diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
index d040138a52..9e092b0c83 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
@@ -1,5 +1,5 @@
 # asctec controllers
-ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 ifeq ($(ARCH), lpc21)
@@ -14,7 +14,7 @@ endif
 
 
 # Simulator
-sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
index f1fafed1c4..e59570a96c 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
@@ -16,9 +16,9 @@
 #
 #
 
-ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 ifeq ($(ARCH), lpc21)
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
index 42915e968c..b8120d65dd 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
@@ -1,6 +1,9 @@
 
-ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_heli.c
-ap.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
+# add actuatos arch to include directories
+ap.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
+
+ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
 
 # fixme : this is needed by baro and usualy added by actuators_mkk or actuators_asctec
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
\ No newline at end of file
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
index 35967e7ac6..031567385e 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
@@ -26,8 +26,8 @@
 
 
 #
-ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 ifeq ($(ARCH), lpc21)
@@ -39,7 +39,7 @@ ap.CFLAGS += -DUSE_I2C1
 endif
 
 # Simulator
-sim.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
+sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
 sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c