diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink
index 7c7d0abe59..4e92b01af2 160000
--- a/sw/ext/pprzlink
+++ b/sw/ext/pprzlink
@@ -1 +1 @@
-Subproject commit 7c7d0abe596a1fee86295612cc9b7f4594c7e09d
+Subproject commit 4e92b01af2ee370f0aa3158ee39c9972e86a016e
diff --git a/sw/ground_segment/joystick/gb2ivy.py b/sw/ground_segment/joystick/gb2ivy.py
index ff3a3f0d77..624ee6bce7 100755
--- a/sw/ground_segment/joystick/gb2ivy.py
+++ b/sw/ground_segment/joystick/gb2ivy.py
@@ -5,11 +5,12 @@ from __future__ import print_function
 import sys
 from os import path, getenv
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_SRC and PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
 PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
-sys.path.append(PPRZ_SRC + "/sw/lib/python")
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+sys.path.append(PPRZ_SRC + "/sw/lib/python") # settings_xml
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
diff --git a/sw/ground_segment/python/atc/atc_frame.py b/sw/ground_segment/python/atc/atc_frame.py
index 1e9127b64d..e61bec2ed0 100644
--- a/sw/ground_segment/python/atc/atc_frame.py
+++ b/sw/ground_segment/python/atc/atc_frame.py
@@ -28,10 +28,10 @@ import array
 from cStringIO import StringIO
 
 
-PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
+PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
                                                                       '../../../..')))
 
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 
diff --git a/sw/ground_segment/python/dashboard/radiowatchframe.py b/sw/ground_segment/python/dashboard/radiowatchframe.py
index 83ee58718a..35c4b9b3ff 100644
--- a/sw/ground_segment/python/dashboard/radiowatchframe.py
+++ b/sw/ground_segment/python/dashboard/radiowatchframe.py
@@ -8,7 +8,10 @@ import math
 import pynotify
 import pygame.mixer
 
-sys.path.append(os.getenv("PAPARAZZI_HOME") + "/sw/ext/pprzlink/lib/v1.0/python")
+# if PAPARAZZI_HOME not set, then assume the tree containing this
+# file is a reasonable substitute
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 
diff --git a/sw/ground_segment/python/guided_mode_example.py b/sw/ground_segment/python/guided_mode_example.py
index 26acb03e4b..22b802a5b2 100755
--- a/sw/ground_segment/python/guided_mode_example.py
+++ b/sw/ground_segment/python/guided_mode_example.py
@@ -5,11 +5,12 @@ from __future__ import print_function
 import sys
 from os import path, getenv
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_SRC or PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
-PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
 sys.path.append(PPRZ_SRC + "/sw/lib/python")
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
diff --git a/sw/ground_segment/python/messages_app/messagesframe.py b/sw/ground_segment/python/messages_app/messagesframe.py
index 14836f7554..3fe2a0777b 100644
--- a/sw/ground_segment/python/messages_app/messagesframe.py
+++ b/sw/ground_segment/python/messages_app/messagesframe.py
@@ -6,13 +6,10 @@ import threading
 
 from os import path, getenv
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
-PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
-sys.path.append(PPRZ_SRC + "/sw/lib/python")
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
-
-PPRZ_HOME = getenv("PAPARAZZI_HOME", PPRZ_SRC)
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
diff --git a/sw/ground_segment/python/move_waypoint_example.py b/sw/ground_segment/python/move_waypoint_example.py
index d484881b7d..bd8574aee0 100755
--- a/sw/ground_segment/python/move_waypoint_example.py
+++ b/sw/ground_segment/python/move_waypoint_example.py
@@ -6,10 +6,10 @@ import sys
 from os import path, getenv
 from time import sleep
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
-PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
diff --git a/sw/ground_segment/python/natnet3.x/natnet2ivy.py b/sw/ground_segment/python/natnet3.x/natnet2ivy.py
index 401053eaec..099624b5df 100755
--- a/sw/ground_segment/python/natnet3.x/natnet2ivy.py
+++ b/sw/ground_segment/python/natnet3.x/natnet2ivy.py
@@ -54,7 +54,6 @@ from NatNetClient import NatNetClient
 # file is a reasonable substitute
 PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
 sys.path.append(PPRZ_HOME + "/var/lib/python")
-sys.path.append(PPRZ_HOME + "/var/lib/python/pprzlink") # seems needed for messages_xml_map file
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
 
diff --git a/sw/ground_segment/python/payload_forward/payload_forward.py b/sw/ground_segment/python/payload_forward/payload_forward.py
index 44a583f531..7ae9296ea0 100644
--- a/sw/ground_segment/python/payload_forward/payload_forward.py
+++ b/sw/ground_segment/python/payload_forward/payload_forward.py
@@ -27,9 +27,9 @@ import jpeg100_decoder
 from cStringIO import StringIO
 
 
-PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../..')))
+PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../..')))
 
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 
diff --git a/sw/ground_segment/python/real_time_plot/messagepicker.py b/sw/ground_segment/python/real_time_plot/messagepicker.py
index bb2a0c6089..4fe9143d29 100755
--- a/sw/ground_segment/python/real_time_plot/messagepicker.py
+++ b/sw/ground_segment/python/real_time_plot/messagepicker.py
@@ -7,10 +7,10 @@ import sys
 import time
 from os import path, getenv
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
-PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
diff --git a/sw/ground_segment/python/real_time_plot/plotpanel.py b/sw/ground_segment/python/real_time_plot/plotpanel.py
index 7842a2bd7f..871f4c0d39 100644
--- a/sw/ground_segment/python/real_time_plot/plotpanel.py
+++ b/sw/ground_segment/python/real_time_plot/plotpanel.py
@@ -11,11 +11,12 @@ import sys
 from os import getenv, path
 import messagepicker
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_SRC or PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
 PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
 sys.path.append(PPRZ_SRC + "/sw/lib/python")
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
 
 import pprz_env
 from pprzlink import messages_xml_map
diff --git a/sw/ground_segment/python/redundant_link/link_combiner.py b/sw/ground_segment/python/redundant_link/link_combiner.py
index 6f850b61b1..142bef5cff 100755
--- a/sw/ground_segment/python/redundant_link/link_combiner.py
+++ b/sw/ground_segment/python/redundant_link/link_combiner.py
@@ -30,8 +30,9 @@ import argparse
 from ivy.std_api import *
 
 PPRZ_HOME = os.getenv("PAPARAZZI_HOME")
-sys.path.append(PPRZ_HOME + "/sw/lib/python")
-sys.path.append(PPRZ_HOME + "/sw/ext/pprzlink/lib/v1.0/python")
+PPRZ_SRC = os.getenv("PAPARAZZI_SRC")
+sys.path.append(PPRZ_SRC + "/sw/lib/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 import pprz_env
 from pprzlink import messages_xml_map
diff --git a/sw/ground_segment/python/svinfo/svinfoviewer.py b/sw/ground_segment/python/svinfo/svinfoviewer.py
index 0788df5e2d..8c89db00e7 100644
--- a/sw/ground_segment/python/svinfo/svinfoviewer.py
+++ b/sw/ground_segment/python/svinfo/svinfoviewer.py
@@ -23,10 +23,10 @@ import sys
 import os
 import math
 
-PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
+PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
                                                                     '../../../..')))
 
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 
diff --git a/sw/simulator/mesonh/mesonh.py b/sw/simulator/mesonh/mesonh.py
index 3f9dd008c9..1e2c8ad271 100755
--- a/sw/simulator/mesonh/mesonh.py
+++ b/sw/simulator/mesonh/mesonh.py
@@ -9,10 +9,10 @@ import struct
 import cmath
 import numpy as np
 from os import getenv
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
-PPRZ_SRC = getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../')))
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+PPRZ_HOME = getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python")
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage
diff --git a/sw/tools/calibration/calib_mag_live.py b/sw/tools/calibration/calib_mag_live.py
index 2cf10b7e7c..af84e1ab1b 100755
--- a/sw/tools/calibration/calib_mag_live.py
+++ b/sw/tools/calibration/calib_mag_live.py
@@ -7,13 +7,10 @@ import logging
 import sys
 from os import path, getenv
 
-# if PAPARAZZI_SRC not set, then assume the tree containing this
+# if PAPARAZZI_HOME not set, then assume the tree containing this
 # file is a reasonable substitute
-PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
-sys.path.append(PPRZ_SRC + "/sw/lib/python")
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
-
-PPRZ_HOME = getenv("PAPARAZZI_HOME", PPRZ_SRC)
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
 
 from pprzlink.ivy import IvyMessagesInterface
 
diff --git a/sw/tools/rtp_viewer/rtp_viewer.py b/sw/tools/rtp_viewer/rtp_viewer.py
index a6067c124e..92025d49f4 100755
--- a/sw/tools/rtp_viewer/rtp_viewer.py
+++ b/sw/tools/rtp_viewer/rtp_viewer.py
@@ -5,8 +5,10 @@ import sys
 import argparse
 from os import path, getenv
 
-PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
-sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+# if PAPARAZZI_HOME not set, then assume the tree containing this
+# file is a reasonable substitute
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
 
 from pprzlink.ivy import IvyMessagesInterface
 from pprzlink.message import PprzMessage