diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index ed7388ddb1..960a41365f 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -142,7 +142,7 @@ main_stm32.srcs += subsystems/imu.c             \
                         arch/$(ARCH)/subsystems/imu/imu_crista_arch.c
 main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
 
-main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
+main_stm32.srcs += $(SRC_FIRMWARE)/commands.c
 main_stm32.srcs += firmwares/rotorcraft/actuators/actuators_asctec.c 
 #\
 #                             $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index 1969bba036..836b9aa8a9 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -594,7 +594,7 @@ test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_actuators_mkk.srcs += downlink.c pprz_transport.c
 
-test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/commands.c
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
@@ -626,7 +626,7 @@ test_actuators_asctecv1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_actuators_asctecv1.srcs += downlink.c pprz_transport.c
 
-test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/commands.c
 test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
@@ -686,7 +686,7 @@ test_manual.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_manual.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_manual.srcs   += downlink.c pprz_transport.c
 
-test_manual.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_manual.srcs += $(SRC_FIRMWARE)/commands.c
 
 test_manual.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
 #test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
index a61cf4bfe1..05526f258a 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -61,7 +61,7 @@ stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c           \
 stm_passthrough.srcs += math/pprz_trig_int.c
 stm_passthrough.srcs += lisa/plug_sys.c
 
-stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/commands.c
 
 # Radio control
 #
diff --git a/conf/autopilot/obsolete/booz_test_progs.makefile b/conf/autopilot/obsolete/booz_test_progs.makefile
index 1374184582..b7949ec491 100644
--- a/conf/autopilot/obsolete/booz_test_progs.makefile
+++ b/conf/autopilot/obsolete/booz_test_progs.makefile
@@ -197,7 +197,7 @@ test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_actuators_mkk.srcs += downlink.c pprz_transport.c
 
-test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/commands.c
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
diff --git a/conf/autopilot/obsolete/lisa_test_progs.makefile b/conf/autopilot/obsolete/lisa_test_progs.makefile
index 820d88da9d..9bd9270a7c 100644
--- a/conf/autopilot/obsolete/lisa_test_progs.makefile
+++ b/conf/autopilot/obsolete/lisa_test_progs.makefile
@@ -607,7 +607,7 @@ test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_actuators_mkk.srcs += downlink.c pprz_transport.c
 
-test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/commands.c
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1  -DUSE_TIM2_IRQ
 #test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -640,7 +640,7 @@ test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c
 test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_actuators_asctec.srcs += downlink.c pprz_transport.c
 
-test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_asctec.srcs += $(SRC_FIRMWARE)/commands.c
 test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 # -DBOOZ_START_DELAY=3
@@ -1100,7 +1100,7 @@ ptw.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
 ptw.srcs += peripherals/ms2001.c  $(SRC_ARCH)/peripherals/ms2001_arch.c
 ptw.srcs += math/pprz_trig_int.c
 
-ptw.srcs += $(SRC_BOOZ)/booz2_commands.c
+ptw.srcs += $(SRC_FIRMWARE)/commands.c
 
 # Radio control
 ptw.CFLAGS += -DRADIO_CONTROL
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index e42d413483..ee8e9f33bc 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -108,7 +108,7 @@ ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
 endif
 
 
-ap.srcs += $(SRC_BOOZ)/booz2_commands.c
+ap.srcs += $(SRC_FIRMWARE)/commands.c
 
 #
 # Radio control choice
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index 8a0b64bafe..813929187c 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -79,7 +79,7 @@ sim.srcs += $(SRC_FIRMWARE)/telemetry.c \
             downlink.c \
             $(SRC_ARCH)/ivy_transport.c
 
-sim.srcs   += $(SRC_BOOZ)/booz2_commands.c
+sim.srcs   += $(SRC_FIRMWARE)/commands.c
 
 sim.srcs += $(SRC_FIRMWARE)/datalink.c
 
diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c
index bec7f05419..aed0c72398 100644
--- a/sw/airborne/firmwares/beth/main_stm32.c
+++ b/sw/airborne/firmwares/beth/main_stm32.c
@@ -28,7 +28,7 @@
 #include "mcu_periph/can.h"
 #include "sys_time.h"
 #include "downlink.h"
-#include "booz/booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "firmwares/rotorcraft/actuators.h"
 //#include "booz/booz_radio_control.h"
 #include "subsystems/imu.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index ae69747ecc..0ee87c0290 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -5,7 +5,7 @@
 #include "firmwares/rotorcraft/actuators/supervision.h"
 #endif
 
-#include "booz/booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
 #include "sys_time.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
index 59b3f9538e..f933a1814e 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
@@ -23,7 +23,7 @@
 
 #include "firmwares/rotorcraft/actuators.h"
 #include "actuators_heli.h"
-#include "booz/booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 
 /* let's start butchery now and use the actuators_pwm arch functions */
 #include "firmwares/rotorcraft/actuators/actuators_pwm.h"
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index 90bb98f8f9..ea6ea96c7c 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -24,7 +24,7 @@
 #include "firmwares/rotorcraft/actuators.h"
 #include "firmwares/rotorcraft/actuators/actuators_mkk.h"
 
-#include "booz/booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
 #include "sys_time.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index c3026d4a4b..dd1383ebe3 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -25,7 +25,7 @@
 #include "firmwares/rotorcraft/autopilot.h"
 
 #include "subsystems/radio_control.h"
-#include "booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "firmwares/rotorcraft/navigation.h"
 #include "firmwares/rotorcraft/guidance.h"
 #include "firmwares/rotorcraft/stabilization.h"
diff --git a/sw/airborne/booz/booz2_commands.c b/sw/airborne/firmwares/rotorcraft/commands.c
similarity index 95%
rename from sw/airborne/booz/booz2_commands.c
rename to sw/airborne/firmwares/rotorcraft/commands.c
index ddd766c213..b392a7532e 100644
--- a/sw/airborne/booz/booz2_commands.c
+++ b/sw/airborne/firmwares/rotorcraft/commands.c
@@ -20,7 +20,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 
 int32_t booz2_commands[COMMANDS_NB];
 const int32_t booz2_commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
diff --git a/sw/airborne/booz/booz2_commands.h b/sw/airborne/firmwares/rotorcraft/commands.h
similarity index 94%
rename from sw/airborne/booz/booz2_commands.h
rename to sw/airborne/firmwares/rotorcraft/commands.h
index 1681eb298b..66f911f5e6 100644
--- a/sw/airborne/booz/booz2_commands.h
+++ b/sw/airborne/firmwares/rotorcraft/commands.h
@@ -21,8 +21,8 @@
  *
  */
 
-#ifndef BOOZ2_COMMANDS_H
-#define BOOZ2_COMMANDS_H
+#ifndef COMMANDS_H
+#define COMMANDS_H
 
 #include "paparazzi.h"
 #include "generated/airframe.h"
@@ -37,4 +37,4 @@ extern const int32_t booz2_commands_failsafe[COMMANDS_NB];
     booz2_commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \
   }
 
-#endif /* BOOZ2_COMMANDS_H */
+#endif /* COMMANDS_H */
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 9c5b87f70c..7684f5036e 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -33,7 +33,7 @@
 #include "firmwares/rotorcraft/telemetry.h"
 #include "datalink.h"
 
-#include "booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "firmwares/rotorcraft/actuators.h"
 #include "subsystems/radio_control.h"
 
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index c27e002e1d..05a997805f 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -26,7 +26,7 @@
 #include "mcu_periph/uart.h"
 #include "sys_time.h"
 #include "downlink.h"
-#include "booz/booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "actuators.h"
 #include "actuators/actuators_pwm.h"
 #include "subsystems/imu.h"
diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
index 2c5a646ebc..ad2ea2e5b0 100644
--- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
@@ -24,7 +24,7 @@
 
 #include "init_hw.h"
 #include "sys_time.h"
-#include "booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "actuators.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
index ce99e5c72f..e00547334a 100644
--- a/sw/airborne/test/test_actuators.c
+++ b/sw/airborne/test/test_actuators.c
@@ -27,7 +27,7 @@
 #include "led.h"
 
 #include "mcu_periph/i2c.h"
-#include "booz/booz2_commands.h"
+#include "firmwares/rotorcraft/commands.h"
 #include "firmwares/rotorcraft/actuators.h"
 
 static inline void main_init( void );