diff --git a/sw/airborne/booz/booz_stabilization.c b/sw/airborne/firmwares/rotorcraft/stabilization.c
similarity index 100%
rename from sw/airborne/booz/booz_stabilization.c
rename to sw/airborne/firmwares/rotorcraft/stabilization.c
diff --git a/sw/airborne/booz/booz_stabilization.h b/sw/airborne/firmwares/rotorcraft/stabilization.h
similarity index 100%
rename from sw/airborne/booz/booz_stabilization.h
rename to sw/airborne/firmwares/rotorcraft/stabilization.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_float.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_float.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_int.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_float.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_float.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_float.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_int.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_rate.c
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_rate.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
similarity index 100%
rename from sw/airborne/booz/stabilization/booz_stabilization_rate.h
rename to sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h