diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml
index 54f9c79fd9..13163b80fb 100644
--- a/conf/airframes/examples/microjet.xml
+++ b/conf/airframes/examples/microjet.xml
@@ -195,6 +195,7 @@
   <modules>
     <load name="openlog.xml"/>
     <load name="nav_survey_rectangle.xml"/>
+    <load name="nav_survey_poly_adv.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 7bfa74de6e..b5448fa32e 100644
--- a/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
@@ -13,6 +13,5 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/nav_line.c
 
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/OSAMNav.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/snav.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/poly_survey_adv.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/navigation/border_line.c
 
diff --git a/conf/flight_plans/nav_modules.xml b/conf/flight_plans/nav_modules.xml
new file mode 100644
index 0000000000..43ec60479a
--- /dev/null
+++ b/conf/flight_plans/nav_modules.xml
@@ -0,0 +1,107 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="260" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
+  <header>
+#include "subsystems/navigation/nav_line.h"
+#include "subsystems/datalink/datalink.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="STDBY" x="49.5" y="100.1"/>
+    <waypoint name="1" x="10.1" y="189.9"/>
+    <waypoint name="2" x="132.3" y="139.1"/>
+    <waypoint name="MOB" x="137.0" y="-11.6"/>
+    <waypoint name="S1" x="-109.0" y="245.9"/>
+    <waypoint name="S2" x="274.4" y="209.5"/>
+    <waypoint name="S3" x="322.1" y="29.9"/>
+    <waypoint name="S4" x="0.8" y="-68.1"/>
+    <waypoint name="S5" x="-239.9" y="81.8"/>
+    <waypoint alt="215.0" name="AF" x="177.4" y="45.1"/>
+    <waypoint alt="185.0" 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>
+
+  <sectors>
+    <sector name="POLY_SURVEY" color="green">
+      <corner name="S1"/>
+      <corner name="S2"/>
+      <corner name="S3"/>
+      <corner name="S4"/>
+      <corner name="S5"/>
+    </sector>
+  </sectors>
+
+  <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 group="home" key="t" 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" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
+    </block>
+    <block group="home" key="<Control>a" name="Standby" strip_button="Standby" strip_icon="home.png">
+      <circle radius="nav_radius" wp="STDBY"/>
+    </block>
+    <block group="base_pattern" key="F8" name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
+      <eight center="1" radius="nav_radius" turn_around="2"/>
+    </block>
+    <block group="base_pattern" name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
+      <oval p1="1" p2="2" radius="nav_radius"/>
+    </block>
+    <block group="base_pattern" name="MOB" strip_button="Turn around here" strip_icon="mob.png">
+      <call fun="NavSetWaypointHere(WP_MOB)"/>
+      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <circle radius="nav_radius" wp="MOB"/>
+    </block>
+    <block group="extra_pattern" name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
+      <call fun="nav_line_init()"/>
+      <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
+    </block>
+    <block group="extra_pattern" name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
+      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
+    </block>
+    <block name="Poly Survey S1-S2" strip_button="Poly Survey">
+      <call fun="init_poly_survey_adv(WP_S1,5,0,30,10,50,100)"/>
+      <call fun="poly_survey_adv()"/>
+    </block>
+    <block group="extra_pattern" name="Path 1,2,S1,S2,STDBY" strip_button="Path (1,2,S1,S2,STDBY)" strip_icon="path.png">
+      <path wpts="1,2 S1"/>
+      <path approaching_time="1" pitch="auto" throttle="0.4" wpts="S1, S2 STDBY"/>
+      <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"/>
+      <deroute block="land"/>
+    </block>
+    <block group="land" name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
+      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="land"/>
+    </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="And(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_survey_poly_adv.xml b/conf/modules/nav_survey_poly_adv.xml
new file mode 100644
index 0000000000..aa3fcb1873
--- /dev/null
+++ b/conf/modules/nav_survey_poly_adv.xml
@@ -0,0 +1,30 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="nav_survey_poly_adv" dir="nav">
+  <doc>
+    <description>
+       Advanced polygon survey for fixedwings from Uni Stuttgart.
+       In the flight plan, the survey blocks call init and run functions:
+       1- Initialize the variables needed for the survey to start, with init_poly_survey_adv(first_wp, size,angle, sweep_width, shot_dist, min_rad, altitude):
+           first_wp            the first Waypoint of the polygon (WP_waypoint_name)
+           size          the number of points that make up the polygon
+           angle         angle in which to do the flyovers
+           sweep_width   distance between the sweeps
+           shot_dist     distance between the shots
+           min_rad       minimal radius when navigating
+           altitude      the altitude that must be reached before the flyover starts
+        2- Run the survey with poly_survey_adv()
+       Block example:
+       <!--<block name="Poly Survey" strip_button="Poly Survey">
+       <call fun="init_poly_survey_adv(first_wp,size,angle,sweep_width,shot_dist,min_rad,altitude)"/>
+       <call fun="poly_survey_adv()"/>
+       </block>-->
+    </description>
+  </doc>
+  <header>
+    <file name="nav_survey_poly_adv.h"/>
+  </header>
+  <makefile>
+    <file name="nav_survey_poly_adv.c"/>
+  </makefile>
+</module>
diff --git a/sw/airborne/subsystems/navigation/poly_survey_adv.c b/sw/airborne/modules/nav/nav_survey_poly_adv.c
similarity index 99%
rename from sw/airborne/subsystems/navigation/poly_survey_adv.c
rename to sw/airborne/modules/nav/nav_survey_poly_adv.c
index c3113c4650..80f71a5128 100644
--- a/sw/airborne/subsystems/navigation/poly_survey_adv.c
+++ b/sw/airborne/modules/nav/nav_survey_poly_adv.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/navigation/poly_survey_adv.c
+ * @file modules/nav/nav_survey_poly_adv.c
  *
  * Advanced polygon survey for fixedwings from Uni Stuttgart.
  *
  */
 
-#include "poly_survey_adv.h"
+#include "nav_survey_poly_adv.h"
 
 #include "subsystems/nav.h"
 #include "state.h"
diff --git a/sw/airborne/subsystems/navigation/poly_survey_adv.h b/sw/airborne/modules/nav/nav_survey_poly_adv.h
similarity index 96%
rename from sw/airborne/subsystems/navigation/poly_survey_adv.h
rename to sw/airborne/modules/nav/nav_survey_poly_adv.h
index c4787263ac..99921aa49f 100644
--- a/sw/airborne/subsystems/navigation/poly_survey_adv.h
+++ b/sw/airborne/modules/nav/nav_survey_poly_adv.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file subsystems/navigation/poly_survey_adv.h
+ * @file modules/nav/nav_survey_poly_adv.h
  *
  * Advanced polygon survey for fixedwings from Uni Stuttgart.
  *