booz_max1168.h"
+
+void booz_max1168_arch_init( void ) {}
+
+void booz_max1168_read( void ) {}
diff --git a/sw/airborne/booz/arch/sim/booz2_max1168_hw.h b/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h
similarity index 95%
rename from sw/airborne/booz/arch/sim/booz2_max1168_hw.h
rename to sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h
index f10713aef1..e8aaf81afe 100644
--- a/sw/airborne/booz/arch/sim/booz2_max1168_hw.h
+++ b/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h
@@ -30,6 +30,5 @@
 #ifndef BOOZ2_MAX1168_HW_H
 #define BOOZ2_MAX1168_HW_H
 
-extern void booz2_max1168_hw_init( void );
 
 #endif /* BOOZ2_MAX1168_HW_H */
diff --git a/sw/airborne/booz/arch/sim/booz2_imu_b2_hw.c b/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.c
similarity index 91%
rename from sw/airborne/booz/arch/sim/booz2_imu_b2_hw.c
rename to sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.c
index 5bfbf14e6c..bd958dd546 100644
--- a/sw/airborne/booz/arch/sim/booz2_imu_b2_hw.c
+++ b/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.c
@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA. 
  */
 
-#include "booz2_imu_b2.h"
+#include "booz_radio_control.h"
 
-void booz2_imu_b2_hw_init(void) {
+void booz_radio_control_ppm_arch_init ( void ) {
 
 }
diff --git a/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h b/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
new file mode 100644
index 0000000000..a08114913e
--- /dev/null
+++ b/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
@@ -0,0 +1,29 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_PPM_ARCH_H
+#define BOOZ_RADIO_CONTROL_PPM_ARCH_H
+
+
+
+#endif /* BOOZ_RADIO_CONTROL_PPM_ARCH_H */
diff --git a/sw/airborne/booz/impl/booz_fms_datalink.c b/sw/airborne/booz/fms/booz_fms_datalink.c
similarity index 100%
rename from sw/airborne/booz/impl/booz_fms_datalink.c
rename to sw/airborne/booz/fms/booz_fms_datalink.c
diff --git a/sw/airborne/booz/impl/booz_fms_datalink.h b/sw/airborne/booz/fms/booz_fms_datalink.h
similarity index 100%
rename from sw/airborne/booz/impl/booz_fms_datalink.h
rename to sw/airborne/booz/fms/booz_fms_datalink.h
diff --git a/sw/airborne/booz/impl/booz_fms_test_signal.c b/sw/airborne/booz/fms/booz_fms_test_signal.c
similarity index 100%
rename from sw/airborne/booz/impl/booz_fms_test_signal.c
rename to sw/airborne/booz/fms/booz_fms_test_signal.c
diff --git a/sw/airborne/booz/impl/booz_fms_test_signal.h b/sw/airborne/booz/fms/booz_fms_test_signal.h
similarity index 100%
rename from sw/airborne/booz/impl/booz_fms_test_signal.h
rename to sw/airborne/booz/fms/booz_fms_test_signal.h
diff --git a/sw/airborne/booz/impl/booz_imu_b2.c b/sw/airborne/booz/imu/booz_imu_b2.c
similarity index 100%
rename from sw/airborne/booz/impl/booz_imu_b2.c
rename to sw/airborne/booz/imu/booz_imu_b2.c
diff --git a/sw/airborne/booz/impl/booz_imu_b2.h b/sw/airborne/booz/imu/booz_imu_b2.h
similarity index 98%
rename from sw/airborne/booz/impl/booz_imu_b2.h
rename to sw/airborne/booz/imu/booz_imu_b2.h
index fe833500fe..ccce8eb066 100644
--- a/sw/airborne/booz/impl/booz_imu_b2.h
+++ b/sw/airborne/booz/imu/booz_imu_b2.h
@@ -75,7 +75,7 @@
 
 
 /* underlying architecture */
-#include "impl/booz_imu_b2_arch.h"
+#include "imu/booz_imu_b2_arch.h"
 /* must be implemented by underlying architecture */
 extern void booz_imu_b2_arch_init(void);
 
diff --git a/sw/airborne/booz/impl/booz_imu_crista.c b/sw/airborne/booz/imu/booz_imu_crista.c
similarity index 100%
rename from sw/airborne/booz/impl/booz_imu_crista.c
rename to sw/airborne/booz/imu/booz_imu_crista.c
diff --git a/sw/airborne/booz/impl/booz_imu_crista.h b/sw/airborne/booz/imu/booz_imu_crista.h
similarity index 98%
rename from sw/airborne/booz/impl/booz_imu_crista.h
rename to sw/airborne/booz/imu/booz_imu_crista.h
index d8de88236f..7b2ca57153 100644
--- a/sw/airborne/booz/impl/booz_imu_crista.h
+++ b/sw/airborne/booz/imu/booz_imu_crista.h
@@ -64,7 +64,7 @@ extern bool_t ADS8344_available;
 #endif
 
 /* underlying architecture */
-#include "impl/booz_imu_crista_arch.h"
+#include "imu/booz_imu_crista_arch.h"
 /* must be defined by underlying architecture */
 extern void booz_imu_crista_arch_init(void);
 
diff --git a/sw/airborne/booz/impl/booz_radio_control_ppm.c b/sw/airborne/booz/radio_control/booz_radio_control_ppm.c
similarity index 100%
rename from sw/airborne/booz/impl/booz_radio_control_ppm.c
rename to sw/airborne/booz/radio_control/booz_radio_control_ppm.c
diff --git a/sw/airborne/booz/impl/booz_radio_control_ppm.h b/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
similarity index 78%
rename from sw/airborne/booz/impl/booz_radio_control_ppm.h
rename to sw/airborne/booz/radio_control/booz_radio_control_ppm.h
index a3f955dab7..5cb3efe516 100644
--- a/sw/airborne/booz/impl/booz_radio_control_ppm.h
+++ b/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
@@ -24,12 +24,21 @@
 #ifndef BOOZ_RADIO_CONTROL_PPM_H
 #define BOOZ_RADIO_CONTROL_PPM_H
 
-#include "impl/booz_radio_control_ppm_arch.h"
-
-#include "conf_radio_control_ppm.h" /* generated code */
+/** 
+ * Architecture dependant code 
+ */
+#include "radio_control/booz_radio_control_ppm_arch.h"
+/* must be implemented by arch dependant code */
+extern void booz_radio_control_ppm_arch_init ( void );
 
 /**
- *  Radio control type : futaba is falling edge clocked whereas JR is rising edge
+ * Generated code holding the description of a given 
+ * transmitter  
+ */
+#include "conf_radio_control_ppm.h" 
+                                     
+/**
+ *  ppm pulse type : futaba is falling edge clocked whereas JR is rising edge
  */
 #define PPM_PULSE_TYPE_POSITIVE 0
 #define PPM_PULSE_TYPE_NEGATIVE 1
diff --git a/sw/airborne/booz/impl/booz_radio_control_spektrum.c b/sw/airborne/booz/radio_control/booz_radio_control_spektrum.c
similarity index 100%
rename from sw/airborne/booz/impl/booz_radio_control_spektrum.c
rename to sw/airborne/booz/radio_control/booz_radio_control_spektrum.c
diff --git a/sw/airborne/booz/impl/booz_radio_control_spektrum.h b/sw/airborne/booz/radio_control/booz_radio_control_spektrum.h
similarity index 100%
rename from sw/airborne/booz/impl/booz_radio_control_spektrum.h
rename to sw/airborne/booz/radio_control/booz_radio_control_spektrum.h
diff --git a/sw/airborne/booz/impl/booz_radio_control_spektrum_dx7se.h b/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h
similarity index 100%
rename from sw/airborne/booz/impl/booz_radio_control_spektrum_dx7se.h
rename to sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h
diff --git a/sw/simulator/nps_fdm.h b/sw/simulator/nps_fdm.h
index 5bd9022618..9947d43da9 100644
--- a/sw/simulator/nps_fdm.h
+++ b/sw/simulator/nps_fdm.h
@@ -3,8 +3,8 @@
 
 
 #include "std.h"
-#include "pprz_geodetic_double.h"
-#include "pprz_algebra_double.h"
+#include "math/pprz_geodetic_double.h"
+#include "math/pprz_algebra_double.h"
 
 /*
   Notations for fdm variables
diff --git a/sw/simulator/nps_fdm_jsbsim.c b/sw/simulator/nps_fdm_jsbsim.c
index 0de601bd8d..201c92965c 100644
--- a/sw/simulator/nps_fdm_jsbsim.c
+++ b/sw/simulator/nps_fdm_jsbsim.c
@@ -5,11 +5,11 @@
 #include "nps_fdm.h"
 #include "6dof.h"
 #include "airframe.h"
-#include "pprz_geodetic.h"
-#include "pprz_geodetic_double.h"
-#include "pprz_geodetic_float.h"
-#include "pprz_algebra.h"
-#include "pprz_algebra_float.h"
+#include "math/pprz_geodetic.h"
+#include "math/pprz_geodetic_double.h"
+#include "math/pprz_geodetic_float.h"
+#include "math/pprz_algebra.h"
+#include "math/pprz_algebra_float.h"
 
 #define MetersOfFeet(_f) ((_f)/3.2808399)
 
@@ -118,7 +118,8 @@ static void test123(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
  
   fdm_lla->lat = propagate->GetLatitude();
   fdm_lla->lon = propagate->GetLongitude();
-  fdm_lla->alt = MetersOfFeet(propagate->Geth());
+  // FIXME
+  //  fdm_lla->alt = MetersOfFeet(propagate->Geth());
 
 }
 
diff --git a/sw/simulator/nps_ivy.c b/sw/simulator/nps_ivy.c
index f9283cbfbd..098a474059 100644
--- a/sw/simulator/nps_ivy.c
+++ b/sw/simulator/nps_ivy.c
@@ -5,7 +5,7 @@
 #include <Ivy/ivyglibloop.h>
 
 #include "airframe.h"
-#include "pprz_algebra_double.h"
+#include "math/pprz_algebra_double.h"
 #include "nps_autopilot.h"
 #include "nps_fdm.h"
 
diff --git a/sw/simulator/nps_random.h b/sw/simulator/nps_random.h
index 73165d918f..8a4bfa08df 100644
--- a/sw/simulator/nps_random.h
+++ b/sw/simulator/nps_random.h
@@ -1,7 +1,7 @@
 #ifndef NPS_RANDOM_H
 #define NPS_RANDOM_H
 
-#include "pprz_algebra_double.h"
+#include "math/pprz_algebra_double.h"
 
 extern double get_gaussian_noise(void);
 extern void double_vect3_add_gaussian_noise(struct DoubleVect3* vect, struct DoubleVect3* std_dev);
diff --git a/sw/simulator/nps_sensor_accel.h b/sw/simulator/nps_sensor_accel.h
index d6ce4b5e15..4b641994b2 100644
--- a/sw/simulator/nps_sensor_accel.h
+++ b/sw/simulator/nps_sensor_accel.h
@@ -1,9 +1,9 @@
 #ifndef NPS_SENSOR_ACCEL_H
 #define NPS_SENSOR_ACCEL_H
 
-#include "pprz_algebra.h"
-#include "pprz_algebra_double.h"
-#include "pprz_algebra_float.h"
+#include "math/pprz_algebra.h"
+#include "math/pprz_algebra_double.h"
+#include "math/pprz_algebra_float.h"
 #include "std.h"
 
 struct NpsSensorAccel {
diff --git a/sw/simulator/nps_sensor_baro.h b/sw/simulator/nps_sensor_baro.h
index c0110a1749..06630b066d 100644
--- a/sw/simulator/nps_sensor_baro.h
+++ b/sw/simulator/nps_sensor_baro.h
@@ -1,9 +1,9 @@
 #ifndef NPS_SENSOR_BARO_H
 #define NPS_SENSOR_BARO_H
 
-#include "pprz_algebra.h"
-#include "pprz_algebra_double.h"
-#include "pprz_algebra_float.h"
+#include "math/pprz_algebra.h"
+#include "math/pprz_algebra_double.h"
+#include "math/pprz_algebra_float.h"
 #include "std.h"
 
 struct NpsSensorBaro {
diff --git a/sw/simulator/nps_sensor_gps.h b/sw/simulator/nps_sensor_gps.h
index c5bb4da8cc..952cd68f4a 100644
--- a/sw/simulator/nps_sensor_gps.h
+++ b/sw/simulator/nps_sensor_gps.h
@@ -1,10 +1,10 @@
 #ifndef NPS_SENSOR_GPS_H
 #define NPS_SENSOR_GPS_H
 
-#include "pprz_algebra.h"
-#include "pprz_algebra_double.h"
-#include "pprz_algebra_float.h"
-#include "pprz_geodetic_double.h"
+#include "math/pprz_algebra.h"
+#include "math/pprz_algebra_double.h"
+#include "math/pprz_algebra_float.h"
+#include "math/pprz_geodetic_double.h"
 
 #include "std.h"
 
diff --git a/sw/simulator/nps_sensor_gyro.h b/sw/simulator/nps_sensor_gyro.h
index cc7b454941..f6568b2518 100644
--- a/sw/simulator/nps_sensor_gyro.h
+++ b/sw/simulator/nps_sensor_gyro.h
@@ -1,9 +1,9 @@
 #ifndef NPS_SENSOR_GYRO_H
 #define NPS_SENSOR_GYRO_H
 
-#include "pprz_algebra.h"
-#include "pprz_algebra_double.h"
-#include "pprz_algebra_float.h"
+#include "math/pprz_algebra.h"
+#include "math/pprz_algebra_double.h"
+#include "math/pprz_algebra_float.h"
 #include "std.h"
 
 struct NpsSensorGyro {
diff --git a/sw/simulator/nps_sensor_mag.h b/sw/simulator/nps_sensor_mag.h
index 5066233cb8..8eda06160c 100644
--- a/sw/simulator/nps_sensor_mag.h
+++ b/sw/simulator/nps_sensor_mag.h
@@ -1,9 +1,9 @@
 #ifndef NPS_SENSOR_MAG_H
 #define NPS_SENSOR_MAG_H
 
-#include "pprz_algebra.h"
-#include "pprz_algebra_double.h"
-#include "pprz_algebra_float.h"
+#include "math/pprz_algebra.h"
+#include "math/pprz_algebra_double.h"
+#include "math/pprz_algebra_float.h"
 #include "std.h"
 
 struct NpsSensorMag {
diff --git a/sw/simulator/nps_sensors.h b/sw/simulator/nps_sensors.h
index 0b4a49877d..2a017cc780 100644
--- a/sw/simulator/nps_sensors.h
+++ b/sw/simulator/nps_sensors.h
@@ -1,7 +1,7 @@
 #ifndef NPS_SENSORS_H
 #define NPS_SENSORS_H
 
-#include "pprz_algebra.h"
+#include "math/pprz_algebra.h"
 #include "nps_sensor_gyro.h"
 #include "nps_sensor_accel.h"
 #include "nps_sensor_mag.h"