fix path for some nav functions in makefiles

conf/airframes/ENAC/fixed-wing/drops.xml

@@ -258,8 +258,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += bomb.c
 
@@ -272,7 +272,7 @@ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLIN
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += bomb.c
 

conf/airframes/ENAC/fixed-wing/firestorm.xml

@@ -247,8 +247,8 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c nav_line.c
+ap.srcs += gyro.c subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 # Current sensor; Neutral=162
 #ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
@@ -266,7 +266,7 @@ sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c inf
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.CFLAGS += -DUSE_MODULES
   </makefile>

conf/airframes/ENAC/fixed-wing/funjet1.xml

@@ -269,8 +269,8 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c nav_line.c
+ap.srcs += gyro.c subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 # chemotaxis.c anemotaxis.c discsurvey.c
 
 ########## Barometer (SPI)
@@ -303,7 +303,7 @@ sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c inf
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 # -DENOSE
 #sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 #sim.CFLAGS += -DUSE_I2C -DUSE_I2C0

conf/airframes/ENAC/fixed-wing/minimag1.xml

@@ -207,12 +207,12 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
   </makefile>
 </airframe>

conf/airframes/ENAC/fixed-wing/slayer2.xml

@@ -238,7 +238,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c traffic_info.c nav_line.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c traffic_info.c subsystems/navigation/nav_line.c
 
 # Camera power switch on ADC_7 pin
 ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3
@@ -276,7 +276,7 @@ sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c inf
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN  -DUSE_BARO_MS5534A 
 
-sim.srcs += nav_survey_rectangle.c nav_line.c $(SRC_ARCH)/sim_baro.c 
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c $(SRC_ARCH)/sim_baro.c 
 
 sim.srcs += fw_h_ctl.c
 # sim.srcs += fw_h_ctl_a.c

conf/airframes/ENAC/fixed-wing/soarzi.xml

@@ -213,14 +213,14 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
   </makefile>
 </airframe>

conf/airframes/ENAC/fixed-wing/solarstorm.xml

@@ -240,8 +240,8 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c nav_line.c
+ap.srcs += gyro.c subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ########## MPTT
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -258,7 +258,7 @@ sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c inf
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.CFLAGS += -DUSE_MODULES
   </makefile>

conf/airframes/ENAC/fixed-wing/spocII.xml

@@ -242,7 +242,7 @@ ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-ap.srcs += nav_survey_rectangle.c nav_line.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
@@ -258,7 +258,7 @@ sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c inf
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Config for JSBSim simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
@@ -267,7 +267,7 @@ jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
 jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
 
 jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-jsbsim.srcs += nav_line.c nav_survey_rectangle.c
+jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
 
 

conf/airframes/ENAC/fixed-wing/twinjet2.xml

@@ -273,8 +273,8 @@ ap.srcs += infrared.c estimator.c
 ########## Nav
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
 ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl_n.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
 
 ########## SPI Master use slave0
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
@@ -308,7 +308,7 @@ sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c inf
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.CFLAGS += -DUSE_LIGHT
 sim.srcs += light.c

conf/airframes/ENAC/malolo_sim.xml

@@ -217,7 +217,7 @@ sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
 sim.LDFLAGS += -L/home/cocoleon/usr/lib/
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 sim.srcs += $(SIMDIR)/sim_ac_fw.c
 
   </makefile>

conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml

@@ -191,15 +191,15 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DLOITER_TRIM 
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES 
-sim.srcs += nav_line.c nav_survey_rectangle.c 
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c 
 
   </makefile>
 </airframe>

conf/airframes/Paul/minimag1.xml

@@ -203,12 +203,12 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 

conf/airframes/Poine/easy_glider1.xml

@@ -196,7 +196,7 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Current sensor
 ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
@@ -208,7 +208,7 @@ ap.srcs += adc_generic.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
 
   </makefile>
 </airframe>

conf/airframes/Poine/test_libeknav.xml

@@ -63,7 +63,7 @@
     filter.ARCHDIR = omap
     filter.CXXFLAGS += $(LIB_EIGEN_CFLAGS)
     filter.CXXFLAGS += $(PAPARAZZI_INC)
-    filter.cpp_srcs  = fms/libeknav/libeknav_from_log.cpp
+    filter.cpp_srcs  = fms/libeknav/libeksubsystems/navigation/nav_from_log.cpp
     filter.CXXFLAGS += $(LIBEKNAV_CFLAGS)
     filter.cpp_srcs += $(LIBEKNAV_SRCS)
     filter.LDFLAGS  += -levent -lm

conf/airframes/TUDelft/Trip50A.xml

@@ -286,7 +286,7 @@ ap.srcs += infrared.c estimator.c gyro.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.srcs += baro_bmp.c $(SRC_ARCH)/i2c_hw.c i2c.c
 #ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_BMP -DBARO_BMP_ACCEL
@@ -294,7 +294,7 @@ ap.srcs += nav_line.c nav_survey_rectangle.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/TUDelft/Trip50B.xml

@@ -291,7 +291,7 @@ ap.srcs += infrared.c estimator.c gyro.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += baro_bmp.c $(SRC_ARCH)/i2c_hw.c i2c.c
 ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_BMP -DBARO_BMP_ACCEL
@@ -303,7 +303,7 @@ ap.srcs += cam.c point.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/TUDelft/holiday50.xml

@@ -291,7 +291,7 @@ ap.srcs += gyro.c
 
 ap.CFLAGS += -DUSE_MODULES
 
-ap.srcs += nav_line.c nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 ap.srcs += traffic_info.c
 
 # camera control
@@ -306,7 +306,7 @@ ap.srcs += bomb.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
-sim.srcs += nav_survey_rectangle.c nav_line.c 
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c 
 sim.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
 # traffic_info.c
 sim.CFLAGS += -DUSE_MODULES 

conf/airframes/demo_module.xml

@@ -198,15 +198,15 @@ ap.srcs += infrared.c estimator.c
 ########## Nav
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
 
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
 </airframe>

conf/airframes/hitl_usb.xml

@@ -146,7 +146,7 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Configuration for Hardware In The Loop
 ap.CFLAGS += -DHITL
@@ -157,7 +157,7 @@ sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED
 sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c traffic_info.c
 
   </makefile>
 </airframe>

conf/airframes/jsbsim.xml

@@ -200,7 +200,7 @@
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 
 #### Config for SITL simulation with JSBSim
@@ -208,7 +208,7 @@ SRC_FIRMWARE = firmwares/fixedwing
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
 
 jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-jsbsim.srcs += nav_line.c nav_survey_rectangle.c
+jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
 
   </makefile>

conf/airframes/microjet_raw_makefile.xml

@@ -201,7 +201,7 @@
  ap.srcs += infrared.c estimator.c
  ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
  ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
- ap.srcs += nav_line.c nav_survey_rectangle.c
+ ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
  ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN
  sim.CFLAGS += -DTRAFFIC_INFO

conf/airframes/mm/extra/press_t.xml

@@ -262,8 +262,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -291,7 +291,7 @@ ap.srcs += adc_generic.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/drops.xml

@@ -280,8 +280,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += bomb.c
 
@@ -297,7 +297,7 @@ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLIN
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += bomb.c
 

conf/airframes/mm/fixed-wing/funjeteth1.xml

@@ -239,8 +239,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c nav_cube.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_cube.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 
 ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
@@ -256,7 +256,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c nav_cube.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjeteth2.xml

@@ -240,8 +240,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c nav_cube.c
+ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_cube.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
@@ -256,7 +256,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c nav_cube.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c
 
   </makefile>
 </airframe>

conf/airframes/mm/fixed-wing/funjetfmi1.xml

@@ -242,8 +242,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
@@ -269,7 +269,7 @@ ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 
   </makefile>

conf/airframes/mm/fixed-wing/funjetfmi2.xml

@@ -241,8 +241,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
@@ -265,7 +265,7 @@ ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 
   </makefile>

conf/airframes/mm/fixed-wing/funjetfmi3.xml

@@ -241,8 +241,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
@@ -265,7 +265,7 @@ ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 
   </makefile>

conf/airframes/mm/fixed-wing/funjetgfi1.xml

@@ -219,8 +219,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -234,7 +234,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetgfi3.xml

@@ -229,7 +229,7 @@ ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c nav_line.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 
 #ap.CFLAGS += -DGYRO -DADXRS150
@@ -265,7 +265,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_survey_rectangle.c nav_line.c
+sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
   </makefile>
 </airframe>

conf/airframes/mm/fixed-wing/funjetgfi4.xml

@@ -220,8 +220,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -235,7 +235,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetgfi5.xml

@@ -221,8 +221,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetgfi6.xml

@@ -221,8 +221,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetgfi7.xml

@@ -221,8 +221,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetgfi8.xml

@@ -221,8 +221,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetgfi9.xml

@@ -221,8 +221,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
@@ -236,7 +236,7 @@ ap.CFLAGS += -DUSE_JOYSTICK
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += joystick.c
 sim.CFLAGS += -DUSE_JOYSTICK

conf/airframes/mm/fixed-wing/funjetmm2.xml

@@ -248,8 +248,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += humid_sht.c
 ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30  -DSCK_PIN=4
@@ -265,7 +265,7 @@ ap.srcs += adc_generic.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += bomb.c
 

conf/airframes/mm/fixed-wing/merlin.xml

@@ -216,8 +216,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += snav.c
 
@@ -228,7 +228,7 @@ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLIN
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
 </airframe>

conf/airframes/mm/fixed-wing/miniwing.xml

@@ -210,8 +210,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
@@ -220,7 +220,7 @@ ap.CFLAGS += -DUSE_ACCEL_MEMSIC -DUSE_ADC_3 -DUSE_ADC_4
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
 </airframe>

conf/airframes/mm/fixed-wing/slowfast.xml

@@ -262,8 +262,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 ap.srcs += snav.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -272,7 +272,7 @@ ap.srcs += gyro.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
 -->

conf/airframes/mm/fixed-wing/slowfast2.xml

@@ -276,8 +276,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 ap.srcs += snav.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -286,7 +286,7 @@ ap.srcs += gyro.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
 -->

conf/airframes/mm/fixed-wing/twinstarmm.xml

@@ -237,8 +237,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += bomb.c
 
@@ -251,7 +251,7 @@ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLIN
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += bomb.c
 

conf/airframes/mm/hangar/glass_one1.xml

@@ -239,7 +239,7 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DGYRO -DADXRS150
 #ap.srcs += gyro.c
@@ -247,7 +247,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c
 
-ap.srcs += traffic_info.c nav_line.c
+ap.srcs += traffic_info.c subsystems/navigation/nav_line.c
 
 # Video switch
 ap.CFLAGS += -DUSE_GPIO
@@ -261,9 +261,9 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
+sim.srcs += bomb.c subsystems/navigation/nav_survey_rectangle.c
 
-sim.srcs += traffic_info.c nav_line.c
+sim.srcs += traffic_info.c subsystems/navigation/nav_line.c
 
 
   </makefile>

conf/airframes/mm/hangar/glass_one2.xml

@@ -213,12 +213,12 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c
 
-ap.srcs += traffic_info.c nav_line.c
+ap.srcs += traffic_info.c subsystems/navigation/nav_line.c
 
 # Video switch
 ap.CFLAGS += -DUSE_GPIO
@@ -232,9 +232,9 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
+sim.srcs += bomb.c subsystems/navigation/nav_survey_rectangle.c
 
-sim.srcs += traffic_info.c nav_line.c
+sim.srcs += traffic_info.c subsystems/navigation/nav_line.c
 
 
   </makefile>

conf/airframes/mm/hangar/glass_one3.xml

@@ -240,12 +240,12 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
 #ap.srcs += point.c cam.c
 
-ap.srcs += traffic_info.c nav_line.c
+ap.srcs += traffic_info.c subsystems/navigation/nav_line.c
 
 # Video switch
 ap.CFLAGS += -DUSE_GPIO
@@ -259,9 +259,9 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
+sim.srcs += bomb.c subsystems/navigation/nav_survey_rectangle.c
 
-sim.srcs += traffic_info.c nav_line.c
+sim.srcs += traffic_info.c subsystems/navigation/nav_line.c
 
 
   </makefile>

conf/airframes/mm/hangar/lila.xml

@@ -240,8 +240,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 ap.srcs += snav.c
 
@@ -251,6 +251,6 @@ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLIN
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
   </makefile>
 </airframe>

conf/airframes/mm/hangar/red_one.xml

@@ -260,7 +260,7 @@ ap.srcs += infrared.c estimator.c
 # -DALT_KALMAN
 
 ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
@@ -268,7 +268,7 @@ ap.srcs += gyro.c
 ap.srcs += bomb.c
 
 ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-ap.srcs += traffic_info.c point.c cam.c nav_line.c
+ap.srcs += traffic_info.c point.c cam.c subsystems/navigation/nav_line.c
 
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
 ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
@@ -288,10 +288,10 @@ ap.CFLAGS += -DUSE_CURRENT
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
-sim.srcs += bomb.c nav_survey_rectangle.c
+sim.srcs += bomb.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH
-sim.srcs += traffic_info.c point.c cam.c nav_line.c
+sim.srcs += traffic_info.c point.c cam.c subsystems/navigation/nav_line.c
 
 
   </makefile>

conf/airframes/obsolete/easystar2.xml

@@ -213,8 +213,8 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 # Camera control
 #ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
@@ -228,7 +228,7 @@ ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
 sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
 

conf/airframes/obsolete/kalscott_easystar.xml

@@ -193,14 +193,14 @@ ap.srcs += infrared.c estimator.c
 ap.CFLAGS += -DNAV -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-ap.srcs += nav_line.c
+ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += nav_survey_rectangle.c
+ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
   </makefile>
 </airframe>

conf/airframes/obsolete/malolo_sim.xml

@@ -234,7 +234,7 @@ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLIN
 
 sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c
 sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
-sim.srcs += nav_line.c nav_survey_rectangle.c
+sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c