diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml
index e098800293..54f9c79fd9 100644
--- a/conf/airframes/examples/microjet.xml
+++ b/conf/airframes/examples/microjet.xml
@@ -194,6 +194,7 @@
 
   <modules>
     <load name="openlog.xml"/>
+    <load name="nav_survey_rectangle.xml"/>
     <load name="infrared_adc.xml"/>
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
diff --git a/conf/firmwares/subsystems/fixedwing/navigation.makefile b/conf/firmwares/subsystems/fixedwing/navigation.makefile
index cdf3af3921..3908de9f78 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation.makefile
@@ -9,6 +9,6 @@ $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 
diff --git a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
index 09025c127a..7bfa74de6e 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
@@ -9,7 +9,7 @@ $(TARGET).CFLAGS += -DNAV
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/nav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c $(SRC_SUBSYSTEMS)/navigation/nav_line.c
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
diff --git a/conf/modules/nav_survey_rectangle.xml b/conf/modules/nav_survey_rectangle.xml
new file mode 100644
index 0000000000..002819d101
--- /dev/null
+++ b/conf/modules/nav_survey_rectangle.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_survey_rectangle" dir="nav">
+  <doc>
+    <description>
+      Automatic survey of a rectangle for fixedwings.
+      Rectangle is defined in flight plan by two points, sweep can be south-north or west-east.
+    </description>
+  </doc>
+  <header>
+    <file name="nav_survey_rectangle.h"/>
+  </header>
+  <makefile>
+    <file name="nav_survey_rectangle.c"/>
+  </makefile>
+</module>
diff --git a/sw/airborne/subsystems/navigation/nav_survey_rectangle.c b/sw/airborne/modules/nav/nav_survey_rectangle.c
similarity index 98%
rename from sw/airborne/subsystems/navigation/nav_survey_rectangle.c
rename to sw/airborne/modules/nav/nav_survey_rectangle.c
index 4a39f00ace..cf2df87a49 100644
--- a/sw/airborne/subsystems/navigation/nav_survey_rectangle.c
+++ b/sw/airborne/modules/nav/nav_survey_rectangle.c
@@ -20,14 +20,14 @@
  */
 
 /**
- * @file subsystems/navigation/nav_survey_rectangle.c
+ * @file modules/nav/nav_survey_rectangle.c
  *
  * Automatic survey of a rectangle for fixedwings.
  *
  * Rectangle is defined by two points, sweep can be south-north or west-east.
  */
 
-#include "subsystems/navigation/nav_survey_rectangle.h"
+#include "modules/nav/nav_survey_rectangle.h"
 #include "state.h"
 
 static struct point survey_from;
diff --git a/sw/airborne/subsystems/navigation/nav_survey_rectangle.h b/sw/airborne/modules/nav/nav_survey_rectangle.h
similarity index 96%
rename from sw/airborne/subsystems/navigation/nav_survey_rectangle.h
rename to sw/airborne/modules/nav/nav_survey_rectangle.h
index 443c98ca7a..893560da33 100644
--- a/sw/airborne/subsystems/navigation/nav_survey_rectangle.h
+++ b/sw/airborne/modules/nav/nav_survey_rectangle.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/nav_survey_rectangle.c
+ * @file modules/nav/nav_survey_rectangle.c
  *
  * Automatic survey of a rectangle for fixedwings.
  *
diff --git a/sw/airborne/subsystems/nav.h b/sw/airborne/subsystems/nav.h
index 74ce373275..34a0ccd996 100644
--- a/sw/airborne/subsystems/nav.h
+++ b/sw/airborne/subsystems/nav.h
@@ -37,7 +37,6 @@
 #ifdef CTRL_TYPE_H
 #include CTRL_TYPE_H
 #endif
-#include "subsystems/navigation/nav_survey_rectangle.h"
 #include "subsystems/navigation/common_flight_plan.h"
 #include "subsystems/navigation/common_nav.h"