diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml
index 04b61eff0a..617f047077 100644
--- a/conf/airframes/examples/microjet.xml
+++ b/conf/airframes/examples/microjet.xml
@@ -197,6 +197,7 @@
     <load name="nav_survey_poly_adv.xml"/>
     <load name="nav_border_line.xml"/>
     <load name="nav_line.xml"/>
+    <load name="nav_smooth.xml"/>
     <load name="infrared_adc.xml"/>
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
diff --git a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
index c00b65d785..49fe8c8682 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
@@ -12,5 +12,4 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/traffic_info.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_survey_rectangle.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
 
diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml
index d515904f49..07fffc18d6 100644
--- a/conf/flight_plans/nav_modules.xml
+++ b/conf/flight_plans/nav_modules.xml
@@ -80,6 +80,16 @@
       <call fun="border_line_init()"/>
       <call fun="border_line(WP_1, WP_2, nav_radius)"/>
     </block>
+    <block name="Smooth nav">
+      <set var="snav_desired_tow" value="gps.tow / 1000. + 200."/>
+      <call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
+      <call fun="snav_circle1()"/>
+      <call fun="snav_route()"/>
+      <call fun="snav_circle2()"/>
+      <call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
+      <go from="1" hmode="route" wp="2"/>
+      <deroute block="Standby"/>
+    </block>
 
     <block group="land" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
       <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
diff --git a/conf/flight_plans/snav.xml b/conf/flight_plans/snav.xml
deleted file mode 100644
index d506a8b9d9..0000000000
--- a/conf/flight_plans/snav.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan alt="75" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
-  <header>
-#include "subsystems/datalink/datalink.h"
-#include "subsystems/navigation/snav.h"
-</header>
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="STDBY" x="49.5" y="100.1"/>
-    <waypoint name="1" x="226.7" y="92.4"/>
-    <waypoint name="2" x="236.0" y="214.7"/>
-    <waypoint name="MOB" x="137.0" y="-11.6"/>
-    <waypoint name="S1" x="-119.2" y="69.6"/>
-    <waypoint name="S2" x="274.4" y="209.5"/>
-    <waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
-    <waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
-    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
-    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
-  </waypoints>
-  <exceptions/>
-  <blocks>
-    <block name="Wait GPS">
-      <set value="1" var="kill_throttle"/>
-      <while cond="!GpsFixValid()"/>
-    </block>
-    <block name="Geo init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call fun="NavSetGroundReferenceHere()"/>
-    </block>
-    <block name="Holding point">
-      <set value="1" var="kill_throttle"/>
-      <attitude roll="0" throttle="0" vmode="throttle"/>
-    </block>
-    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
-      <set value="0" var="kill_throttle"/>
-      <set value="0" var="autopilot_flight_time"/>
-      <go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
-    </block>
-    <block name="Standby" strip_button="Standby" strip_icon="home.png">
-      <circle radius="nav_radius" wp="STDBY"/>
-    </block>
-    <block name="Smooth nav">
-      <set var="snav_desired_tow" value="gps_itow / 1000. + 200."/>
-      <call fun="snav_init(WP_1, M_PI_2-atan2(WaypointY(WP_2)-WaypointY(WP_1),WaypointX(WP_2)-WaypointX(WP_1)), DEFAULT_CIRCLE_RADIUS/2.)"/>
-      <call fun="snav_circle1()"/>
-      <call fun="snav_route()"/>
-      <call fun="snav_circle2()"/>
-      <call fun="snav_on_time(DEFAULT_CIRCLE_RADIUS)"/>
-      <go from="1" hmode="route" wp="2"/>
-      <deroute block="Standby"/>
-    </block>
-    <block name="land">
-      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
-    </block>
-    <block name="final">
-      <exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
-      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
-    </block>
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/modules/nav_line.xml b/conf/modules/nav_line.xml
index abd6b45266..4ce20d208c 100644
--- a/conf/modules/nav_line.xml
+++ b/conf/modules/nav_line.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="nav_line" dir="nav">
+<module name="nav_smooth" dir="nav">
   <doc>
     <description>
        Fixedwing navigation along a line with nice U-turns.
diff --git a/conf/modules/nav_smooth.xml b/conf/modules/nav_smooth.xml
new file mode 100644
index 0000000000..87272a6d93
--- /dev/null
+++ b/conf/modules/nav_smooth.xml
@@ -0,0 +1,15 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_smooth" dir="nav">
+  <doc>
+    <description>
+       Smooth navigation to wp_a along an arc (around wp_cd), a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
+    </description>
+  </doc>
+  <header>
+    <file name="nav_smooth.h"/>
+  </header>
+  <makefile>
+    <file name="nav_smooth.c"/>
+  </makefile>
+</module>
diff --git a/sw/airborne/modules/nav/nav_line.c b/sw/airborne/modules/nav/nav_line.c
index 69434451a3..a5cd601c32 100644
--- a/sw/airborne/modules/nav/nav_line.c
+++ b/sw/airborne/modules/nav/nav_line.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/navigation/nav_line.c
+ * @file modules/nav/nav_line.c
  *
  * Fixedwing navigation along a line with nice U-turns.
  */
 
 #include "generated/airframe.h"
-#include "subsystems/navigation/nav_line.h"
+#include "modules/nav/nav_line.h"
 #include "subsystems/nav.h"
 
 /** Status along the pattern */
diff --git a/sw/airborne/modules/nav/nav_line.h b/sw/airborne/modules/nav/nav_line.h
index 4030b967e0..92ae949bf2 100644
--- a/sw/airborne/modules/nav/nav_line.h
+++ b/sw/airborne/modules/nav/nav_line.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/nav_line.h
+ * @file modules/nav/nav_line.h
  *
  * Fixedwing navigation along a line with nice U-turns.
  */
diff --git a/sw/airborne/subsystems/navigation/snav.c b/sw/airborne/modules/nav/nav_smooth.c
similarity index 98%
rename from sw/airborne/subsystems/navigation/snav.c
rename to sw/airborne/modules/nav/nav_smooth.c
index 253e35021b..a7b5371ae0 100644
--- a/sw/airborne/subsystems/navigation/snav.c
+++ b/sw/airborne/modules/nav/nav_smooth.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/snav.c
+ * @file modules/nav/nav_smooth.c
  *
  * Smooth navigation to wp_a along an arc (around wp_cd),
  * a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
@@ -28,7 +28,7 @@
 
 #include <math.h>
 #include "generated/airframe.h"
-#include "subsystems/navigation/snav.h"
+#include "modules/nav/nav_smooth.h"
 #include "state.h"
 #include "subsystems/nav.h"
 #include "subsystems/gps.h"
diff --git a/sw/airborne/subsystems/navigation/snav.h b/sw/airborne/modules/nav/nav_smooth.h
similarity index 97%
rename from sw/airborne/subsystems/navigation/snav.h
rename to sw/airborne/modules/nav/nav_smooth.h
index 5bbc2d3957..cfece53816 100644
--- a/sw/airborne/subsystems/navigation/snav.h
+++ b/sw/airborne/modules/nav/nav_smooth.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/snav.h
+ * @file modules/nav/nav_smooth.h
  *
  * Smooth navigation to wp_a along an arc (around wp_cd),
  * a segment (from wp_rd to wp_ta) and a second arc (around wp_ca).
@@ -31,6 +31,7 @@
 
 #include "std.h"
 
+
 extern float snav_desired_tow; /* time of week, s */
 
 bool_t snav_init(uint8_t wp_a, float desired_course_rad, float radius);
@@ -40,5 +41,3 @@ bool_t snav_circle2(void);
 bool_t snav_on_time(float radius);
 
 #endif // SNAV_H
-
-