[modules] move intermcu to modules

both fixedwing and rotorcraft

conf/autopilot/fixedwing_autopilot.xml

@@ -12,7 +12,7 @@
       <include name="generated/airframe.h"/>
       <include name="autopilot.h"/>
       <include name="autopilot_rc_helpers.h"/>
-      <include name="inter_mcu.h"/>
+      <include name="modules/intermcu/inter_mcu.h"/>
       <include name="nav.h"/>
       <include name="guidance/guidance_common.h"/>
       <include name="guidance/guidance_h.h"/>

conf/autopilot/fixedwing_rusty.xml

@@ -13,7 +13,7 @@
       <include name="generated/airframe.h"/>
       <include name="autopilot.h"/>
       <include name="autopilot_rc_helpers.h"/>
-      <include name="inter_mcu.h"/>
+      <include name="modules/intermcu/inter_mcu.h"/>
       <include name="nav.h"/>
       <include name="guidance/guidance_common.h"/>
       <include name="guidance/guidance_h.h"/>

conf/modules/firmwares/fixedwing.xml

@@ -22,7 +22,7 @@
     <define name="AHRS_MAG_CORRECT_FREQUENCY" value="$(AHRS_MAG_CORRECT_FREQUENCY)" cond="ifdef AHRS_MAG_CORRECT_FREQUENCY"/>
     <include name="$(SRC_FIRMWARE)"/>
     <define name="INTER_MCU"/>
-    <file name="inter_mcu.c" dir="."/>
+    <file name="inter_mcu.c" dir="modules/intermcu"/>
   </makefile>
   <makefile target="ap">
     <file name="main.c" dir="$(SRC_FIRMWARE)" cond="ifneq ($(RTOS), chibios)"/>

conf/modules/intermcu_can.xml

@@ -22,7 +22,7 @@
     </raw>
     <define name="INTER_MCU"/>
     <define name="MCU_CAN_LINK"/>
-    <file name="link_mcu_can.c" dir="."/>
+    <file name="link_mcu_can.c"/>
     <file name="can.c" dir="mcu_periph"/>
     <file name="can_arch.c" dir="$(SRC_ARCH)/mcu_periph"/>
   </makefile>

conf/modules/intermcu_spi.xml

@@ -26,7 +26,7 @@
     <configure name="INTER_MCU_SPI" default="SPI1"/>
     <configure name="INTER_MCU_SLAVE" default="SLAVE0"/>
     <define name="MCU_SPI_LINK"/>
-    <file name="link_mcu_spi.c" dir="."/>
+    <file name="link_mcu_spi.c"/>
     <file name="spi.c" dir="mcu_periph"/>
     <file name="spi_arch.c" dir="$(SRC_ARCH)/mcu_periph"/>
   </makefile>

conf/modules/intermcu_uart.xml

@@ -19,8 +19,8 @@
     <provides>intermcu,commands,radio_control</provides>
   </dep>
   <header>
-    <file name="intermcu.h" dir="subsystems" cond="ROTORCRAFT_FIRMWARE"/>
-    <file name="inter_mcu.h" dir="." cond="FIXEDWING_FIRMWARE"/>
+    <file name="intermcu.h" cond="ROTORCRAFT_FIRMWARE"/>
+    <file name="inter_mcu.h" cond="FIXEDWING_FIRMWARE"/>
   </header>
   <init fun="intermcu_init()"/>
   <periodic fun="intermcu_periodic()"/>
@@ -46,7 +46,7 @@
     <define name="INTERMCU_LINK" value="$(INTERMCU_PORT_LOWER)"/>
     <define name="USE_$(INTERMCU_PORT_UPPER)"/>
     <define name="$(INTERMCU_PORT_UPPER)_BAUD" value="$(INTERMCU_BAUD)"/>
-    <file name="link_mcu_usart.c" dir="."/>
+    <file name="link_mcu_usart.c"/>
   </makefile>
 
   <makefile target="fbw" firmware="rotorcraft">
@@ -55,19 +55,19 @@
     <define name="FBW_MODE_LED" value="$(FBW_MODE_LED)" cond="ifneq ($(FBW_MODE_LED),none)"/>
     <define name="INTER_MCU_FBW"/>
     <define name="DOWNLINK"/>
-    <file name="intermcu_fbw.c" dir="subsystems/intermcu"/>
+    <file name="intermcu_fbw.c"/>
   </makefile>
   <makefile target="ap" firmware="rotorcraft">
     <configure name="INTERMCU_PORT" default="UART3" case="upper|lower"/>
     <configure name="RADIO_CONTROL_LED" value="none"/>
     <define name="INTER_MCU_AP"/>
-    <define name="RADIO_CONTROL_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string"/>
+    <define name="RADIO_CONTROL_TYPE_H" value="modules/intermcu/intermcu_ap.h" type="string"/>
     <define name="RADIO_CONTROL"/>
     <define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
-    <define name="GPS_SECONDARY_TYPE_H" value="subsystems/intermcu/intermcu_ap.h" type="string" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
+    <define name="GPS_SECONDARY_TYPE_H" value="modules/intermcu/intermcu_ap.h" type="string" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
     <define name="SECONDARY_GPS" value="GPS_IMCU" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
     <define name="IMCU_GPS" cond="ifneq (,$(findstring $(SECONDARY_GPS), imcu))"/>
-    <file name="intermcu_ap.c" dir="subsystems/intermcu"/>
+    <file name="intermcu_ap.c"/>
     <file name="radio_control.c" dir="modules/radio_control"/>
   </makefile>
   <makefile target="ap|fbw" firmware="rotorcraft">

conf/modules/stabilization_adaptive_fw.xml

@@ -33,7 +33,7 @@
     <dl_settings>
       <dl_settings NAME="control horiz">
         <dl_settings NAME="trim">
-          <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+          <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
           <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
           <dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
         </dl_settings>

conf/modules/stabilization_attitude_fw.xml

@@ -23,7 +23,7 @@
     <dl_settings>
       <dl_settings NAME="control horiz">
         <dl_settings NAME="trim">
-          <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+          <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
           <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
           <dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
         </dl_settings>

conf/settings/control/ctl_adaptive.xml

@@ -7,7 +7,7 @@
 
     <dl_settings NAME="control">
       <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
         <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
       </dl_settings>
 

conf/settings/control/ctl_basic.xml

@@ -7,7 +7,7 @@
     <dl_settings NAME="control">
 
       <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
         <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
         <dl_setting MAX="9000" MIN="-9000" STEP="1" VAR="ap_state->command_yaw_trim" shortname="yaw_trim" param="COMMAND_YAW_TRIM"/>
       </dl_settings>

conf/settings/control/ctl_energy.xml

@@ -7,7 +7,7 @@
     <dl_settings NAME="control">
 
       <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
         <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
       </dl_settings>
 

conf/settings/control/ctl_energyadaptive.xml

@@ -7,7 +7,7 @@
     <dl_settings NAME="control">
 
       <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
         <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
       </dl_settings>
 

conf/settings/control/ctl_new.xml

@@ -7,7 +7,7 @@
 
     <dl_settings NAME="control">
       <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
         <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
       </dl_settings>
 

conf/settings/control/ctl_new_airspeed.xml

@@ -7,7 +7,7 @@
 
     <dl_settings NAME="control">
       <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="inter_mcu" param="COMMAND_ROLL_TRIM"/>
+        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_roll_trim" shortname="roll_trim" module="modules/intermcu/inter_mcu" param="COMMAND_ROLL_TRIM"/>
         <dl_setting MAX="960" MIN="-960" STEP="1" VAR="ap_state->command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
       </dl_settings>
 

sw/airborne/arch/sim/sim_ap.c

@@ -10,7 +10,7 @@
 #include <time.h>
 #include <string.h>
 #include "std.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "autopilot.h"
 #include "modules/gps/gps.h"
 #include "generated/settings.h"

sw/airborne/firmwares/fixedwing/autopilot_static.c

@@ -29,8 +29,8 @@
 #include "autopilot.h"
 #include "firmwares/fixedwing/autopilot_static.h"
 
-#include "inter_mcu.h"
-#include "link_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
+#include "modules/intermcu/link_mcu.h"
 #include "state.h"
 #include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"

sw/airborne/firmwares/fixedwing/autopilot_utils.h

@@ -30,7 +30,7 @@
 #define AUTOPILOT_UTILS_H
 
 #include "std.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "generated/airframe.h"
 
 /** Get mode from pulse

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -37,8 +37,8 @@
 #include "firmwares/fixedwing/main_ap.h"
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
-#include "inter_mcu.h"
-#include "link_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
+#include "modules/intermcu/link_mcu.h"
 
 #include "generated/airframe.h"
 #include "generated/modules.h"

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -57,8 +57,8 @@
 #include "firmwares/fixedwing/fbw_datalink.h"
 #endif
 
-#include "inter_mcu.h"
-#include "link_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
+#include "modules/intermcu/link_mcu.h"
 
 uint8_t fbw_mode;
 

sw/airborne/firmwares/fixedwing/nav.c

@@ -34,7 +34,7 @@ static unit_t unit __attribute__((unused));
 #include "firmwares/fixedwing/nav.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "autopilot.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "modules/gps/gps.h"
 
 #include "generated/flight_plan.h"

sw/airborne/firmwares/rotorcraft/main_fbw.c

@@ -39,7 +39,7 @@
 
 #include "modules/energy/electrical.h"
 #include "modules/radio_control/radio_control.h"
-#include "subsystems/intermcu/intermcu_fbw.h"
+#include "modules/intermcu/intermcu_fbw.h"
 #include "firmwares/rotorcraft/main_fbw.h"
 #include "firmwares/rotorcraft/autopilot_rc_helpers.h"
 

sw/airborne/modules/airborne_ant_track/airborne_ant_track.c

@@ -19,7 +19,7 @@
 
 #include <math.h>
 #include <inttypes.h>
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "modules/nav/common_nav.h"
 #include "autopilot.h"
 #include "generated/flight_plan.h"

sw/airborne/modules/boards/opa_controller_ap.c

@@ -24,7 +24,7 @@
  */
 
 #include "modules/boards/opa_controller_ap.h"
-#include "subsystems/intermcu.h"
+#include "modules/intermcu/intermcu.h"
 #include "generated/airframe.h"
 #include "mcu_periph/gpio.h"
 

sw/airborne/modules/boards/opa_controller_fbw.c

@@ -24,7 +24,7 @@
  */
 
 #include "modules/boards/opa_controller_fbw.h"
-#include "subsystems/intermcu.h"
+#include "modules/intermcu/intermcu.h"
 #include "generated/airframe.h"
 #include "mcu_periph/gpio.h"
 #include "led.h"

sw/airborne/modules/cam_control/cam.h

@@ -28,7 +28,7 @@
 #define CAM_H
 
 #include <inttypes.h>
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 #define CAM_MODE_OFF 0         /* Do nothing */
 #define CAM_MODE_ANGLES 1      /* Input: servo angles */

sw/airborne/modules/cam_control/cam_roll.c

@@ -31,7 +31,7 @@
 #include "autopilot.h"
 #include "generated/flight_plan.h"
 #include "state.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 #ifndef CAM_PHI_MAX
 #define CAM_PHI_MAX RadOfDeg(45)

sw/airborne/modules/com/generic_com.c

@@ -31,7 +31,7 @@
 #include "modules/gps/gps.h"
 #include "modules/energy/electrical.h"
 #include "generated/airframe.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "autopilot.h"
 #include "modules/nav/common_nav.h"
 

sw/airborne/modules/core/rc_settings.c

@@ -27,7 +27,7 @@
 #include "modules/core/rc_settings.h"
 #include "autopilot.h"
 #include "firmwares/fixedwing/nav.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 
 uint8_t rc_settings_mode = 0;

sw/airborne/modules/digital_cam/dc_shoot_rc.c

@@ -27,7 +27,7 @@
  */
 
 #include "dc_shoot_rc.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "dc.h"
 
 #ifndef DC_RADIO_SHOOT

sw/airborne/modules/digital_cam/servo_cam_ctrl.c

@@ -33,7 +33,7 @@
 
 // Include Servo and airframe servo channels
 #include "std.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "generated/airframe.h"
 
 #define DC_PUSH(X)    imcu_set_command(X, -MAX_PPRZ);

sw/airborne/modules/display/max7456.c

@@ -28,7 +28,7 @@
 #include "std.h"
 //#include "stdio.h"
 
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/gpio.h"

sw/airborne/modules/gas_engine/gas_engine_idle_trim.c

@@ -25,7 +25,7 @@
 int gas_engine_idle_trim_left = 0;
 int gas_engine_idle_trim_right = 0;
 
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 
 void periodic_gas_engine_idle_trim(void)

sw/airborne/modules/ins/ins_arduimu_basic.c

@@ -35,7 +35,7 @@
 
 // Command vector for thrust
 #include "generated/airframe.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 #define NB_DATA 9
 

sw/airborne/modules/intermcu/inter_mcu.c

@@ -19,12 +19,12 @@
  */
 
 /**
- * @file inter_mcu.c
+ * @file modules/intermcu/inter_mcu.c
  * Communication between fbw and ap processes.
  *
  */
 
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 #if defined SINGLE_MCU
 static struct fbw_state _fbw_state;
@@ -32,7 +32,7 @@ static struct ap_state _ap_state;
 struct fbw_state *fbw_state = &_fbw_state;
 struct ap_state *ap_state = &_ap_state;
 #else /* SINGLE_MCU */
-#include "link_mcu.h"
+#include "modules/intermcu/link_mcu.h"
 struct fbw_state *fbw_state = &link_mcu_from_fbw_msg.payload.from_fbw;
 struct ap_state  *ap_state = &link_mcu_from_ap_msg.payload.from_ap;
 #endif /* ! SINGLE_MCU */

sw/airborne/modules/intermcu/inter_mcu.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file inter_mcu.h
+ * @file modules/intermcu/inter_mcu.h
  * Communication between fbw and ap processes.
  *
  * This unit contains the data structure used to communicate between the

sw/airborne/modules/intermcu/intermcu.h

@@ -20,7 +20,7 @@
  *
  */
 
-/** @file subsystems/intermcu.h
+/** @file modules/intermcu/intermcu.h
  *  @brief Rotorcraft Inter-MCU interface
  */
 

sw/airborne/modules/intermcu/intermcu_ap.c

@@ -20,7 +20,7 @@
  *
  */
 
-/** @file subsystems/intermcu/intermcu_ap.c
+/** @file modules/intermcu/intermcu_ap.c
  *  @brief Rotorcraft Inter-MCU on the autopilot
  */
 

sw/airborne/modules/intermcu/intermcu_ap.h

@@ -20,14 +20,14 @@
  *
  */
 
-/** @file subsystems/intermcu/intermcu_ap.h
+/** @file modules/intermcu/intermcu_ap.h
  *  @brief Rotorcraft Inter-MCU on the autopilot
  */
 
 #ifndef INTERMCU_AP_ROTORCRAFT_H
 #define INTERMCU_AP_ROTORCRAFT_H
 
-#include "subsystems/intermcu.h"
+#include "modules/intermcu/intermcu.h"
 #include "generated/airframe.h"
 #include "modules/energy/electrical.h"
 

sw/airborne/modules/intermcu/intermcu_fbw.c

@@ -20,7 +20,7 @@
  *
  */
 
-/** @file subsystems/intermcu/intermcu_fbw.c
+/** @file modules/intermcu/intermcu_fbw.c
  *  @brief Rotorcraft Inter-MCU on FlyByWire
  */
 

sw/airborne/modules/intermcu/intermcu_fbw.h

@@ -20,14 +20,14 @@
  *
  */
 
-/** @file subsystems/intermcu/intermcu_fbw.h
+/** @file modules/intermcu/intermcu_fbw.h
  *  @brief Rotorcraft Inter-MCU on FlyByWire
  */
 
 #ifndef INTERMCU_FBW_ROTORCRAFT_H
 #define INTERMCU_FBW_ROTORCRAFT_H
 
-#include "subsystems/intermcu.h"
+#include "modules/intermcu/intermcu.h"
 
 extern bool autopilot_motors_on;
 extern pprz_t intermcu_commands[COMMANDS_NB];

sw/airborne/modules/intermcu/link_mcu.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file link_mcu.h
+ * @file modules/intermcu/link_mcu.h
  * Common transport functions for the communication between FBW and AP.
  */
 

sw/airborne/modules/intermcu/link_mcu_can.c

@@ -20,7 +20,7 @@
  *
  */
 
-#include "link_mcu_can.h"
+#include "modules/intermcu/link_mcu_can.h"
 #include "mcu_periph/can.h"
 #include "led.h"
 

sw/airborne/modules/intermcu/link_mcu_can.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file link_mcu_can.h
+ * @file modules/intermcu/link_mcu_can.h
  * Transport for the communication between FBW and AP via CAN.
  *
  */
@@ -28,7 +28,7 @@
 #define LINK_MCU_CAN_H
 
 #include <inttypes.h>
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 struct link_mcu_msg {
   union  {

sw/airborne/modules/intermcu/link_mcu_spi.c

@@ -20,7 +20,7 @@
  *
  */
 
-#include "link_mcu_spi.h"
+#include "modules/intermcu/link_mcu_spi.h"
 
 #ifndef LINK_MCU_SPI_DEV
 #define LINK_MCU_SPI_DEV spi1

sw/airborne/modules/intermcu/link_mcu_spi.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file link_mcu_spi.h
+ * @file modules/intermcu/link_mcu_spi.h
  * Transport for the communication between FBW and AP via SPI.
  *
  */
@@ -28,11 +28,11 @@
 #define LINK_MCU_SPI_H
 
 #include <inttypes.h>
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 #include "mcu_periph/spi.h"
 
 #ifndef SITL
-#include "link_mcu_hw.h"
+#include "modules/intermcu/link_mcu_hw.h"
 #endif
 
 struct link_mcu_msg {

sw/airborne/modules/intermcu/link_mcu_usart.c

@@ -20,7 +20,7 @@
  *
  */
 
-#include "link_mcu_usart.h"
+#include "modules/intermcu/link_mcu_usart.h"
 #include "mcu_periph/uart.h"
 #include "led.h"
 

sw/airborne/modules/intermcu/link_mcu_usart.h

@@ -19,7 +19,7 @@
  */
 
 /**
- * @file link_mcu_usart.h
+ * @file modules/intermcu/link_mcu_usart.h
  * Transport for the communication between FBW and AP via UART.
  *
  */
@@ -28,7 +28,7 @@
 #define LINK_MCU_USART_H
 
 #include <inttypes.h>
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 struct link_mcu_msg {
   union  {

sw/airborne/modules/nav/nav_drop.c

@@ -30,7 +30,7 @@
 #include "state.h"
 #include "generated/flight_plan.h"
 #include "generated/airframe.h"
-#include "inter_mcu.h"
+#include "modules/intermcu/inter_mcu.h"
 
 
 #if defined WP_RELEASE

sw/airborne/modules/px4_flash/px4_flash.c

@@ -27,7 +27,7 @@
 #include "modules/px4_flash/px4_flash.h"
 #include "modules/px4_flash/protocol.h"
 #include "mcu_periph/sys_time_arch.h"
-#include "subsystems/intermcu/intermcu_ap.h"
+#include "modules/intermcu/intermcu_ap.h"
 
 // Serial Port
 #include "mcu_periph/uart.h"