diff --git a/conf/airframes/obsolete/tl.xml b/conf/airframes/obsolete/tl.xml
index 5bfeb5719a..aa52bc22c4 100644
--- a/conf/airframes/obsolete/tl.xml
+++ b/conf/airframes/obsolete/tl.xml
@@ -118,7 +118,7 @@ ap.srcs += $(TL)/tl_baro.c
 ap.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
 
 ap.CFLAGS += -DNAV
-ap.srcs += common_nav.c $(TL)/tl_nav.c
+ap.srcs += subsystems/navigation/common_nav.c $(TL)/tl_nav.c
 
 
 #ap.CFLAGS += -D TL_BARO_W1=0xABDC -D TL_BARO_W2=0x849A -D TL_BARO_W3=0X939E -D TL_BARO_W4=0xB259
diff --git a/sw/airborne/arch/sim/jsbsim_gps.c b/sw/airborne/arch/sim/jsbsim_gps.c
index 9c857588db..cbd66cd49c 100644
--- a/sw/airborne/arch/sim/jsbsim_gps.c
+++ b/sw/airborne/arch/sim/jsbsim_gps.c
@@ -11,7 +11,7 @@
 #include "gps.h"
 #include "estimator.h"
 #include "latlong.h"
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 
 uint8_t gps_mode;
 uint16_t  gps_week;    /* weeks */
diff --git a/sw/airborne/arch/sim/sim_gps.c b/sw/airborne/arch/sim/sim_gps.c
index ed1fd2ed5e..bacaf4c190 100644
--- a/sw/airborne/arch/sim/sim_gps.c
+++ b/sw/airborne/arch/sim/sim_gps.c
@@ -11,7 +11,7 @@
 #include "gps.h"
 #include "estimator.h"
 #include "latlong.h"
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 
 #include <caml/mlvalues.h>
 
diff --git a/sw/airborne/datalink.c b/sw/airborne/datalink.c
index 610d94bb4d..b83dcb1f10 100644
--- a/sw/airborne/datalink.c
+++ b/sw/airborne/datalink.c
@@ -52,7 +52,7 @@
 #endif
 
 
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 #include "settings.h"
 #include "latlong.h"
 
diff --git a/sw/airborne/firmwares/beth/rcv_telemetry.c b/sw/airborne/firmwares/beth/rcv_telemetry.c
index 8184a61e51..23f41b531a 100755
--- a/sw/airborne/firmwares/beth/rcv_telemetry.c
+++ b/sw/airborne/firmwares/beth/rcv_telemetry.c
@@ -36,7 +36,7 @@
 #include "modules.h"
 
 #include <stdio.h>
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 #include "settings.h"
 #include "latlong.h"
 
diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c
index 56cd07a5b7..0662358387 100644
--- a/sw/airborne/modules/cam_control/cam.c
+++ b/sw/airborne/modules/cam_control/cam.c
@@ -28,7 +28,7 @@
 
 #include <math.h>
 #include "cam.h"
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 #include "autopilot.h"
 #include "flight_plan.h"
 #include "estimator.h"
diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
index 451b5d1d46..0d99085d17 100644
--- a/sw/airborne/modules/gsm/gsm.c
+++ b/sw/airborne/modules/gsm/gsm.c
@@ -72,7 +72,7 @@ Receiving:
 #include "gps.h"
 #include "autopilot.h"
 #include "estimator.h"
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 #include "settings.h"
 
 #ifndef GSM_LINK
diff --git a/sw/airborne/modules/poles/nav_poles.c b/sw/airborne/modules/poles/nav_poles.c
index 7a7558f9f4..b38e82c156 100644
--- a/sw/airborne/modules/poles/nav_poles.c
+++ b/sw/airborne/modules/poles/nav_poles.c
@@ -1,5 +1,5 @@
 #include "nav_poles.h"
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 
 uint8_t nav_poles_count = 0;
 
diff --git a/sw/airborne/subsystems/nav.c b/sw/airborne/subsystems/nav.c
index 8bf5714827..6c4b3be00a 100644
--- a/sw/airborne/subsystems/nav.c
+++ b/sw/airborne/subsystems/nav.c
@@ -362,7 +362,7 @@ void nav_route_xy(float last_wp_x, float last_wp_y, float wp_x, float wp_y) {
   fly_to_xy(last_wp_x + nav_leg_progress*leg_x +nav_shift*leg_y/nav_leg_length, last_wp_y + nav_leg_progress*leg_y-nav_shift*leg_x/nav_leg_length);
 }
 
-#include "common_nav.c"
+#include "subsystems/navigation/common_nav.c"
 
 #ifndef FAILSAFE_HOME_RADIUS
 #define FAILSAFE_HOME_RADIUS DEFAULT_CIRCLE_RADIUS
diff --git a/sw/airborne/subsystems/nav.h b/sw/airborne/subsystems/nav.h
index 8aa4286220..eb87efe080 100644
--- a/sw/airborne/subsystems/nav.h
+++ b/sw/airborne/subsystems/nav.h
@@ -36,7 +36,7 @@
 #include "paparazzi.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "nav_survey_rectangle.h"
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 
 #define G 9.806
 #define Square(_x) ((_x)*(_x))
diff --git a/sw/airborne/subsystems/navigation/common_nav.c b/sw/airborne/subsystems/navigation/common_nav.c
index 39849409d1..0d1acb9b8a 100644
--- a/sw/airborne/subsystems/navigation/common_nav.c
+++ b/sw/airborne/subsystems/navigation/common_nav.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "common_nav.h"
+#include "subsystems/navigation/common_nav.h"
 #include "estimator.h"
 #include "flight_plan.h"
 #include "gps.h"