diff --git a/conf/airframes/ENAC/fixed-wing/funjet1.xml b/conf/airframes/ENAC/fixed-wing/funjet1.xml
index f0fac1917a..9d2e6125d4 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet1.xml
@@ -271,7 +271,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-# chemotaxis.c anemotaxis.c discsurvey.c
+# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c
 
 ########## Barometer (SPI)
 #ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
@@ -307,7 +307,7 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re
 # -DENOSE
 #sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 #sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
-# chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
+# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
 
 #sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
 #sim.srcs += dc.c
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index d8c1eb26f3..4e923d3776 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -225,7 +225,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
 ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += subsystems/navigation/nav_line.c
-# chemotaxis.c anemotaxis.c discsurvey.c
+# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c
 
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c snav.c
 
@@ -244,7 +244,7 @@ test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_tran
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 #sim.srcs += traffic_info.c
-#sim.srcs += subsystems/navigation/nav_line.c chemotaxis.c anemotaxis.c discsurvey.c bomb.c subsystems/navigation/nav_survey_rectangle.c
+#sim.srcs += subsystems/navigation/nav_line.c chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c bomb.c subsystems/navigation/nav_survey_rectangle.c
 
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c light.c snav.c
 sim.CFLAGS += -DUSE_LIGHT
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index 0ebd083146..9b47d6674b 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -245,7 +245,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 #sim.srcs += traffic_info.c
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c dc.c
-# chemotaxis.c anemotaxis.c discsurvey.c bomb.c subsystems/navigation/nav_survey_rectangle.c
+# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c bomb.c subsystems/navigation/nav_survey_rectangle.c
 
 
   </makefile>
diff --git a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile b/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
index c58e3515c5..e1b20f5114 100644
--- a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
@@ -9,7 +9,7 @@ $(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/subsystems/navigation/nav_survey_rectangle.c $(SRC_FIXEDWING)/subsystems/navigation/nav_line.c
 
 $(TARGET).srcs += $(SRC_FIXEDWING)/subsystems/navigation/nav_cube.c
-$(TARGET).srcs += $(SRC_FIXEDWING)/discsurvey.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/subsystems/navigation/discsurvey.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/subsystems/navigation/OSAMNav.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/snav.c
 
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
index 609ed98dff..635723191d 100644
--- a/conf/flight_plans/IS.xml
+++ b/conf/flight_plans/IS.xml
@@ -5,7 +5,7 @@
 #include "chemo_detect.h"
 #include "anemotaxis.h"
 #include "chemotaxis.h"
-#include "discsurvey.h"
+#include "subsystems/navigation/discsurvey.h"
 #include "subsystems/navigation/nav_line.h"
 #include "bomb.h"
 #include "datalink.h"
diff --git a/sw/airborne/subsystems/navigation/discsurvey.c b/sw/airborne/subsystems/navigation/discsurvey.c
index e092566421..2effed1401 100644
--- a/sw/airborne/subsystems/navigation/discsurvey.c
+++ b/sw/airborne/subsystems/navigation/discsurvey.c
@@ -1,4 +1,4 @@
-#include "discsurvey.h"
+#include "subsystems/navigation/discsurvey.h"
 
 #include "airframe.h"
 #include "estimator.h"