diff --git a/conf/autopilot/fixedwing_autopilot.xml b/conf/autopilot/fixedwing_autopilot.xml
index fd5467949d..61bbb111a3 100644
--- a/conf/autopilot/fixedwing_autopilot.xml
+++ b/conf/autopilot/fixedwing_autopilot.xml
@@ -17,7 +17,7 @@
       <include name="guidance/guidance_common.h"/>
       <include name="guidance/guidance_h.h"/>
       <include name="stabilization/stabilization_attitude.h"/>
-      <include name="subsystems/gps.h"/>
+      <include name="modules/gps/gps.h"/>
     </includes>
 
     <control_block name="actuators_ap">
diff --git a/conf/autopilot/fixedwing_rusty.xml b/conf/autopilot/fixedwing_rusty.xml
index 12c00de4ad..3f711588eb 100644
--- a/conf/autopilot/fixedwing_rusty.xml
+++ b/conf/autopilot/fixedwing_rusty.xml
@@ -18,7 +18,7 @@
       <include name="guidance/guidance_common.h"/>
       <include name="guidance/guidance_h.h"/>
       <include name="stabilization/stabilization_attitude.h"/>
-      <include name="subsystems/gps.h"/>
+      <include name="modules/gps/gps.h"/>
 
       <!-- We have to manually include the module's header files, so 
       we can use the provided functions -->
diff --git a/conf/autopilot/rotorcraft_autopilot.xml b/conf/autopilot/rotorcraft_autopilot.xml
index a27d0b602a..64e8a8688f 100644
--- a/conf/autopilot/rotorcraft_autopilot.xml
+++ b/conf/autopilot/rotorcraft_autopilot.xml
@@ -12,7 +12,7 @@
       <include name="guidance.h"/>
       <include name="stabilization/stabilization_attitude.h"/>
       <include name="modules/radio_control/radio_control.h"/>
-      <include name="subsystems/gps.h"/>
+      <include name="modules/gps/gps.h"/>
       <include name="subsystems/actuators.h"/>
       <include name="subsystems/actuators/motor_mixing.h"/>
       <!--define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" cond="ifndef MODE_MANUAL"/>
diff --git a/conf/autopilot/rover.xml b/conf/autopilot/rover.xml
index 8769ba68e2..0a2db55db3 100644
--- a/conf/autopilot/rover.xml
+++ b/conf/autopilot/rover.xml
@@ -8,7 +8,7 @@
       <include name="generated/airframe.h"/>
       <include name="autopilot.h"/>
       <include name="autopilot_rc_helpers.h"/>
-      <include name="subsystems/gps.h"/>
+      <include name="modules/gps/gps.h"/>
       <include name="subsystems/actuators.h"/>
       <include name="navigation.h"/>
       <include name="guidance/rover_guidance.h"/>
diff --git a/conf/autopilot/rover_holonomic.xml b/conf/autopilot/rover_holonomic.xml
index b73668dffd..e626d6861f 100644
--- a/conf/autopilot/rover_holonomic.xml
+++ b/conf/autopilot/rover_holonomic.xml
@@ -8,7 +8,7 @@
       <include name="generated/airframe.h"/>
       <include name="autopilot.h"/>
       <include name="autopilot_rc_helpers.h"/>
-      <include name="subsystems/gps.h"/>
+      <include name="modules/gps/gps.h"/>
       <include name="subsystems/actuators.h"/>
       <include name="navigation.h"/>
       <include name="guidance/rover_guidance_holonomic.h"/>
diff --git a/conf/modules/gps.xml b/conf/modules/gps.xml
index 9059ee81bf..ad06b14c08 100644
--- a/conf/modules/gps.xml
+++ b/conf/modules/gps.xml
@@ -14,7 +14,7 @@
   <settings>
     <dl_settings>
       <dl_settings name="gps">
-        <dl_setting MAX="2" MIN="0" STEP="1" values="AUTO|PRIMARY|SECONDARY" module="subsystems/gps" VAR="multi_gps_mode" shortname="multi_mode" param="MULTI_GPS_MODE">
+        <dl_setting MAX="2" MIN="0" STEP="1" values="AUTO|PRIMARY|SECONDARY" module="modules/gps/gps" VAR="multi_gps_mode" shortname="multi_mode" param="MULTI_GPS_MODE">
           <!-- uncomment this if you want strip buttons for the multi GPS modes
           <strip_button name="GPS AUTO" icon="gps.png" value="0" group="gps_mode"/>
           <strip_button name="GPS PRIMARY" icon="gps1.png" value="1" group="gps_mode_setting"/>
@@ -25,13 +25,13 @@
   </settings>
 
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_init()"/>
 
   <makefile target="fbw|ap|sim|nps|hitl">
     <configure name="GPS_LED" default="none"/>
-    <file name="gps.c" dir="subsystems"/>
+    <file name="gps.c"/>
     <define name="USE_GPS"/>
     <define name="GPS_LED" value="$(GPS_LED)" cond="ifneq ($(GPS_LED),none)"/>
     <test>
diff --git a/conf/modules/gps_datalink.xml b/conf/modules/gps_datalink.xml
index 982374f3b6..f6974ea301 100644
--- a/conf/modules/gps_datalink.xml
+++ b/conf/modules/gps_datalink.xml
@@ -15,7 +15,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_datalink_init()"/>
   <periodic fun="gps_datalink_periodic_check()" freq="1." autorun="TRUE"/>
@@ -23,20 +23,20 @@
   <datalink message="REMOTE_GPS_SMALL" fun="gps_datalink_parse_REMOTE_GPS_SMALL(buf)"/>
   <datalink message="REMOTE_GPS_LOCAL" fun="gps_datalink_parse_REMOTE_GPS_LOCAL(buf)"/>
   <makefile target="ap|fbw">
-    <file name="gps_datalink.c" dir="subsystems/gps"/>
+    <file name="gps_datalink.c"/>
     <raw>
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), datalink))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_datalink.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_DATALINK
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_datalink.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_DATALINK
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_datalink.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_datalink.h\"
       endif
     </raw>
     <test firmware="rotorcraft">
diff --git a/conf/modules/gps_furuno.xml b/conf/modules/gps_furuno.xml
index 0a91393075..a54a1c827d 100644
--- a/conf/modules/gps_furuno.xml
+++ b/conf/modules/gps_furuno.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_nmea_init()"/>
   <periodic fun="gps_nmea_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="FURUNO_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="FURUNO_GPS_BAUD" default="$(GPS_BAUD)"/>
 
-    <file name="gps_nmea.c" dir="subsystems/gps"/>
+    <file name="gps_nmea.c"/>
 
     <define name="USE_$(FURUNO_GPS_PORT_UPPER)"/>
     <define name="NMEA_GPS_LINK" value="$(FURUNO_GPS_PORT_LOWER)"/>
@@ -33,20 +33,20 @@
 
     <!-- furuno extension -->
     <define name="NMEA_PARSE_PROP"/>
-    <file name="gps_furuno.c" dir="subsystems/gps"/>
+    <file name="gps_furuno.c"/>
     <raw>
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), nmea furuno))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_nmea.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\"
       endif
     </raw>
     <test>
diff --git a/conf/modules/gps_mediatek_diy.xml b/conf/modules/gps_mediatek_diy.xml
index f69ea5fad4..8b16b18792 100644
--- a/conf/modules/gps_mediatek_diy.xml
+++ b/conf/modules/gps_mediatek_diy.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_mtk_init()"/>
   <periodic fun="gps_mtk_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="MTK_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="MTK_GPS_BAUD" default="$(GPS_BAUD)"/>
 
-    <file name="gps_mtk.c" dir="subsystems/gps"/>
+    <file name="gps_mtk.c"/>
 
     <define name="USE_$(MTK_GPS_PORT_UPPER)"/>
     <define name="MTK_GPS_LINK" value="$(MTK_GPS_PORT_LOWER)"/>
@@ -34,15 +34,15 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), mtk mediatek))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_mtk.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_MTK
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_mtk.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_MTK
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_mtk.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_mtk.h\"
       endif
     </raw>
     <test>
diff --git a/conf/modules/gps_nmea.xml b/conf/modules/gps_nmea.xml
index 32c055df69..f19f56c6b6 100644
--- a/conf/modules/gps_nmea.xml
+++ b/conf/modules/gps_nmea.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_nmea_init()"/>
   <periodic fun="gps_nmea_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="NMEA_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="NMEA_GPS_BAUD" default="$(GPS_BAUD)"/>
 
-    <file name="gps_nmea.c" dir="subsystems/gps"/>
+    <file name="gps_nmea.c"/>
 
     <define name="USE_$(NMEA_GPS_PORT_UPPER)"/>
     <define name="NMEA_GPS_LINK" value="$(NMEA_GPS_PORT_LOWER)"/>
@@ -34,15 +34,15 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), nmea))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_nmea.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_NMEA
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_NMEA
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_nmea.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_nmea.h\"
       endif
     </raw>
     <test>
diff --git a/conf/modules/gps_nps.xml b/conf/modules/gps_nps.xml
index 90ce0cab03..965fe3218e 100644
--- a/conf/modules/gps_nps.xml
+++ b/conf/modules/gps_nps.xml
@@ -13,13 +13,13 @@
     <provides>gps</provides>
   </dep>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_nps_init()"/>
   <periodic fun="gps_nps_periodic_check()" freq="1." autorun="TRUE"/>
   <makefile target="nps|hitl">
-    <file name="gps_sim_nps.c" dir="subsystems/gps"/>
-    <define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_nps.h" type="string"/>
+    <file name="gps_sim_nps.c"/>
+    <define name="GPS_TYPE_H" value="modules/gps/gps_sim_nps.h" type="string"/>
     <test>
       <include name="../simulator/nps"/>
       <shell cmd="pkg-config glib-2.0 --cflags"/>
diff --git a/conf/modules/gps_piksi.xml b/conf/modules/gps_piksi.xml
index 70769ff0b4..e08660a2a0 100644
--- a/conf/modules/gps_piksi.xml
+++ b/conf/modules/gps_piksi.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_piksi_init()"/>
   <periodic fun="gps_piksi_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="PIKSI_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="PIKSI_GPS_BAUD" default="B115200"/>
 
-    <file name="gps_piksi.c" dir="subsystems/gps"/>
+    <file name="gps_piksi.c"/>
     <include name="../ext/libsbp/c/include"/>
     <file name="sbp.c" dir="../ext/libsbp/c/src"/>
     <file name="edc.c" dir="../ext/libsbp/c/src"/>
@@ -37,15 +37,15 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), piksi))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_piksi.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_PIKSI
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_piksi.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_PIKSI
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_piksi.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_piksi.h\"
       endif
     </raw>
     <test firmware="rotorcraft">
diff --git a/conf/modules/gps_sim.xml b/conf/modules/gps_sim.xml
index 92e2ae8c08..2b0785a348 100644
--- a/conf/modules/gps_sim.xml
+++ b/conf/modules/gps_sim.xml
@@ -12,13 +12,13 @@
     <provides>gps</provides>
   </dep>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_sim_init()"/>
   <periodic fun="gps_sim_periodic_check()" freq="1." autorun="TRUE"/>
   <makefile target="sim">
-    <file name="gps_sim.c" dir="subsystems/gps"/>
-    <define name="GPS_TYPE_H" value="subsystems/gps/gps_sim.h" type="string"/>
+    <file name="gps_sim.c"/>
+    <define name="GPS_TYPE_H" value="modules/gps/gps_sim.h" type="string"/>
     <test/>
   </makefile>
 </module>
diff --git a/conf/modules/gps_sim_hitl.xml b/conf/modules/gps_sim_hitl.xml
index 03139b3ebd..e7fbce95ae 100644
--- a/conf/modules/gps_sim_hitl.xml
+++ b/conf/modules/gps_sim_hitl.xml
@@ -13,14 +13,14 @@
   </dep>
   <autoload name="gps_nps"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_sim_hitl_init()"/>
   <event fun="gps_sim_hitl_event()"/>
   <makefile target="ap" firmware="rotorcraft">
-    <file name="gps_sim_hitl.c" dir="subsystems/gps"/>
+    <file name="gps_sim_hitl.c"/>
     <define name="HITL"/>
-    <define name="GPS_TYPE_H" value="subsystems/gps/gps_sim_hitl.h" type="string"/>
+    <define name="GPS_TYPE_H" value="modules/gps/gps_sim_hitl.h" type="string"/>
     <test firmware="rotorcraft"/>
   </makefile>
 </module>
diff --git a/conf/modules/gps_sirf.xml b/conf/modules/gps_sirf.xml
index 5d92596fbc..76f48e944f 100644
--- a/conf/modules/gps_sirf.xml
+++ b/conf/modules/gps_sirf.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_sirf_init()"/>
   <periodic fun="gps_sirf_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="SIRF_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="SIRF_GPS_BAUD" default="$(GPS_BAUD)"/>
 
-    <file name="gps_sirf.c" dir="subsystems/gps"/>
+    <file name="gps_sirf.c"/>
 
     <define name="USE_$(SIRF_GPS_PORT_UPPER)"/>
     <define name="SIRF_GPS_LINK" value="$(SIRF_GPS_PORT_LOWER)"/>
@@ -34,15 +34,15 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), sirf))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_sirf.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_SIRF
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_sirf.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_SIRF
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sirf.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_sirf.h\"
       endif
     </raw>
     <test>
diff --git a/conf/modules/gps_skytraq.xml b/conf/modules/gps_skytraq.xml
index 5046b5b2e2..276b14006c 100644
--- a/conf/modules/gps_skytraq.xml
+++ b/conf/modules/gps_skytraq.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_skytraq_init()"/>
   <periodic fun="gps_skytraq_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="SKYTRAQ_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="SKYTRAQ_GPS_BAUD" default="$(GPS_BAUD)"/>
 
-    <file name="gps_skytraq.c" dir="subsystems/gps"/>
+    <file name="gps_skytraq.c"/>
 
     <define name="USE_$(SKYTRAQ_GPS_PORT_UPPER)"/>
     <define name="SKYTRAQ_GPS_LINK" value="$(SKYTRAQ_GPS_PORT_LOWER)"/>
@@ -34,15 +34,15 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), skytraq))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_skytraq.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_SKYTRAQ
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_skytraq.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_SKYTRAQ
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_skytraq.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_skytraq.h\"
       endif
     </raw>
     <test>
diff --git a/conf/modules/gps_ublox.xml b/conf/modules/gps_ublox.xml
index 44ab97735a..41e51e8883 100644
--- a/conf/modules/gps_ublox.xml
+++ b/conf/modules/gps_ublox.xml
@@ -16,7 +16,7 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_ubx_init()"/>
   <periodic fun="gps_ubx_periodic_check()" freq="1." autorun="TRUE"/>
@@ -25,7 +25,7 @@
     <configure name="UBX_GPS_PORT" default="$(GPS_PORT)" case="upper|lower"/>
     <configure name="UBX_GPS_BAUD" default="$(GPS_BAUD)"/>
 
-    <file name="gps_ubx.c" dir="subsystems/gps"/>
+    <file name="gps_ubx.c"/>
 
     <define name="USE_$(UBX_GPS_PORT_UPPER)"/>
     <define name="UBX_GPS_LINK" value="$(UBX_GPS_PORT_LOWER)"/>
@@ -34,15 +34,15 @@
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), ublox))
       # this is the secondary GPS
-      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+      $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_ubx.h\"
       $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UBX
       else
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
       $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UBX
       endif
       else
       # plain old single GPS usage
-      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+      $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
       endif
     </raw>
     <test>
diff --git a/conf/modules/gps_udp.xml b/conf/modules/gps_udp.xml
index 337d3894d0..9e843ef9fa 100644
--- a/conf/modules/gps_udp.xml
+++ b/conf/modules/gps_udp.xml
@@ -17,27 +17,27 @@
   <autoload name="gps_nps"/>
   <autoload name="gps_sim"/>
   <header>
-    <file name="gps.h" dir="subsystems"/>
+    <file name="gps.h"/>
   </header>
   <init fun="gps_udp_init()"/>
   <periodic fun="gps_udp_periodic_check()" freq="1." autorun="TRUE"/>
   <makefile target="ap">
 
-    <file name="gps_udp.c" dir="subsystems/gps"/>
+    <file name="gps_udp.c"/>
 
     <raw>
       ifdef SECONDARY_GPS
       ifneq (,$(findstring $(SECONDARY_GPS), udp))
       # this is the secondary GPS
-      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"subsystems/gps/gps_udp.h\"
+      ap.CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/gps/gps_udp.h\"
       ap.CFLAGS += -DSECONDARY_GPS=GPS_UDP
       else
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
+      ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_udp.h\"
       ap.CFLAGS += -DPRIMARY_GPS=GPS_UDP
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_udp.h\"
+      ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_udp.h\"
       endif
     </raw>
   </makefile>
diff --git a/conf/modules/ins_vectornav.xml b/conf/modules/ins_vectornav.xml
index 05beb8d496..a534c64d91 100644
--- a/conf/modules/ins_vectornav.xml
+++ b/conf/modules/ins_vectornav.xml
@@ -38,7 +38,7 @@
     <file name="ins_vectornav_wrapper.c" dir="subsystems/ins"/>
     <define name="INS_TYPE_H" value="subsystems/ins/ins_vectornav_wrapper.h" type="string"/>
 
-    <file name="gps.c" dir="subsystems"/>
+    <file name="gps.c" dir="modules/gps"/>
     <define name="USE_GPS"/>
     <raw>
       ifdef SECONDARY_GPS
@@ -52,7 +52,7 @@
       endif
       else
       # plain old single GPS usage
-      ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ubx.h\"
+      ap.CFLAGS += -DGPS_TYPE_H=\"modules/gps/gps_ubx.h\"
       endif
     </raw>
     <test firmware="fixedwing">
diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml
index 49e7634d83..ecb5327279 100644
--- a/conf/modules/ins_xsens.xml
+++ b/conf/modules/ins_xsens.xml
@@ -34,7 +34,7 @@
     <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
     <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
 
-    <file name="gps.c" dir="subsystems"/>
+    <file name="gps.c" dir="modules/gps"/>
     <define name="USE_GPS"/>
     <define name="USE_GPS_XSENS"/>
     <define name="USE_GPS_XSENS_RAW_DATA"/>
diff --git a/conf/modules/ins_xsens700.xml b/conf/modules/ins_xsens700.xml
index 7889a730cc..959401467e 100644
--- a/conf/modules/ins_xsens700.xml
+++ b/conf/modules/ins_xsens700.xml
@@ -34,7 +34,7 @@
     <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
     <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
 
-    <file name="gps.c" dir="subsystems"/>
+    <file name="gps.c" dir="modules/gps"/>
     <define name="USE_GPS"/>
     <define name="USE_GPS_XSENS"/>
     <define name="GPS_NB_CHANNELS" value="50"/>
diff --git a/conf/settings/nps.xml b/conf/settings/nps.xml
index f306cc3a78..7b3de9366f 100644
--- a/conf/settings/nps.xml
+++ b/conf/settings/nps.xml
@@ -6,7 +6,7 @@
     <dl_settings NAME="Sim">
        <dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ahrs" values="No|Yes"/>
        <dl_setting var="nps_bypass_ins" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ins" values="No|Yes"/>
-       <dl_setting var="gps_has_fix" min="0" step="1" max="1" module="subsystems/gps/gps_sim_nps" shortname="gps_fix" values="No|Yes"/>
+       <dl_setting var="gps_has_fix" min="0" step="1" max="1" module="modules/gps/gps_sim_nps" shortname="gps_fix" values="No|Yes"/>
        <dl_setting var="datalink_enabled" min="0" step="1" max="1" module="subsystems/datalink/datalink" shortname="datalink" values="OFF|ON"/>
        <dl_setting var="nps_electrical.supply_voltage" min="0" step="0.1" max="24" module="nps/nps_electrical" shortname="bat_voltage" unit="V"/>
        <dl_setting var="nps_atmosphere.wind_speed" min="0" step="0.1" max="25" module="nps/nps_atmosphere" shortname="wind_speed" unit="m/s" handler="set_wind_speed"/>
diff --git a/conf/settings/rotorcraft_basic_multi.xml b/conf/settings/rotorcraft_basic_multi.xml
index 4f1356cb7a..19ee8acd95 100644
--- a/conf/settings/rotorcraft_basic_multi.xml
+++ b/conf/settings/rotorcraft_basic_multi.xml
@@ -11,7 +11,7 @@
         <strip_button name="POWER OFF" icon="off.png" value="0" group="power_switch"/>
       </dl_setting>
       <dl_setting var="autopilot.mode" min="0" step="1" max="19" module="autopilot" shortname="mode" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree|Forward|Module|Flip|Guided" handler="SetModeHandler"/>
-      <dl_setting var="multi_gps_mode" min="0" step="1" max="2" module="subsystems/gps" shortname="gpsmode" values="AUTO|PRIMARY|SECONDARY">
+      <dl_setting var="multi_gps_mode" min="0" step="1" max="2" module="modules/gps/gps" shortname="gpsmode" values="AUTO|PRIMARY|SECONDARY">
         <strip_button name="AUTO" icon="gps.png" value="0" group="gps_mode"/>
         <strip_button name="PRIMARY" icon="gps1.png" value="1" group="gps_mode_setting"/>
         <strip_button name="SECONDARY" icon="gps2.png" value="2" group="gps_mode_setting"/>
diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
index 7eb4d38ac1..f726cbd072 100644
--- a/sw/airborne/arch/sim/sim_ap.c
+++ b/sw/airborne/arch/sim/sim_ap.c
@@ -12,7 +12,7 @@
 #include "std.h"
 #include "inter_mcu.h"
 #include "autopilot.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "generated/settings.h"
 #include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
diff --git a/sw/airborne/arch/sim/sim_gps.c b/sw/airborne/arch/sim/sim_gps.c
index a87a08889a..de13aba961 100644
--- a/sw/airborne/arch/sim/sim_gps.c
+++ b/sw/airborne/arch/sim/sim_gps.c
@@ -7,7 +7,7 @@
 /** From airborne/autopilot/ */
 #include "generated/airframe.h"
 #include "generated/flight_plan.h"
-#include "subsystems/gps/gps_sim.h"
+#include "modules/gps/gps_sim.h"
 #include "math/pprz_geodetic_float.h"
 #include "math/pprz_geodetic_int.h"
 
diff --git a/sw/airborne/boards/apogee/baro_board.c b/sw/airborne/boards/apogee/baro_board.c
index 07b88309c0..cd14dac446 100644
--- a/sw/airborne/boards/apogee/baro_board.c
+++ b/sw/airborne/boards/apogee/baro_board.c
@@ -39,7 +39,7 @@
 // sd-log
 #if APOGEE_BARO_SDLOG
 #include "modules/loggers/sdlog_chibios.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 bool log_apogee_baro_started;
 #endif
 
diff --git a/sw/airborne/boards/bebop/board.c b/sw/airborne/boards/bebop/board.c
index db8094e79d..5e874744eb 100644
--- a/sw/airborne/boards/bebop/board.c
+++ b/sw/airborne/boards/bebop/board.c
@@ -31,7 +31,7 @@
 #include <unistd.h>
 #include "mcu.h"
 #include "boards/bebop.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 static int kill_gracefull(char *process_name)
 {
diff --git a/sw/airborne/firmwares/fixedwing/autopilot_static.c b/sw/airborne/firmwares/fixedwing/autopilot_static.c
index 8ef5f05cd3..69feae1daa 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot_static.c
+++ b/sw/airborne/firmwares/fixedwing/autopilot_static.c
@@ -40,7 +40,7 @@
 #include "modules/nav/nav_geofence.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 static bool gps_lost;
 
diff --git a/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c b/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c
index 21b01b9438..559bd83db2 100644
--- a/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c
+++ b/sw/airborne/firmwares/fixedwing/fixedwing_datalink.c
@@ -42,7 +42,7 @@
 #endif
 
 #ifdef HITL
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 #define MOfMM(_x) (((float)(_x))/1000.)
diff --git a/sw/airborne/firmwares/fixedwing/nav.c b/sw/airborne/firmwares/fixedwing/nav.c
index 1f2ac5bd1d..20f2d12706 100644
--- a/sw/airborne/firmwares/fixedwing/nav.c
+++ b/sw/airborne/firmwares/fixedwing/nav.c
@@ -35,7 +35,7 @@ static unit_t unit __attribute__((unused));
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "autopilot.h"
 #include "inter_mcu.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #include "generated/flight_plan.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
index e1b1194d31..bd1506cf60 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -37,7 +37,7 @@
 #include "modules/radio_control/radio_control.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #else
 #if NO_GPS_NEEDED_FOR_NAV
 #define GpsIsLost() FALSE
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_static.c b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
index 4767287d6d..c0f2aad6cf 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_static.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_static.c
@@ -51,7 +51,7 @@
 #include "generated/settings.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #else
 #if NO_GPS_NEEDED_FOR_NAV
 #define GpsIsLost() FALSE
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index 578e32f0f3..c4d9decd4d 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -31,7 +31,7 @@
 #include "firmwares/rotorcraft/navigation.h"
 
 #include "pprz_debug.h"
-#include "subsystems/gps.h" // needed by auto_nav from the flight plan
+#include "modules/gps/gps.h" // needed by auto_nav from the flight plan
 #include "subsystems/ins.h"
 #include "state.h"
 
diff --git a/sw/airborne/firmwares/rover/autopilot_firmware.c b/sw/airborne/firmwares/rover/autopilot_firmware.c
index 191a7040c5..dbc1e62061 100644
--- a/sw/airborne/firmwares/rover/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rover/autopilot_firmware.c
@@ -35,7 +35,7 @@
 #include "modules/radio_control/radio_control.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #else
 #if NO_GPS_NEEDED_FOR_NAV
 #define GpsIsLost() FALSE
diff --git a/sw/airborne/firmwares/rover/navigation.c b/sw/airborne/firmwares/rover/navigation.c
index bf7e598a62..3a894c0d7e 100644
--- a/sw/airborne/firmwares/rover/navigation.c
+++ b/sw/airborne/firmwares/rover/navigation.c
@@ -30,7 +30,7 @@
 #include "firmwares/rover/navigation.h"
 
 #include "pprz_debug.h"
-#include "subsystems/gps.h" // needed by auto_nav from the flight plan
+#include "modules/gps/gps.h" // needed by auto_nav from the flight plan
 #include "subsystems/ins.h"
 #include "state.h"
 
diff --git a/sw/airborne/modules/cam_control/point.c b/sw/airborne/modules/cam_control/point.c
index 1cb6e3a48f..f0b8127ee1 100644
--- a/sw/airborne/modules/cam_control/point.c
+++ b/sw/airborne/modules/cam_control/point.c
@@ -77,7 +77,7 @@
 #include "autopilot.h"
 #include "generated/flight_plan.h"
 #include "subsystems/navigation/common_nav.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "math/pprz_geodetic_float.h"
 #include "state.h"
 
diff --git a/sw/airborne/modules/com/generic_com.c b/sw/airborne/modules/com/generic_com.c
index 77e9afec5b..3eb2ab1079 100644
--- a/sw/airborne/modules/com/generic_com.c
+++ b/sw/airborne/modules/com/generic_com.c
@@ -28,7 +28,7 @@
 #include "mcu_periph/i2c.h"
 
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/energy/electrical.h"
 #include "generated/airframe.h"
 #include "inter_mcu.h"
diff --git a/sw/airborne/modules/computer_vision/lib/exif/exif_module.c b/sw/airborne/modules/computer_vision/lib/exif/exif_module.c
index 8c2d7faac3..f6a76d1692 100644
--- a/sw/airborne/modules/computer_vision/lib/exif/exif_module.c
+++ b/sw/airborne/modules/computer_vision/lib/exif/exif_module.c
@@ -22,7 +22,7 @@
 
 #include "exif_module.h"
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 
 //////////////////////////////////////////////////////////////
diff --git a/sw/airborne/modules/core/abi_common.h b/sw/airborne/modules/core/abi_common.h
index 0ec3821767..8ab09ba039 100644
--- a/sw/airborne/modules/core/abi_common.h
+++ b/sw/airborne/modules/core/abi_common.h
@@ -32,9 +32,9 @@
 #include "std.h"
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 /* Include here headers with structure definition you may want to use with ABI
- * Ex: '#include "subsystems/gps.h"' in order to use the GpsState structure
+ * Ex: '#include "modules/gps/gps.h"' in order to use the GpsState structure
  */
 
 #include "modules/core/abi_sender_ids.h"
diff --git a/sw/airborne/modules/datalink/mavlink.c b/sw/airborne/modules/datalink/mavlink.c
index 2e95802f0a..dea125efac 100644
--- a/sw/airborne/modules/datalink/mavlink.c
+++ b/sw/airborne/modules/datalink/mavlink.c
@@ -661,7 +661,7 @@ static void mavlink_send_attitude_quaternion(struct transport_tx *trans, struct
 }
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 static void mavlink_send_gps_raw_int(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/modules/decawave/dw1000_arduino.c b/sw/airborne/modules/decawave/dw1000_arduino.c
index 761784992b..fd685736eb 100644
--- a/sw/airborne/modules/decawave/dw1000_arduino.c
+++ b/sw/airborne/modules/decawave/dw1000_arduino.c
@@ -31,7 +31,7 @@
 #include "subsystems/datalink/downlink.h"
 #include "modules/core/abi.h"
 #include "modules/decawave/trilateration.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "state.h"
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c
index 4d6c905efe..7b56e310b5 100644
--- a/sw/airborne/modules/digital_cam/dc.c
+++ b/sw/airborne/modules/digital_cam/dc.c
@@ -96,7 +96,7 @@ uint16_t dc_photo_nr = 0;
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #if DC_SHOT_EXTRA_DL
 #include "modules/datalink/extra_pprz_dl.h"
 #endif
diff --git a/sw/airborne/modules/digital_cam/dc.h b/sw/airborne/modules/digital_cam/dc.h
index 5bad2f4b32..32bcce21f7 100644
--- a/sw/airborne/modules/digital_cam/dc.h
+++ b/sw/airborne/modules/digital_cam/dc.h
@@ -40,7 +40,7 @@
 #include "std.h"
 #include "state.h"
 #include "generated/airframe.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 /** export the number of the last photo */
 extern uint16_t dc_photo_nr;
diff --git a/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c b/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c
index 5f1ab3daa2..c0515bb1d4 100644
--- a/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c
+++ b/sw/airborne/modules/digital_cam/dc_ctrl_parrot_mykonos.c
@@ -54,7 +54,7 @@
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #include "subsystems/datalink/telemetry.h" //? or just downlink.h should be enough
 
@@ -109,7 +109,7 @@ static inline void dc_ctrl_parrot_mykonos_send_shot_position(void)
 
 #if DC_CTRL_PARROT_MYKONOS_LOG
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 struct Dc_Ctrl_Parrot_Mykonos dc_ctrl_parrot_mykonos;
diff --git a/sw/airborne/modules/digital_cam/hackhd.c b/sw/airborne/modules/digital_cam/hackhd.c
index 4372981ba5..affd6cc2c9 100644
--- a/sw/airborne/modules/digital_cam/hackhd.c
+++ b/sw/airborne/modules/digital_cam/hackhd.c
@@ -86,7 +86,7 @@ static inline uint16_t pin_of_gpio(uint32_t __attribute__((unused)) port, uint16
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 static inline void hackhd_send_shot_position(void)
 {
@@ -117,7 +117,7 @@ static inline void hackhd_send_shot_position(void)
 #if HACKHD_LOG
 #include "modules/loggers/sdlog_chibios.h"
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 static inline void hackhd_log_shot_position(void)
 {
diff --git a/sw/airborne/modules/e_identification_fr/e_identification_fr.c b/sw/airborne/modules/e_identification_fr/e_identification_fr.c
index 1174b4c156..1d2db123d8 100644
--- a/sw/airborne/modules/e_identification_fr/e_identification_fr.c
+++ b/sw/airborne/modules/e_identification_fr/e_identification_fr.c
@@ -26,7 +26,7 @@
 #include "modules/e_identification_fr/e_identification_fr.h"
 #include "state.h"
 #include "mcu_periph/uart.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "generated/airframe.h"
 #include "generated/flight_plan.h"
 
diff --git a/sw/airborne/modules/geo_mag/geo_mag.c b/sw/airborne/modules/geo_mag/geo_mag.c
index 77482083de..35a87b1901 100644
--- a/sw/airborne/modules/geo_mag/geo_mag.c
+++ b/sw/airborne/modules/geo_mag/geo_mag.c
@@ -29,7 +29,7 @@
 #include "modules/geo_mag/geo_mag.h"
 #include "math/pprz_geodetic_wmm2020.h"
 #include "math/pprz_algebra_double.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 
 //FIXME: should not be in this spot
diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/modules/gps/gps.c
similarity index 99%
rename from sw/airborne/subsystems/gps.c
rename to sw/airborne/modules/gps/gps.c
index 1c1d22a0c6..3313e62ba6 100644
--- a/sw/airborne/subsystems/gps.c
+++ b/sw/airborne/modules/gps/gps.c
@@ -38,7 +38,7 @@
  */
 
 #include "modules/core/abi.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "led.h"
 #include "modules/core/settings.h"
 #include "generated/settings.h"
diff --git a/sw/airborne/subsystems/gps.h b/sw/airborne/modules/gps/gps.h
similarity index 100%
rename from sw/airborne/subsystems/gps.h
rename to sw/airborne/modules/gps/gps.h
diff --git a/sw/airborne/subsystems/gps/gps_datalink.c b/sw/airborne/modules/gps/gps_datalink.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_datalink.c
rename to sw/airborne/modules/gps/gps_datalink.c
index ef5138c25d..f8bead32dc 100644
--- a/sw/airborne/subsystems/gps/gps_datalink.c
+++ b/sw/airborne/modules/gps/gps_datalink.c
@@ -30,7 +30,7 @@
 
 #include "generated/flight_plan.h"        // reference lla NAV_XXX0
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 #include "subsystems/imu.h"
 #include "subsystems/datalink/datalink.h"
diff --git a/sw/airborne/subsystems/gps/gps_datalink.h b/sw/airborne/modules/gps/gps_datalink.h
similarity index 98%
rename from sw/airborne/subsystems/gps/gps_datalink.h
rename to sw/airborne/modules/gps/gps_datalink.h
index 34316a1f74..3806bd4fab 100644
--- a/sw/airborne/subsystems/gps/gps_datalink.h
+++ b/sw/airborne/modules/gps/gps_datalink.h
@@ -32,7 +32,7 @@
 
 #include "std.h"
 #include "generated/airframe.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS GPS_DATALINK
diff --git a/sw/airborne/subsystems/gps/gps_furuno.c b/sw/airborne/modules/gps/gps_furuno.c
similarity index 98%
rename from sw/airborne/subsystems/gps/gps_furuno.c
rename to sw/airborne/modules/gps/gps_furuno.c
index 48fa8962cd..78b1393f2b 100644
--- a/sw/airborne/subsystems/gps/gps_furuno.c
+++ b/sw/airborne/modules/gps/gps_furuno.c
@@ -22,11 +22,11 @@
  */
 
 /**
- * @file subsystems/gps/gps_furuno.c
+ * @file modules/gps/gps_furuno.c
  * GPS furuno based NMEA parser
  */
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "gps_nmea.h"
 #include <stdio.h>
 #include <string.h>
diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/modules/gps/gps_mtk.c
similarity index 100%
rename from sw/airborne/subsystems/gps/gps_mtk.c
rename to sw/airborne/modules/gps/gps_mtk.c
diff --git a/sw/airborne/subsystems/gps/gps_mtk.h b/sw/airborne/modules/gps/gps_mtk.h
similarity index 98%
rename from sw/airborne/subsystems/gps/gps_mtk.h
rename to sw/airborne/modules/gps/gps_mtk.h
index cba70e6dcc..ade8f1eb3f 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.h
+++ b/sw/airborne/modules/gps/gps_mtk.h
@@ -34,7 +34,7 @@
 #ifndef MTK_H
 #define MTK_H
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "mcu_periph/uart.h"
 
 /** Includes macros generated from mtk.xml */
diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/modules/gps/gps_nmea.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_nmea.c
rename to sw/airborne/modules/gps/gps_nmea.c
index 42141d44a9..f2b7b59c31 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.c
+++ b/sw/airborne/modules/gps/gps_nmea.c
@@ -31,7 +31,7 @@
  */
 
 #include "gps_nmea.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 #include "led.h"
 
diff --git a/sw/airborne/subsystems/gps/gps_nmea.h b/sw/airborne/modules/gps/gps_nmea.h
similarity index 98%
rename from sw/airborne/subsystems/gps/gps_nmea.h
rename to sw/airborne/modules/gps/gps_nmea.h
index 0baeaedd76..bfa4f99203 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.h
+++ b/sw/airborne/modules/gps/gps_nmea.h
@@ -30,7 +30,7 @@
 #define GPS_NMEA_H
 
 #include "mcu_periph/uart.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #define GPS_NMEA_NB_CHANNELS 12
 
diff --git a/sw/airborne/subsystems/gps/gps_piksi.c b/sw/airborne/modules/gps/gps_piksi.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_piksi.c
rename to sw/airborne/modules/gps/gps_piksi.c
index 847b7a3036..82c6c4ecd8 100644
--- a/sw/airborne/subsystems/gps/gps_piksi.c
+++ b/sw/airborne/modules/gps/gps_piksi.c
@@ -22,7 +22,7 @@
  */
 
 /**
- * @file subsystems/gps/gps_piksi.c
+ * @file modules/gps/gps_piksi.c
  *
  * Driver for Piksi modules from Swift-Nav
  *
@@ -30,8 +30,8 @@
  * https://github.com/swift-nav/sbp_tutorial
  */
 
-#include "subsystems/gps/gps_piksi.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps_piksi.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 #include "mcu_periph/uart.h"
 #include "math/pprz_geodetic_double.h"
diff --git a/sw/airborne/subsystems/gps/gps_piksi.h b/sw/airborne/modules/gps/gps_piksi.h
similarity index 97%
rename from sw/airborne/subsystems/gps/gps_piksi.h
rename to sw/airborne/modules/gps/gps_piksi.h
index 6b979fd4cc..e44ca0e357 100644
--- a/sw/airborne/subsystems/gps/gps_piksi.h
+++ b/sw/airborne/modules/gps/gps_piksi.h
@@ -21,7 +21,7 @@
  */
 
 /**
- * @file subsystems/gps/gps_piksi.h
+ * @file modules/gps/gps_piksi.h
  *
  * Driver for Piksi modules from Swift-Nav
  *
diff --git a/sw/airborne/subsystems/gps/gps_sim.c b/sw/airborne/modules/gps/gps_sim.c
similarity index 97%
rename from sw/airborne/subsystems/gps/gps_sim.c
rename to sw/airborne/modules/gps/gps_sim.c
index 16764b92f4..45d909261c 100644
--- a/sw/airborne/subsystems/gps/gps_sim.c
+++ b/sw/airborne/modules/gps/gps_sim.c
@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "subsystems/gps/gps_sim.h"
+#include "modules/gps/gps_sim.h"
 #include "modules/core/abi.h"
 
 void gps_sim_init(void)
diff --git a/sw/airborne/subsystems/gps/gps_sim.h b/sw/airborne/modules/gps/gps_sim.h
similarity index 90%
rename from sw/airborne/subsystems/gps/gps_sim.h
rename to sw/airborne/modules/gps/gps_sim.h
index eb4163a1eb..754ddd9014 100644
--- a/sw/airborne/subsystems/gps/gps_sim.h
+++ b/sw/airborne/modules/gps/gps_sim.h
@@ -2,7 +2,7 @@
 #define GPS_SIM_H
 
 #include "std.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS GPS_SIM
diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.c b/sw/airborne/modules/gps/gps_sim_hitl.c
similarity index 96%
rename from sw/airborne/subsystems/gps/gps_sim_hitl.c
rename to sw/airborne/modules/gps/gps_sim_hitl.c
index e29f0fbb77..ec942b1b72 100644
--- a/sw/airborne/subsystems/gps/gps_sim_hitl.c
+++ b/sw/airborne/modules/gps/gps_sim_hitl.c
@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/gps/gps_sim_hitl.c
+ * @file modules/gps/gps_sim_hitl.c
  * GPS subsystem simulation from rotorcrafts horizontal/vertical reference system
  */
 
-#include "subsystems/gps/gps_sim_hitl.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps_sim_hitl.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 
 #include "state.h"
diff --git a/sw/airborne/subsystems/gps/gps_sim_hitl.h b/sw/airborne/modules/gps/gps_sim_hitl.h
similarity index 96%
rename from sw/airborne/subsystems/gps/gps_sim_hitl.h
rename to sw/airborne/modules/gps/gps_sim_hitl.h
index ecba3bdd24..e5006811ef 100644
--- a/sw/airborne/subsystems/gps/gps_sim_hitl.h
+++ b/sw/airborne/modules/gps/gps_sim_hitl.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/gps/gps_sim_hitl.h
+ * @file modules/gps/gps_sim_hitl.h
  * GPS subsystem simulation from rotorcrafts horizontal/vertical reference system
  */
 
diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.c b/sw/airborne/modules/gps/gps_sim_nps.c
similarity index 98%
rename from sw/airborne/subsystems/gps/gps_sim_nps.c
rename to sw/airborne/modules/gps/gps_sim_nps.c
index 32925d969a..5dd6b8fd08 100644
--- a/sw/airborne/subsystems/gps/gps_sim_nps.c
+++ b/sw/airborne/modules/gps/gps_sim_nps.c
@@ -19,8 +19,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "subsystems/gps/gps_sim_nps.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps_sim_nps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 #include "nps_sensors.h"
 #include "nps_fdm.h"
diff --git a/sw/airborne/subsystems/gps/gps_sim_nps.h b/sw/airborne/modules/gps/gps_sim_nps.h
similarity index 100%
rename from sw/airborne/subsystems/gps/gps_sim_nps.h
rename to sw/airborne/modules/gps/gps_sim_nps.h
diff --git a/sw/airborne/subsystems/gps/gps_sirf.c b/sw/airborne/modules/gps/gps_sirf.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_sirf.c
rename to sw/airborne/modules/gps/gps_sirf.c
index d51ba61f9e..e9544ed64d 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.c
+++ b/sw/airborne/modules/gps/gps_sirf.c
@@ -21,7 +21,7 @@
  */
 
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 #include "led.h"
 
diff --git a/sw/airborne/subsystems/gps/gps_sirf.h b/sw/airborne/modules/gps/gps_sirf.h
similarity index 98%
rename from sw/airborne/subsystems/gps/gps_sirf.h
rename to sw/airborne/modules/gps/gps_sirf.h
index b0ec0cc2ce..25d6e82fe4 100644
--- a/sw/airborne/subsystems/gps/gps_sirf.h
+++ b/sw/airborne/modules/gps/gps_sirf.h
@@ -30,7 +30,7 @@
 #define GPS_SIRF_H
 
 #include "std.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS GPS_SIRF
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.c b/sw/airborne/modules/gps/gps_skytraq.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_skytraq.c
rename to sw/airborne/modules/gps/gps_skytraq.c
index b87cbf0509..7cc9170a45 100644
--- a/sw/airborne/subsystems/gps/gps_skytraq.c
+++ b/sw/airborne/modules/gps/gps_skytraq.c
@@ -19,8 +19,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "subsystems/gps.h"
-#include "subsystems/gps/gps_skytraq.h"
+#include "modules/gps/gps.h"
+#include "modules/gps/gps_skytraq.h"
 #include "modules/core/abi.h"
 #include "led.h"
 #include "pprzlink/pprzlink_device.h"
diff --git a/sw/airborne/subsystems/gps/gps_skytraq.h b/sw/airborne/modules/gps/gps_skytraq.h
similarity index 100%
rename from sw/airborne/subsystems/gps/gps_skytraq.h
rename to sw/airborne/modules/gps/gps_skytraq.h
diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/modules/gps/gps_ubx.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_ubx.c
rename to sw/airborne/modules/gps/gps_ubx.c
index 95cf98d314..27fea324f0 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.c
+++ b/sw/airborne/modules/gps/gps_ubx.c
@@ -20,7 +20,7 @@
  */
 
 
-#include "subsystems/gps/gps_ubx.h"
+#include "modules/gps/gps_ubx.h"
 #include "modules/core/abi.h"
 #include "led.h"
 
@@ -30,7 +30,7 @@
 
 
 #if USE_GPS_UBX_RTCM
-#include "subsystems/gps/librtcm3/CRC24Q.h"
+#include "modules/gps/librtcm3/CRC24Q.h"
 #define RTCM3_PREAMBLE 0xD3
 #define RTCM3_MSG_1005 0x69
 #define RTCM3_MSG_1077 0xB1
diff --git a/sw/airborne/subsystems/gps/gps_ubx.h b/sw/airborne/modules/gps/gps_ubx.h
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_ubx.h
rename to sw/airborne/modules/gps/gps_ubx.h
index 0d9e8513b4..93eadfdccf 100644
--- a/sw/airborne/subsystems/gps/gps_ubx.h
+++ b/sw/airborne/modules/gps/gps_ubx.h
@@ -27,7 +27,7 @@
 #ifndef GPS_UBX_H
 #define GPS_UBX_H
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #ifdef GPS_CONFIGURE
 #warning "Please use gps_ubx_ucenter.xml module instead of GPS_CONFIGURE"
diff --git a/sw/airborne/modules/gps/gps_ubx_ucenter.c b/sw/airborne/modules/gps/gps_ubx_ucenter.c
index b236fae932..844eb3f78a 100644
--- a/sw/airborne/modules/gps/gps_ubx_ucenter.c
+++ b/sw/airborne/modules/gps/gps_ubx_ucenter.c
@@ -28,7 +28,7 @@
  */
 
 #include "modules/gps/gps_ubx_ucenter.h"
-#include "subsystems/gps/gps_ubx.h"
+#include "modules/gps/gps_ubx.h"
 #include "ubx_protocol.h"
 #include "subsystems/datalink/downlink.h"
 
diff --git a/sw/airborne/subsystems/gps/gps_udp.c b/sw/airborne/modules/gps/gps_udp.c
similarity index 99%
rename from sw/airborne/subsystems/gps/gps_udp.c
rename to sw/airborne/modules/gps/gps_udp.c
index d8ae167b89..8c5fbe6239 100644
--- a/sw/airborne/subsystems/gps/gps_udp.c
+++ b/sw/airborne/modules/gps/gps_udp.c
@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 
 #include "fms/fms_network.h"
diff --git a/sw/airborne/subsystems/gps/gps_udp.h b/sw/airborne/modules/gps/gps_udp.h
similarity index 91%
rename from sw/airborne/subsystems/gps/gps_udp.h
rename to sw/airborne/modules/gps/gps_udp.h
index 072b09ac47..29a5ba174f 100644
--- a/sw/airborne/subsystems/gps/gps_udp.h
+++ b/sw/airborne/modules/gps/gps_udp.h
@@ -2,7 +2,7 @@
 #define GPS_UDP_H
 
 #include "std.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #ifndef PRIMARY_GPS
 #define PRIMARY_GPS GPS_UDP
diff --git a/sw/airborne/subsystems/gps/librtcm3/CRC24Q.h b/sw/airborne/modules/gps/librtcm3/CRC24Q.h
similarity index 100%
rename from sw/airborne/subsystems/gps/librtcm3/CRC24Q.h
rename to sw/airborne/modules/gps/librtcm3/CRC24Q.h
diff --git a/sw/airborne/subsystems/gps/librtcm3/common.h b/sw/airborne/modules/gps/librtcm3/common.h
similarity index 100%
rename from sw/airborne/subsystems/gps/librtcm3/common.h
rename to sw/airborne/modules/gps/librtcm3/common.h
diff --git a/sw/airborne/subsystems/gps/librtcm3/rtcm3.h b/sw/airborne/modules/gps/librtcm3/rtcm3.h
similarity index 100%
rename from sw/airborne/subsystems/gps/librtcm3/rtcm3.h
rename to sw/airborne/modules/gps/librtcm3/rtcm3.h
diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
index ccc0ae826a..a18b76da61 100644
--- a/sw/airborne/modules/gsm/gsm.c
+++ b/sw/airborne/modules/gsm/gsm.c
@@ -59,7 +59,7 @@ Receiving:
 #include "mcu_periph/uart.h"
 #include "std.h"
 #include "subsystems/datalink/downlink.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "autopilot.h"
 #include "modules/energy/electrical.h"
 //#include "subsystems/navigation/common_nav.h"  //why is should this be needed?
diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
index 34e5e610da..c1a45a3e0d 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c
@@ -13,7 +13,7 @@
 #include "state.h"
 
 // For centripedal corrections
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "subsystems/ahrs.h"
 
 #include "generated/airframe.h"
diff --git a/sw/airborne/modules/ins/ahrs_chimu_uart.c b/sw/airborne/modules/ins/ahrs_chimu_uart.c
index c1b16891bd..d49748d91e 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_uart.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_uart.c
@@ -9,7 +9,7 @@
 #include "state.h"
 
 // For centripedal corrections
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "subsystems/ahrs.h"
 
 #include "generated/airframe.h"
diff --git a/sw/airborne/modules/ins/alt_filter.c b/sw/airborne/modules/ins/alt_filter.c
index 88479aca5e..8bf6a0b891 100644
--- a/sw/airborne/modules/ins/alt_filter.c
+++ b/sw/airborne/modules/ins/alt_filter.c
@@ -21,7 +21,7 @@
  */
 
 #include "modules/ins/alt_filter.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/sensors/baro_ets.h"
 
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
index d1e661a890..205ae9ed7d 100644
--- a/sw/airborne/modules/ins/ins_arduimu.c
+++ b/sw/airborne/modules/ins/ins_arduimu.c
@@ -17,7 +17,7 @@ Autoren@ZHAW:   schmiemi
 #ifndef UBX
 #error "currently only compatible with uBlox GPS modules"
 #endif
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 int32_t GPS_Data[14];
 
 #ifndef ARDUIMU_I2C_DEV
diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c
index 469adbe1f3..2ea46513d3 100644
--- a/sw/airborne/modules/ins/ins_arduimu_basic.c
+++ b/sw/airborne/modules/ins/ins_arduimu_basic.c
@@ -31,7 +31,7 @@
 #include "state.h"
 
 // GPS data for ArduIMU
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 // Command vector for thrust
 #include "generated/airframe.h"
diff --git a/sw/airborne/modules/ins/ins_skeleton.h b/sw/airborne/modules/ins/ins_skeleton.h
index a59606a45c..9781704c4b 100644
--- a/sw/airborne/modules/ins/ins_skeleton.h
+++ b/sw/airborne/modules/ins/ins_skeleton.h
@@ -34,7 +34,7 @@
 #include "math/pprz_orientation_conversion.h"
 
 #include "subsystems/ins.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 /** Ins implementation state (fixed point) */
 struct InsModuleInt {
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index ec6a36b998..17211fd117 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -37,7 +37,7 @@
 #if !USE_GPS
 #error "USE_GPS needs to be 1 to use the Xsens GPS!"
 #endif
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "math/pprz_geodetic_float.h"
 #include "subsystems/navigation/common_nav.h" /* needed for nav_utm_zone0 */
 #endif
diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c
index e28b7ffac1..a7c4c53a77 100644
--- a/sw/airborne/modules/ins/ins_xsens700.c
+++ b/sw/airborne/modules/ins/ins_xsens700.c
@@ -38,7 +38,7 @@
 #if !USE_GPS
 #error "USE_GPS needs to be 1 to use the Xsens GPS!"
 #endif
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 #include "math/pprz_geodetic_wgs84.h"
 #include "math/pprz_geodetic_float.h"
diff --git a/sw/airborne/modules/ins/xsens.h b/sw/airborne/modules/ins/xsens.h
index 795748a626..c732e36a34 100644
--- a/sw/airborne/modules/ins/xsens.h
+++ b/sw/airborne/modules/ins/xsens.h
@@ -36,7 +36,7 @@
 
 
 #if USE_GPS_XSENS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 struct XsensTime {
diff --git a/sw/airborne/modules/ins/xsens700.h b/sw/airborne/modules/ins/xsens700.h
index 2cceb33ddd..c42425a95a 100644
--- a/sw/airborne/modules/ins/xsens700.h
+++ b/sw/airborne/modules/ins/xsens700.h
@@ -35,7 +35,7 @@
 #include "xsens_parser.h"
 
 #if USE_GPS_XSENS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 struct XsensTime {
diff --git a/sw/airborne/modules/loggers/sdlog_chibios.c b/sw/airborne/modules/loggers/sdlog_chibios.c
index 33d72826b7..a772a0f119 100644
--- a/sw/airborne/modules/loggers/sdlog_chibios.c
+++ b/sw/airborne/modules/loggers/sdlog_chibios.c
@@ -39,7 +39,7 @@
 #if HAL_USE_RTC
 #include <hal_rtc.h>
 #include <time.h>
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 // Delay before starting SD log
diff --git a/sw/airborne/modules/meteo/humid_sht.c b/sw/airborne/modules/meteo/humid_sht.c
index 03b0f4fdd6..e237d6a19d 100644
--- a/sw/airborne/modules/meteo/humid_sht.c
+++ b/sw/airborne/modules/meteo/humid_sht.c
@@ -38,7 +38,7 @@
 // sd-log
 #if SHT_SDLOG
 #include "modules/loggers/sdlog_chibios.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 bool log_sht_started;
 #endif
 
diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.c b/sw/airborne/modules/meteo/meteo_france_DAQ.c
index 23402671f2..86e6c202ea 100644
--- a/sw/airborne/modules/meteo/meteo_france_DAQ.c
+++ b/sw/airborne/modules/meteo/meteo_france_DAQ.c
@@ -40,7 +40,7 @@
 #include "modules/loggers/sdlog_chibios.h"
 #include "modules/loggers/pprzlog_tp.h"
 
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/datalink/extra_pprz_dl.h"
 
 struct MF_DAQ mf_daq;
diff --git a/sw/airborne/modules/meteo/meteo_stick.c b/sw/airborne/modules/meteo/meteo_stick.c
index a879701e73..6cf75c851f 100644
--- a/sw/airborne/modules/meteo/meteo_stick.c
+++ b/sw/airborne/modules/meteo/meteo_stick.c
@@ -189,7 +189,7 @@ bool log_ptu_started;
 #include "mcu_periph/uart.h"
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #define MS_DATA_SIZE 4
 
diff --git a/sw/airborne/modules/meteo/mf_ptu.c b/sw/airborne/modules/meteo/mf_ptu.c
index 3dd35de51f..19e0164f77 100644
--- a/sw/airborne/modules/meteo/mf_ptu.c
+++ b/sw/airborne/modules/meteo/mf_ptu.c
@@ -70,7 +70,7 @@ bool log_ptu_started;
 #include "mcu_periph/uart.h"
 #include "pprzlink/messages.h"
 #include "subsystems/datalink/downlink.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 void mf_ptu_init(void)
diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c
index 2e5bf55cc2..24d4094cf6 100644
--- a/sw/airborne/modules/meteo/temp_temod.c
+++ b/sw/airborne/modules/meteo/temp_temod.c
@@ -36,7 +36,7 @@
 // sd-log
 #if TEMP_TEMOD_SDLOG
 #include "modules/loggers/sdlog_chibios.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 bool log_temod_started;
 #endif
 
diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c
index 57c841e6f4..a831891f49 100644
--- a/sw/airborne/modules/meteo/windturbine.c
+++ b/sw/airborne/modules/meteo/windturbine.c
@@ -29,7 +29,7 @@
 
 #include "meteo/windturbine.h"
 #include "core/trigger_ext.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "mcu_periph/sys_time.h"
 
 
diff --git a/sw/airborne/modules/multi/potential.c b/sw/airborne/modules/multi/potential.c
index 0d22ee380a..5f81686ad6 100644
--- a/sw/airborne/modules/multi/potential.c
+++ b/sw/airborne/modules/multi/potential.c
@@ -13,7 +13,7 @@
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "autopilot.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "generated/airframe.h"
 
 //#include <stdio.h>
diff --git a/sw/airborne/modules/multi/traffic_info.h b/sw/airborne/modules/multi/traffic_info.h
index 2f3b8bd404..58693d1d17 100644
--- a/sw/airborne/modules/multi/traffic_info.h
+++ b/sw/airborne/modules/multi/traffic_info.h
@@ -31,7 +31,7 @@
 #include "mcu_periph/sys_time.h"
 #include "math/pprz_geodetic_int.h"
 #include "math/pprz_geodetic_float.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #ifndef NB_ACS_ID
 #define NB_ACS_ID 256
diff --git a/sw/airborne/modules/nav/nav_smooth.c b/sw/airborne/modules/nav/nav_smooth.c
index 9299491a71..10ee338fac 100644
--- a/sw/airborne/modules/nav/nav_smooth.c
+++ b/sw/airborne/modules/nav/nav_smooth.c
@@ -31,7 +31,7 @@
 #include "modules/nav/nav_smooth.h"
 #include "state.h"
 #include "firmwares/fixedwing/nav.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #define Sign(_x) ((_x) > 0 ? 1 : (-1))
 #define Norm2Pi(x) ({ uint8_t _i=1; float _x = x; while (_i && _x < 0.) { _i++;_x += 2*M_PI; } while (_i && _x > 2*M_PI) { _i++; _x -= 2*M_PI; } _x; })
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
index 197ef657f8..693ad198e2 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.c
+++ b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -87,7 +87,7 @@ PRINT_CONFIG_VAR(AIRSPEED_ETS_START_DELAY)
 #ifndef SITL
 #if AIRSPEED_ETS_SDLOG
 #include "modules/loggers/sdlog_chibios.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 bool log_airspeed_ets_started;
 #endif
 #endif
diff --git a/sw/airborne/modules/sensors/baro_sim.c b/sw/airborne/modules/sensors/baro_sim.c
index 8c92acb8b5..b9816172f5 100644
--- a/sw/airborne/modules/sensors/baro_sim.c
+++ b/sw/airborne/modules/sensors/baro_sim.c
@@ -26,7 +26,7 @@
  */
 
 #include "math/pprz_isa.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 
 PRINT_CONFIG_VAR(BARO_SIM_SENDER_ID)
diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c
index 9506ff5b37..e64ecf8599 100644
--- a/sw/airborne/modules/vehicle_interface/vi.c
+++ b/sw/airborne/modules/vehicle_interface/vi.c
@@ -23,7 +23,7 @@
 
 #include "subsystems/imu.h"
 #include "subsystems/ahrs.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #include "generated/airframe.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
index 3d622d5975..a7bc991323 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
@@ -34,7 +34,7 @@
 #include "math/pprz_simple_matrix.h"
 #include "generated/airframe.h"
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 //#include "../../test/pprz_algebra_print.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
index 9453f946b0..29f396d8a0 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
@@ -33,7 +33,7 @@
 #include "std.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_orientation_conversion.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 enum AhrsFCStatus {
   AHRS_FC_UNINIT,
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index 2746c7426e..afa76825e3 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -35,7 +35,7 @@
 #include "math/pprz_algebra_float.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 #include <string.h>
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
index 45b946fd71..2c431c2130 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
@@ -27,7 +27,7 @@
 #include <inttypes.h>
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_orientation_conversion.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 enum AhrsDCMStatus {
   AHRS_DCM_UNINIT,
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
index deb93a7f82..dd7cec5453 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
@@ -35,7 +35,7 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 #include "subsystems/ins.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "mcu_periph/uart.h"
 
 #include "state.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
index d2832435cb..c7981d8e49 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
@@ -34,7 +34,7 @@
 #include "subsystems/ahrs/ahrs_int_utils.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 #include "math/pprz_trig_int.h"
 #include "math/pprz_algebra_int.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
index 862750f22b..23a1329868 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
@@ -32,7 +32,7 @@
 #define AHRS_INT_CMPL_QUAT_H
 
 #include "subsystems/ahrs.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "std.h"
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_orientation_conversion.h"
diff --git a/sw/airborne/subsystems/datalink/datalink.c b/sw/airborne/subsystems/datalink/datalink.c
index 0bdb81de56..d54e41057c 100644
--- a/sw/airborne/subsystems/datalink/datalink.c
+++ b/sw/airborne/subsystems/datalink/datalink.c
@@ -41,7 +41,7 @@
 #endif
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 #ifdef RADIO_CONTROL_DATALINK_LED
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index b709b3d3ae..2c05029829 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -29,7 +29,7 @@
 
 #if USE_GPS
 // for ins_reset_utm_zone
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "state.h"
 #endif
 
diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c
index 28646dd45b..f12759c689 100644
--- a/sw/airborne/subsystems/ins/hf_float.c
+++ b/sw/airborne/subsystems/ins/hf_float.c
@@ -30,7 +30,7 @@
 #include "subsystems/ins/hf_float.h"
 #include "subsystems/imu.h"
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include <stdlib.h>
 #include "filters/low_pass_filter.h"
 #include "generated/airframe.h"
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index 285a20a49a..59dd5de6c0 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -34,7 +34,7 @@
 
 #include "state.h"
 #include "mcu_periph/sys_time.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "firmwares/fixedwing/nav.h"
 
 #include "generated/airframe.h"
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index cd4968f0e4..0b51db339e 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -31,7 +31,7 @@
 #include "subsystems/ahrs/ahrs_int_utils.h"
 
 #include "subsystems/ins.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #include "generated/airframe.h"
 #include "generated/flight_plan.h"
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.h b/sw/airborne/subsystems/ins/ins_float_invariant.h
index 034764e07a..e520f86ee4 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.h
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.h
@@ -28,7 +28,7 @@
 #define INS_FLOAT_INVARIANT_H
 
 #include "subsystems/ins.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "math/pprz_algebra_float.h"
 #include "math/pprz_orientation_conversion.h"
 
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index 79ec55d621..bcb3e09002 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -33,7 +33,7 @@
 #include <math.h>
 
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "modules/core/abi.h"
 
 #ifndef USE_INS_NAV_INIT
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
index 3f445a612e..2825ebfe3d 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
@@ -33,7 +33,7 @@
 #include <math.h>
 
 #include "state.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "firmwares/fixedwing/nav.h"
 
 
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 662bbdd13d..e602bd6e95 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -31,7 +31,7 @@
 #include "modules/core/abi.h"
 
 #include "subsystems/imu.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 #include "generated/airframe.h"
 
diff --git a/sw/airborne/subsystems/ins/ins_int.h b/sw/airborne/subsystems/ins/ins_int.h
index 4ef20080d5..5eb682219d 100644
--- a/sw/airborne/subsystems/ins/ins_int.h
+++ b/sw/airborne/subsystems/ins/ins_int.h
@@ -30,7 +30,7 @@
 #define INS_INT_H
 
 #include "subsystems/ins.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "std.h"
 #include "math/pprz_geodetic_int.h"
 #include "math/pprz_algebra_float.h"
diff --git a/sw/airborne/subsystems/ins/ins_vectornav.h b/sw/airborne/subsystems/ins/ins_vectornav.h
index 2c84b11aa1..f336dd54ac 100644
--- a/sw/airborne/subsystems/ins/ins_vectornav.h
+++ b/sw/airborne/subsystems/ins/ins_vectornav.h
@@ -30,7 +30,7 @@
 #define INS_VECTORNAV_H
 
 // Subsystems
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #include "subsystems/ins.h"
 
 // Peripheral
diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.c b/sw/airborne/subsystems/intermcu/intermcu_ap.c
index b7e15532bf..d79ecb9ea4 100644
--- a/sw/airborne/subsystems/intermcu/intermcu_ap.c
+++ b/sw/airborne/subsystems/intermcu/intermcu_ap.c
@@ -50,7 +50,7 @@ static inline void intermcu_parse_msg(void (*rc_frame_handler)(void));
 #if IMCU_GPS
 #include "std.h"
 #include "modules/core/abi.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 static struct GpsState gps_imcu;
 #endif
 
diff --git a/sw/airborne/subsystems/intermcu/intermcu_fbw.c b/sw/airborne/subsystems/intermcu/intermcu_fbw.c
index ebba7eeeff..13358a0b89 100644
--- a/sw/airborne/subsystems/intermcu/intermcu_fbw.c
+++ b/sw/airborne/subsystems/intermcu/intermcu_fbw.c
@@ -75,7 +75,7 @@ static void checkPx4RebootCommand(unsigned char b);
 #endif
 
 #include "modules/core/abi.h"
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 static abi_event gps_ev;
 static void gps_cb(uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s);
 #endif
diff --git a/sw/ground_segment/misc/Makefile b/sw/ground_segment/misc/Makefile
index 4fb66ffe36..e9a8a8d741 100644
--- a/sw/ground_segment/misc/Makefile
+++ b/sw/ground_segment/misc/Makefile
@@ -55,7 +55,7 @@ GLIB_LDFLAGS = $(shell pkg-config glib-2.0 --libs) -lglibivy -lm $(shell pcre-co
 
 # Paparazzi includes
 INCLUDES += $(shell pkg-config glib-2.0 --cflags) -I$(PAPARAZZI_SRC)/sw/airborne/ -I$(PAPARAZZI_SRC)/sw/include/ $(IVY_INC)
-INCLUDES += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include/ -I$(PAPARAZZI_SRC)/sw/airborne/subsystems/gps/librtcm3/ -I$(PAPARAZZI_SRC)/sw/airborne/arch/linux/
+INCLUDES += -I$(PAPARAZZI_SRC)/sw/ext/libsbp/c/include/ -I$(PAPARAZZI_SRC)/sw/airborne/modules/gps/librtcm3/ -I$(PAPARAZZI_SRC)/sw/airborne/arch/linux/
 
 all: davis2ivy kestrel2ivy natnet2ivy sbp2ivy video_synchronizer sbs2ivy rtcm2ivy
 
diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c
index 4148279aa0..0531789ef7 100644
--- a/sw/simulator/nps/nps_autopilot_fixedwing.c
+++ b/sw/simulator/nps/nps_autopilot_fixedwing.c
@@ -101,7 +101,7 @@ void nps_autopilot_run_systime_step(void)
 }
 
 #include <stdio.h>
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 void nps_autopilot_run_step(double time)
 {
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index 17a866128d..b0def137c2 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -88,7 +88,7 @@ void nps_autopilot_run_systime_step(void)
 }
 
 #include <stdio.h>
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 
 void nps_autopilot_run_step(double time)
 {
diff --git a/sw/simulator/nps/nps_ivy.c b/sw/simulator/nps/nps_ivy.c
index a2c1695701..4f6513d658 100644
--- a/sw/simulator/nps/nps_ivy.c
+++ b/sw/simulator/nps/nps_ivy.c
@@ -23,7 +23,7 @@
 #include "subsystems/datalink/downlink.h"
 
 #if USE_GPS
-#include "subsystems/gps.h"
+#include "modules/gps/gps.h"
 #endif
 
 #include NPS_SENSORS_PARAMS
@@ -112,7 +112,7 @@ static void on_WORLD_ENV(IvyClientPtr app __attribute__((unused)),
   nps_set_time_factor(atof(argv[5]));
 
 #if USE_GPS
-  // directly set gps fix in subsystems/gps/gps_sim_nps.h
+  // directly set gps fix in modules/gps/gps_sim_nps.h
   gps_has_fix = atoi(argv[6]); // gps_availability
 #endif
 }
diff --git a/sw/tools/generators/gen_ubx.ml b/sw/tools/generators/gen_ubx.ml
index 99bc65fed2..f5baf31c06 100644
--- a/sw/tools/generators/gen_ubx.ml
+++ b/sw/tools/generators/gen_ubx.ml
@@ -160,7 +160,7 @@ let _ =
     fprintf out "/* Please DO NOT EDIT */\n\n";
 
     fprintf out "#include \"pprzlink/pprzlink_device.h\"\n\n";
-    fprintf out "#include \"subsystems/gps/gps_ubx.h\"\n\n";
+    fprintf out "#include \"modules/gps/gps_ubx.h\"\n\n";
 
     define "UBX_SYNC1" "0xB5";
     define "UBX_SYNC2" "0x62";