diff --git a/sw/airborne/arch/sim/max1167_hw.c b/sw/airborne/arch/sim/max1167_hw.c
index 28ef09b047..0175ff6711 100644
--- a/sw/airborne/arch/sim/max1167_hw.c
+++ b/sw/airborne/arch/sim/max1167_hw.c
@@ -24,7 +24,7 @@
 
 #include "max1167.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 void max1167_hw_init( void ) {}
 
diff --git a/sw/airborne/beth/main_overo.c b/sw/airborne/beth/main_overo.c
index 14b5166b7e..018cb0f8f3 100644
--- a/sw/airborne/beth/main_overo.c
+++ b/sw/airborne/beth/main_overo.c
@@ -37,7 +37,7 @@
 #include "fms_debug.h"
 #include "fms_spi_link.h"
 #include "fms_autopilot_msg.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "overo_file_logger.h"
 #include "overo_gcs_com.h"
diff --git a/sw/airborne/beth/main_stm32.c b/sw/airborne/beth/main_stm32.c
index 05985a6535..ab335c2a50 100644
--- a/sw/airborne/beth/main_stm32.c
+++ b/sw/airborne/beth/main_stm32.c
@@ -31,7 +31,7 @@
 #include "booz/booz2_commands.h"
 #include "booz/actuators.h"
 //#include "booz/booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "lisa/lisa_overo_link.h"
 #include "beth/bench_sensors.h"
 
diff --git a/sw/airborne/beth/overo_estimator.c b/sw/airborne/beth/overo_estimator.c
index db19630d53..cb52b1500a 100644
--- a/sw/airborne/beth/overo_estimator.c
+++ b/sw/airborne/beth/overo_estimator.c
@@ -1,6 +1,6 @@
 #include "overo_estimator.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include <math.h>
 
 #include "messages2.h"
diff --git a/sw/airborne/beth/overo_file_logger.c b/sw/airborne/beth/overo_file_logger.c
index a942edadd9..85d24494fb 100644
--- a/sw/airborne/beth/overo_file_logger.c
+++ b/sw/airborne/beth/overo_file_logger.c
@@ -1,6 +1,6 @@
 #include "overo_file_logger.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 struct FileLogger file_logger;
 
diff --git a/sw/airborne/booz/booz2_ins.c b/sw/airborne/booz/booz2_ins.c
index dd7a78c182..e285becb89 100644
--- a/sw/airborne/booz/booz2_ins.c
+++ b/sw/airborne/booz/booz2_ins.c
@@ -24,7 +24,7 @@
 
 #include "booz2_ins.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "firmwares/rotorcraft/baro.h"
 #include "booz_gps.h"
 
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index a4fc112f32..a61a494431 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -46,7 +46,7 @@
 #define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)
 
 #include "booz2_battery.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
 #include "booz2_ins.h"
 #include "ahrs.h"
diff --git a/sw/airborne/booz/booz_fms.c b/sw/airborne/booz/booz_fms.c
index 7e92c4c2e1..d711e38f46 100644
--- a/sw/airborne/booz/booz_fms.c
+++ b/sw/airborne/booz/booz_fms.c
@@ -23,7 +23,7 @@
 
 #include "booz_fms.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
 #include "ahrs.h"
 
diff --git a/sw/airborne/booz/ins/booz2_hf_float-old.c b/sw/airborne/booz/ins/booz2_hf_float-old.c
index 9c3b1d073b..beb9b2471d 100644
--- a/sw/airborne/booz/ins/booz2_hf_float-old.c
+++ b/sw/airborne/booz/ins/booz2_hf_float-old.c
@@ -24,7 +24,7 @@
 #include "booz2_hf_float.h"
 #include "booz2_ins.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs.h"
 #include "math/pprz_algebra_int.h"
 
diff --git a/sw/airborne/booz/ins/booz2_hf_float.c b/sw/airborne/booz/ins/booz2_hf_float.c
index bbe57074f5..78ec710af7 100644
--- a/sw/airborne/booz/ins/booz2_hf_float.c
+++ b/sw/airborne/booz/ins/booz2_hf_float.c
@@ -24,7 +24,7 @@
 
 #include "booz2_hf_float.h"
 #include "booz2_ins.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs.h"
 #include "booz_gps.h"
 #include <stdlib.h>
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_rate.c b/sw/airborne/booz/stabilization/booz_stabilization_rate.c
index 1668375109..8254854b03 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_rate.c
+++ b/sw/airborne/booz/stabilization/booz_stabilization_rate.c
@@ -26,7 +26,7 @@
 
 #include "ahrs.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_radio_control.h"
 #include "airframe.h"
 
diff --git a/sw/airborne/booz/test/booz_test_imu.c b/sw/airborne/booz/test/booz_test_imu.c
index 3b1e9a9e9a..1520bc3c47 100644
--- a/sw/airborne/booz/test/booz_test_imu.c
+++ b/sw/airborne/booz/test/booz_test_imu.c
@@ -31,7 +31,7 @@
 #include "messages.h"
 #include "downlink.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "interrupt_hw.h"
 
diff --git a/sw/airborne/booz/test/imu_dummy.c b/sw/airborne/booz/test/imu_dummy.c
index 563a922335..a62e94fd56 100644
--- a/sw/airborne/booz/test/imu_dummy.c
+++ b/sw/airborne/booz/test/imu_dummy.c
@@ -1,3 +1,3 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 void imu_impl_init(void) {}
diff --git a/sw/airborne/booz/test/test_mlkf.c b/sw/airborne/booz/test/test_mlkf.c
index 593cc42867..882bcc92b2 100644
--- a/sw/airborne/booz/test/test_mlkf.c
+++ b/sw/airborne/booz/test/test_mlkf.c
@@ -2,7 +2,7 @@
 #include <string.h>
 
 #include "math/pprz_algebra_double.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs.h"
 #include "ahrs/ahrs_mlkf.h"
 
diff --git a/sw/airborne/csc/mercury_main.c b/sw/airborne/csc/mercury_main.c
index 13f022f654..fb1b47c060 100644
--- a/sw/airborne/csc/mercury_main.c
+++ b/sw/airborne/csc/mercury_main.c
@@ -40,7 +40,7 @@
 
 #include "csc_msg_def.h"
 #include ACTUATORS
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz/ahrs/ahrs_aligner.h"
 #include "booz/ahrs.h"
 #include "mercury_xsens.h"
diff --git a/sw/airborne/csc/mercury_xsens.c b/sw/airborne/csc/mercury_xsens.c
index cc60f304f0..0b63904b49 100644
--- a/sw/airborne/csc/mercury_xsens.c
+++ b/sw/airborne/csc/mercury_xsens.c
@@ -27,10 +27,10 @@
  */
 
 #include "mercury_xsens.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz/ahrs.h"
 #include "booz/ahrs/ahrs_aligner.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "csc_booz2_ins.h"
 
 #include <inttypes.h>
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
index ba37a0ac5b..aa3d937003 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
@@ -21,12 +21,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "firmwares/rotorcraft/actuators.h"
-#include "firmwares/rotorcraft/actuators/actuators_heli.h"
+#include <firmwares/rotorcraft/actuators.h>
+#include "actuators_heli.h"
 #include "booz/booz2_commands.h"
 
 /* let's start butchery now and use the actuators_pwm arch functions */
-#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
+#include <firmwares/rotorcraft/actuators/actuators_pwm.h>
 
 /* get SetActuatorsFromCommands() macro */
 #include "airframe.h"
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs.c b/sw/airborne/firmwares/rotorcraft/ahrs.c
index 3cffc6e3d3..91774b2d57 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs.c
@@ -22,7 +22,7 @@
  */
 
 #include "ahrs.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 struct Ahrs ahrs;
 struct AhrsFloat ahrs_float;
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs.h b/sw/airborne/firmwares/rotorcraft/ahrs.h
index 0c31e516c2..0560d1b6cd 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs.h
+++ b/sw/airborne/firmwares/rotorcraft/ahrs.h
@@ -27,7 +27,7 @@
 #include "std.h"
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
-#include "ahrs/ahrs_aligner.h"
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
 
 #define AHRS_UNINIT  0
 #define AHRS_RUNNING 1
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
index fc0dd5fa8d..333db16c07 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.c
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -18,13 +18,13 @@
  * 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. 
+ * Boston, MA 02111-1307, USA.
  */
 
 #include "ahrs_aligner.h"
 
 #include <stdlib.h> /* for abs() */
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "led.h"
 
 struct AhrsAligner ahrs_aligner;
@@ -37,7 +37,7 @@ static int32_t ref_sensor_samples[SAMPLES_NB];
 static uint32_t samples_idx;
 
 void ahrs_aligner_init(void) {
-  
+
   ahrs_aligner.status = AHRS_ALIGNER_RUNNING;
   INT_RATES_ZERO(gyro_sum);
   INT_VECT3_ZERO(accel_sum);
@@ -70,7 +70,7 @@ void ahrs_aligner_run(void) {
     else
       avg_ref_sensor -= SAMPLES_NB / 2;
     avg_ref_sensor /= SAMPLES_NB;
-    
+
     ahrs_aligner.noise = 0;
     int i;
     for (i=0; i<SAMPLES_NB; i++) {
@@ -91,8 +91,8 @@ void ahrs_aligner_run(void) {
       ahrs_aligner.low_noise_cnt++;
     else
       if ( ahrs_aligner.low_noise_cnt > 0)
-	ahrs_aligner.low_noise_cnt--;
-    
+    ahrs_aligner.low_noise_cnt--;
+
     if (ahrs_aligner.low_noise_cnt > LOW_NOISE_TIME) {
       ahrs_aligner.status = AHRS_ALIGNER_LOCKED;
 #ifdef AHRS_ALIGNER_LED
@@ -102,4 +102,3 @@ void ahrs_aligner_run(void) {
   }
 
 }
-
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
index 1ef1c549bf..5d024ca088 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_aligner.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * 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. 
+ * Boston, MA 02111-1307, USA.
  */
 
 #ifndef AHRS_ALIGNER_H
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
index 1b3ac34dae..260edf2e96 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
@@ -23,7 +23,7 @@
 
 #include "ahrs_cmpl_euler.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "ahrs_aligner.h"
 
 #include "airframe.h"
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
index 1e247cf233..398deb46cb 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.h
@@ -24,7 +24,7 @@
 #ifndef AHRS_CMPL_EULER_H
 #define AHRS_CMPL_EULER_H
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "std.h"
 #include "math/pprz_algebra_int.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
index 098ae7304d..314e2e67f4 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.c
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * 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. 
+ * Boston, MA 02111-1307, USA.
  */
 
 #include "math/pprz_algebra_float.h"
@@ -93,7 +93,7 @@ extern void ahrs_init(void);
 extern void ahrs_align(void);
 
 
-/* 
+/*
  * Propagate our dynamic system
  *
  *      quat_dot = Wxq(pqr) * quat
@@ -124,18 +124,18 @@ void ahrs_propagate(void) {
   RATES_FLOAT_OF_BFP(bafe_rates, imu.gyro);
   RATES_SUB(bafe_rates, bafe_bias);
 
-  /* compute F 
+  /* compute F
      F is only needed later on to update the state covariance P.
      However, its [0:3][0:3] region is actually the Wxq(pqr) which is needed to
      compute the time derivative of the quaternion, so we compute F now
   */
-  
+
   /* Fill in Wxq(pqr) into F */
   bafe_F[0][0] = bafe_F[1][1] = bafe_F[2][2] = bafe_F[3][3] = 0;
   bafe_F[1][0] = bafe_F[2][3] = bafe_rates.p * 0.5;
   bafe_F[2][0] = bafe_F[3][1] = bafe_rates.q * 0.5;
   bafe_F[3][0] = bafe_F[1][2] = bafe_rates.r * 0.5;
-  
+
   bafe_F[0][1] = bafe_F[3][2] = -bafe_F[1][0];
   bafe_F[0][2] = bafe_F[1][3] = -bafe_F[2][0];
   bafe_F[0][3] = bafe_F[2][1] = -bafe_F[3][0];
@@ -143,7 +143,7 @@ void ahrs_propagate(void) {
   bafe_F[0][4] = bafe_F[2][6] = bafe_quat.qx * 0.5;
   bafe_F[0][5] = bafe_F[3][4] = bafe_quat.qy * 0.5;
   bafe_F[0][6] = bafe_F[1][5] = bafe_quat.qz * 0.5;
-  
+
   bafe_F[1][4] =  bafe_F[2][5] = bafe_F[3][6] = bafe_quat.qi * -0.5;
   bafe_F[3][5] = -bafe_F[0][4];
   bafe_F[1][6] = -bafe_F[0][5];
@@ -152,7 +152,7 @@ void ahrs_propagate(void) {
   bafe_qdot.qi=                           bafe_F[0][1]*bafe_quat.qx+bafe_F[0][2]*bafe_quat.qy+bafe_F[0][3] * bafe_quat.qz;
   bafe_qdot.qx= bafe_F[1][0]*bafe_quat.qi                          +bafe_F[1][2]*bafe_quat.qy+bafe_F[1][3] * bafe_quat.qz;
   bafe_qdot.qy= bafe_F[2][0]*bafe_quat.qi+bafe_F[2][1]*bafe_quat.qx                          +bafe_F[2][3] * bafe_quat.qz;
-  bafe_qdot.qz= bafe_F[3][0]*bafe_quat.qi+bafe_F[3][1]*bafe_quat.qx+bafe_F[3][2]*bafe_quat.qy                            ; 
+  bafe_qdot.qz= bafe_F[3][0]*bafe_quat.qi+bafe_F[3][1]*bafe_quat.qx+bafe_F[3][2]*bafe_quat.qy                            ;
   /* propagate quaternion */
   bafe_quat.qi += bafe_qdot.qi * BAFE_DT;
   bafe_quat.qx += bafe_qdot.qx * BAFE_DT;
@@ -169,4 +169,3 @@ extern void ahrs_update(void);
 
 
 #endif /* AHRS_FLOAT_EKF_H */
-
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
index 438e46bf95..eb11266745 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_ekf.h
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * 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. 
+ * Boston, MA 02111-1307, USA.
  */
 
 #ifndef AHRS_FLOAT_EKF_H
@@ -35,4 +35,3 @@ extern void ahrs_update(void);
 
 
 #endif /* AHRS_FLOAT_EKF_H */
-
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
index 394ff1cffd..a980fac712 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.c
@@ -24,8 +24,8 @@
 
 #include "ahrs_float_lkf.h"
 
-#include "imu.h"
-#include "ahrs_aligner.h"
+#include <firmwares/rotorcraft/imu.h>
+#include <firmwares/rotorcraft/ahrs/ahrs_aligner.h>
 
 #include "airframe.h"
 #include "math/pprz_algebra_float.h"
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
index 16f82bd3e0..9b42b151a5 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_float_lkf.h
@@ -25,7 +25,7 @@
 #ifndef AHRS_FLOAT_LKF_H
 #define AHRS_FLOAT_LKF_H
 
-#include "ahrs.h"
+#include <firmwares/rotorcraft/ahrs.h>
 #include "std.h"
 #include "math/pprz_algebra_int.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu.c b/sw/airborne/firmwares/rotorcraft/imu.c
index db3a8ed312..1001ad6340 100644
--- a/sw/airborne/firmwares/rotorcraft/imu.c
+++ b/sw/airborne/firmwares/rotorcraft/imu.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "airframe.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
index 3a3463695d..2ff88904d1 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_b2_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 volatile uint8_t imu_ssp_status;
 static void SSP_ISR(void) __attribute__((naked));
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
index 58bcfad7b9..31948a4206 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "LPC21xx.h"
 #include "armVIC.h"
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
index 12c391cf22..633ea813ce 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_b2_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "airframe.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
index bbffe4d016..157163a072 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.c
@@ -2,7 +2,7 @@
  * simulator ARCH for rotorcraft imu crista
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "airframe.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
index ff40503315..cb2f93da16 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
@@ -29,7 +29,7 @@
 #ifndef IMU_CRISTA_ARCH_H
 #define IMU_CRISTA_ARCH_H
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 
 #define ImuCristaArchPeriodic() {}
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
index cf9ef7dbdb..aabbf3cf0d 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.c
@@ -1,4 +1,4 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include <stm32/gpio.h>
 #include <stm32/misc.h>
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
index f63fc7412a..372d7b3855 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
@@ -1,7 +1,7 @@
 #ifndef IMU_ASPIRIN_ARCH_H
 #define IMU_ASPIRIN_ARCH_H
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "led.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
index 143ef8017c..7cce02c89e 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
index efd2cee557..3ebd64d8fc 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
diff --git a/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
index 53d5e721a3..adf099a891 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.c
@@ -1,4 +1,4 @@
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "i2c.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
index 06576e617f..3e8cfa63fe 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_aspirin.h
@@ -25,7 +25,7 @@
 #define IMU_ASPIRIN_H
 
 #include "airframe.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "i2c.h"
 #include "booz/peripherals/booz_itg3200.h"
diff --git a/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
index 0ad3b6ae86..89ef24b77b 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 void imu_impl_init(void) {
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
index 0b5d069163..76fd65a796 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_b2.h
@@ -24,7 +24,7 @@
 #ifndef IMU_B2_H
 #define IMU_B2_H
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "airframe.h"
 
 #include "peripherals/booz_max1168.h"
diff --git a/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
index 47ee4a794f..d1452f37eb 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 volatile bool_t ADS8344_available;
 uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
diff --git a/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
index 7c82f99abc..837d9d82a5 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/imu_crista.h
@@ -24,7 +24,7 @@
 #ifndef IMU_CRISTA_H
 #define IMU_CRISTA_H
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "airframe.h"
 
 #define ADS8344_NB_CHANNELS 8
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 6f85108c9d..aa575800d7 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -38,7 +38,7 @@
 #include "actuators.h"
 #include "booz_radio_control.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz_gps.h"
 
 #include "booz/booz2_analog.h"
diff --git a/sw/airborne/fms/overo_test_passthrough.h b/sw/airborne/fms/overo_test_passthrough.h
index 071cfbda62..c785fc7ce9 100644
--- a/sw/airborne/fms/overo_test_passthrough.h
+++ b/sw/airborne/fms/overo_test_passthrough.h
@@ -2,7 +2,7 @@
 #define OVERO_TEST_PASSTHROUGH_H
 
 #include "std.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 struct OveroTestPassthrough {
   /* our network connection */
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index 75eb42ad44..b50a30f49f 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -28,7 +28,7 @@
 #include "booz/booz2_commands.h"
 #include "actuators.h"
 #include "actuators/actuators_pwm.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "booz/booz_radio_control.h"
 #include "lisa/lisa_overo_link.h"
 #include "airframe.h"
diff --git a/sw/airborne/lisa/test/hs_gyro.c b/sw/airborne/lisa/test/hs_gyro.c
index ea39465c3c..65d00a9d19 100644
--- a/sw/airborne/lisa/test/hs_gyro.c
+++ b/sw/airborne/lisa/test/hs_gyro.c
@@ -31,7 +31,7 @@
 #include "messages.h"
 #include "downlink.h"
 
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 
 #include "interrupt_hw.h"
 
diff --git a/sw/simulator/nps/nps_autopilot_booz.c b/sw/simulator/nps/nps_autopilot_booz.c
index 4f469c69c2..6152362632 100644
--- a/sw/simulator/nps/nps_autopilot_booz.c
+++ b/sw/simulator/nps/nps_autopilot_booz.c
@@ -4,7 +4,7 @@
 #include "nps_sensors.h"
 #include "nps_radio_control.h"
 #include "booz_radio_control.h"
-#include "imu.h"
+#include <firmwares/rotorcraft/imu.h>
 #include "firmwares/rotorcraft/baro.h"
 
 #include "actuators/supervision.h"