[modules] move datalink from subsystems to modules

conf/firmwares/setup.makefile

@@ -102,7 +102,7 @@ setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 SETUP_ACTUATORS_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(SETUP_ACTUATORS_MODEM_PORT_LOWER) -DPPRZ_UART=$(SETUP_ACTUATORS_MODEM_PORT_LOWER)
 setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-setup_actuators.srcs += subsystems/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
+setup_actuators.srcs += modules/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
 
 setup_actuators.srcs   += modules/actuators/actuators.c
 setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c

conf/firmwares/test_chibios.makefile

@@ -68,7 +68,7 @@ COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
 
 # pprz downlink/datalink
 COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-COMMON_TELEMETRY_SRCS   = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c modules/datalink/pprz_dl.c
+COMMON_TELEMETRY_SRCS   = modules/datalink/downlink.c modules/datalink/pprz_transport.c modules/datalink/pprz_dl.c
 
 COMMON_TELEMETRY_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)

conf/firmwares/test_progs.makefile

@@ -69,7 +69,7 @@ endif
 
 # pprz downlink/datalink
 COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
-COMMON_TELEMETRY_SRCS   = subsystems/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
+COMMON_TELEMETRY_SRCS   = modules/datalink/downlink.c pprzlink/src/pprz_transport.c modules/datalink/pprz_dl.c
 
 # check if we are using UDP
 ifneq (,$(findstring UDP, $(MODEM_DEV)))
@@ -453,7 +453,7 @@ test_ahrs.CFLAGS += $(COMMON_TEST_CFLAGS)
 test_ahrs.srcs   += $(COMMON_TEST_SRCS)
 test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
 test_ahrs.srcs   += $(COMMON_TELEMETRY_SRCS)
-test_ahrs.srcs   += subsystems/datalink/telemetry.c
+test_ahrs.srcs   += modules/datalink/telemetry.c
 test_ahrs.CFLAGS += -DPERIODIC_TELEMETRY
 test_ahrs.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
 test_ahrs.srcs   += test/subsystems/test_ahrs.c

conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1550" ground_alt="1350" lat0="41.742897" lon0="-111.806986" max_dist_from_home="1600" name="BasicTuning" security_height="25" home_mode_height="200" qfu="90" geofence_sector="FlightArea" geofence_max_alt="2000" geofence_max_height="500">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint alt="1545.0" name="HOME" x="1006.3" y="-116.4"/>

conf/flight_plans/AGGIEAIR/BasicTuning_Launcher.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1550" ground_alt="1350" lat0="41.815562" lon0="-111.982437" max_dist_from_home="3000" name="BasicTuning" security_height="25" home_mode_height="200" qfu="90" geofence_sector="FlightArea" geofence_max_alt="3000" geofence_max_height="1000">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint alt="1545.0" name="HOME" x="1006.3" y="-116.4"/>

conf/flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1548.0" ground_alt="1347.02" lat0="41.81415234" lon0="-111.97922965" max_dist_from_home="3160.158327555416" name="cacheJct" security_height="25">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/ENAC/dw1000_basic.xml

@@ -2,7 +2,7 @@
 
 <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/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/ENAC/fish_outdoor.xml

@@ -3,7 +3,7 @@
 <flight_plan alt="190" ground_alt="185" lat0="43.462976" lon0="1.2733345" max_dist_from_home="50" name="Demo fish nav Muret outdoor" security_height="0.3">
   <header>
 #include "autopilot.h"
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
   </header>
   <waypoints>
     <waypoint name="HOME" x="0.0" y="0.0"/>

conf/flight_plans/OPENUAS/include_obc2014_mission.xml

@@ -57,7 +57,7 @@ TESTS:
 //Enable advanced electrical power functions
     #include "subsystems/electrical.h"
 //Enable datalink tests
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
 //For interaction with the Flight termination Device (FTD)
     #define RCChannel(_x) ((*fbw_state).channels[_x])
 

conf/flight_plans/OPENUAS/openuas_nav_modules_test.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="300" ground_alt="200" lat0="50.799999" lon0="7.566666" max_dist_from_home="1500" name="Basic" security_height="25">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 #include "modules/digital_cam/dc.h"
 #define LINE_START_FUNCTION dc_Survey(40);
 #define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;

conf/flight_plans/OPENUAS/openuas_rotorcraft_simple.xml

@@ -18,7 +18,7 @@ Your safe aircraft operation is *your* responsibility
 //Enable advanced electrical power functions
     #include "subsystems/electrical.h"
 //Enable datalink tests
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
 #include "firmwares/rotorcraft/guidance/guidance_v.h"
   </header>
 

conf/flight_plans/OPENUAS/openuas_tuning_a_fresh_fixedwing.xml

@@ -137,7 +137,7 @@ perhaps a few global alt exceptions? But where do they deroute to assuming the a
 
   <!-- The header section allows one to include advanced navigation routines and header files that allow access to variables that may be useful for exceptions or advanced flightplan routines dependent on various internal autopilot variables -->
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 #include "state.h"
   </header>
   <!-- The waypoints section must contain 1 or more waypoints. For tuning, setup STDBY in a location in front of the pilot at least DEFAULT_CIRCLE_RADIUS metres away from the flight line if restricted to no overflights. Setup 1 and 2 in front of and to the left and right of the pilot, respectively. These are only used for testing ovals and eights after tuning. Again, waypoints should be at least a radius away from the flight line (probably 1.5xRadius) to prevent overflights. HOME can be set somewhere in the vicinity of STDBY or the pilot. CLIMB is for takeoff (mostly for sim, should manually takeoff for tuning)-->

conf/flight_plans/OPENUAS/openuas_versatile_unified.xml

@@ -23,7 +23,7 @@ Should be unified for Hybrid, FW and rotorcraft
 //Enable advanced electrical power functions
     #include "subsystems/electrical.h"
 //Enable datalink tests
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
 
 // PHOTOGRAMMETRY settings
     #define PHOTOGRAMMETRY_OVERLAP 30       // 1-99 Procent

conf/flight_plans/basic.xml

@@ -2,7 +2,7 @@
 
 <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/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/basic_sim.xml

@@ -3,7 +3,7 @@
      can finish it -->
 <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/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/competitions/IMAV2014_carto.xml

@@ -3,7 +3,7 @@
 <flight_plan alt="150" ground_alt="46" home_mode_height="50" lat0="52.142596" lon0="5.840263" max_dist_from_home="250" name="IMAV2014 Carto" qfu="180." security_height="25">
 <!--flight_plan alt="285" ground_alt="185" lat0="43.463040" lon0="1.273303" max_dist_from_home="1000" name="IMAV2014 Carto Muret" security_height="25" home_mode_height="50"-->
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y) {
   float dx = wp1_x - wp2_x;
   float dy = wp1_y - wp2_y;

conf/flight_plans/competitions/IMAV2014_digit.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="61" ground_alt="46" home_mode_height="10" lat0="52.142596" lon0="5.840263" max_dist_from_home="250" name="IMAV2014 Digit" security_height="5">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y) {
   float dx = wp1_x - wp2_x;
   float dy = wp1_y - wp2_y;

conf/flight_plans/competitions/IMAV2014_vision.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="58" ground_alt="46" home_mode_height="10" lat0="52.142596" lon0="5.840263" max_dist_from_home="250" name="IMAV2014 Digit" security_height="5">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 static inline float wp_dist(float wp1_x, float wp1_y, float wp2_x, float wp2_y) {
   float dx = wp1_x - wp2_x;
   float dy = wp1_y - wp2_y;

conf/flight_plans/competitions/IMAV2018_carto.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="195" ground_alt="155" home_mode_height="18" lat0="-37.623547" lon0="145.125942" max_dist_from_home="400" name="IMAV2018 Carto" qfu="180." security_height="10">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 
 static inline bool delay_test_rc(bool test, int delay) {
   static int nb = 0;

conf/flight_plans/competitions/IMAV2019_carto.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="805" ground_alt="775" home_mode_height="18" lat0="40.1579607" lon0="-3.3813882" max_dist_from_home="400" name="IMAV2019 Carto" qfu="250." security_height="10">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 static inline bool delay_test_rc(bool test, int delay) {
   static int nb = 0;
   if (test) {

conf/flight_plans/competitions/IMAV2019_drop.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="790" ground_alt="775" home_mode_height="15" lat0="40.1579607" lon0="-3.3813882" max_dist_from_home="400" name="IMAV2019 Drop" qfu="250." security_height="10">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 static inline bool delay_test_rc(bool test, int delay) {
   static int nb = 0;
   if (test) {

conf/flight_plans/dynamic_sectors.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="260" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Dynamic sectors demo" qfu="270" security_height="25" home_mode_height="50">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/joystick.xml

@@ -2,7 +2,7 @@
 
 <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 "modules/datalink/datalink.h"
 
 #ifdef NAV_C
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"

conf/flight_plans/nav_modules.xml

@@ -2,7 +2,7 @@
 
 <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/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 #include "modules/digital_cam/dc.h"
 #define LINE_START_FUNCTION dc_Survey(40);
 #define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;

conf/flight_plans/rotorcraft_basic_superbitrf_from_hand.xml

@@ -8,7 +8,7 @@ The goal of this flightplan is to have a safe, simple no-brainer flightplan for
 #include "autopilot.h"
 #include "subsystems/ahrs.h"
 #include "subsystems/electrical.h"
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 
   </header>
   <waypoints>

conf/flight_plans/tcas.xml

@@ -2,7 +2,7 @@
 
 <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 "modules/datalink/datalink.h"
 #include "tcas.h"
 </header>
   <waypoints>

conf/flight_plans/tudelft/course_orangeavoid_cyberzoo.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Bebop avoid orange TU Delft Cyberzoo" security_height="0.4">
   <header>
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/ahrs.h"

conf/flight_plans/tudelft/course_orangeavoid_cyberzoo_guided.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Bebop avoid orange TU Delft Cyberzoo" security_height="0.4">
   <header>
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/ahrs.h"

conf/flight_plans/tudelft/delft_basic.xml

@@ -3,7 +3,7 @@
 <flight_plan alt="4" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="1000" name="Delft Basic" security_height="2">
   <header>
     #include "autopilot.h"
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
   </header>

conf/flight_plans/tudelft/delft_bebop.xml

@@ -3,7 +3,7 @@
 <flight_plan alt="10" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="1000" name="Delft Basic" security_height="2">
   <header>
     #include "autopilot.h"
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
 </header>

conf/flight_plans/tudelft/nederdrone_cyberzoo.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Nederdrone Cyberzoo" security_height="0.4">
   <header>
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/ahrs.h"

conf/flight_plans/tudelft/nederdrone_valkenburg.xml

@@ -3,7 +3,7 @@
 <flight_plan alt="60" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="5000" name="Nederdrone Valkenburg" security_height="2">
   <header>
     #include "autopilot.h"
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="12.6" y="-48.7"/>

conf/flight_plans/tudelft/ralphthesis2020_stereo_cyberzoo.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1.0" ground_alt ="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="20" name="Bebop with stereo cam and Wedgebug TU Delft Cyberzoo" security_height="0.4">
   <header>
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/ahrs.h"

conf/flight_plans/tudelft/rotorcraft_optitrack_path.xml

@@ -7,7 +7,7 @@
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/ahrs.h"
     #include "subsystems/electrical.h"
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
   </header>
   <waypoints>
     <waypoint height="0" name="HOME" x="0.0" y="0.0" />

conf/flight_plans/tudelft/train_safe_zoo.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="1.0" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="60" name="Safe TU Delft Cyberzoo" security_height="0.4">
   <header>
-    #include "subsystems/datalink/datalink.h"
+    #include "modules/datalink/datalink.h"
     #include "subsystems/electrical.h"
     #include "modules/radio_control/radio_control.h"
     #include "subsystems/ahrs.h"

conf/flight_plans/versatile.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="260" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25" home_mode_height="50">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/versatile_airspeed.xml

@@ -3,7 +3,7 @@
 <flight_plan alt="260" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
   <header>
 #include "firmwares/fixedwing/guidance/energy_ctrl.h"
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>

conf/flight_plans/zamboni_survey_test.xml

@@ -2,7 +2,7 @@
 
 <flight_plan alt="310" ground_alt="185" lat0="59.81" lon0="10.3578" max_dist_from_home="550" name="Test zamboni" security_height="60" qfu="110">
   <header>
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
 #include "modules/digital_cam/dc.h"
 //#define LINE_START_FUNCTION dc_autoshoot = DC_AUTOSHOOT_DISTANCE;
 //#define LINE_START_FUNCTION dc_Survey(dc_gps_dist);

conf/modules/datalink_common.xml

@@ -7,17 +7,17 @@
     </description>
   </doc>
   <header>
-    <file name="telemetry.h" dir="subsystems/datalink"/>
+    <file name="telemetry.h"/>
-    <file name="datalink.h" dir="subsystems/datalink"/>
+    <file name="datalink.h"/>
-    <file name="downlink.h" dir="subsystems/datalink"/>
+    <file name="downlink.h"/>
   </header>
   <init fun="downlink_init()"/>
   <makefile>
     <define name="DOWNLINK"/>
     <define name="PERIODIC_TELEMETRY"/>
-    <file name="downlink.c" dir="subsystems/datalink"/>
+    <file name="downlink.c"/>
-    <file name="datalink.c" dir="subsystems/datalink"/>
+    <file name="datalink.c"/>
-    <file name="telemetry.c" dir="subsystems/datalink"/>
+    <file name="telemetry.c"/>
     <test firmware="fixedwing">
       <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
       <define name="DOWNLINK_DEVICE" value="uart1"/>

conf/modules/radio_control_superbitrf_rc.xml

@@ -13,9 +13,9 @@
     <dl_settings>
       <dl_settings NAME="Superbit">
         <dl_setting var="settings_store_flag" min="1" step="1" max="1" shortname="store" handler="StoreSettings" module="modules/core" values="Store"/>
-        <dl_setting var="superbitrf.bind_mfg_id32" type="uint32" min="0" step="1" max="4294967295" shortname ="mfg_id" persistent="true" module="subsystems/datalink/superbitrf" handler="set_mfg_id"/>
+        <dl_setting var="superbitrf.bind_mfg_id32" type="uint32" min="0" step="1" max="4294967295" shortname ="mfg_id" persistent="true" module="modules/datalink/superbitrf" handler="set_mfg_id"/>
-        <dl_setting var="superbitrf.num_channels" type="uint8" min="0" step="1" max="14" shortname ="#chan" persistent="true" module="subsystems/datalink/superbitrf"/>
+        <dl_setting var="superbitrf.num_channels" type="uint8" min="0" step="1" max="14" shortname ="#chan" persistent="true" module="modules/datalink/superbitrf"/>
-        <dl_setting var="superbitrf.protocol" type="uint8" min="0" step="1" max="32" shortname ="prot" persistent="true" module="subsystems/datalink/superbitrf" handler="set_protocol"/>
+        <dl_setting var="superbitrf.protocol" type="uint8" min="0" step="1" max="32" shortname ="prot" persistent="true" module="modules/datalink/superbitrf" handler="set_protocol"/>
       </dl_settings>
     </dl_settings>
   </settings>
@@ -41,7 +41,7 @@
     <define name="USE_SPI_SLAVE$(SUPERBITRF_SPI_SLAVE_IDX)"/>
     <file name="radio_control.c"/>
     <file name="superbitrf_rc.c"/>
-    <file name="superbitrf.c" dir="subsystems/datalink"/>
+    <file name="superbitrf.c" dir="modules/datalink"/>
     <file name="cyrf6936.c" dir="peripherals"/>
   </makefile>
   <makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
@@ -52,7 +52,7 @@
     <define name="USE_SPI_SLAVE$(SUPERBITRF_SPI_SLAVE_IDX)"/>
     <file name="radio_control.c"/>
     <file name="superbitrf_rc.c"/>
-    <file name="superbitrf.c" dir="subsystems/datalink"/>
+    <file name="superbitrf.c" dir="modules/datalink"/>
     <file name="cyrf6936.c" dir="peripherals"/>
     <test>
       <define name="RADIO_CONTROL"/>

conf/modules/telemetry_bluegiga.xml

@@ -45,7 +45,7 @@
     <define name="DATALINK" value="BLUEGIGA"/>
     <file name="bluegiga_dl.c"/>
     <file name="pprz_transport.c" dir="pprzlink/src"/>
-    <file name="bluegiga.c" dir="subsystems/datalink"/>
+    <file name="bluegiga.c"/>
   </makefile>
 </module>
 

conf/modules/telemetry_superbitrf.xml

@@ -13,7 +13,7 @@
   <autoload name="telemetry" type="nps"/>
   <autoload name="telemetry" type="sim"/>
   <header>
-    <file name="superbitrf.h" dir="subsystems/datalink"/>
+    <file name="superbitrf.h"/>
   </header>
   <init fun="superbitrf_dl_init()"/>
   <event fun="superbitrf_dl_event()"/>
@@ -21,7 +21,7 @@
     <define name="DOWNLINK_DEVICE" value="superbitrf"/>
     <define name="DOWNLINK_TRANSPORT" value="pprz_srf_tp"/>
     <define name="DATALINK" value="SUPERBITRF"/>
-    <file name="superbitrf.c" dir="subsystems/datalink"/>
+    <file name="superbitrf.c"/>
     <file name="pprz_transport.c" dir="pprzlink/src"/>
     <file name="cyrf6936.c" dir="peripherals"/>
   </makefile>

conf/modules/telemetry_transparent.xml

@@ -5,7 +5,7 @@
     <description>
       Telemetry using PPRZ protocol over UART
 
-      Currently used as a makefile wrapper over the telemetry_transparent subsystem
+      Currently used as a makefile wrapper over the telemetry_transparent modules
     </description>
     <configure name="MODEM_PORT" value="UARTx" description="UART where the modem is connected to (UART1, UART2, etc)"/>
     <configure name="MODEM_BAUD" value="B57600" description="UART baud rate"/>

conf/modules/telemetry_transparent_frsky_x.xml

@@ -27,13 +27,13 @@
   <autoload name="telemetry" type="sim"/>
   <header>
     <file name="pprz_dl.h"/>
-    <file name="frsky_x.h" dir="subsystems/datalink"/>
+    <file name="frsky_x.h"/>
   </header>
   <init fun="datalink_frsky_x_init()"/>
   <init fun="pprz_dl_init()"/>
   <event fun="pprz_dl_event()"/>
   <makefile>
-    <file name="frsky_x.c" dir="subsystems/datalink"/>
+    <file name="frsky_x.c"/>
   </makefile>
   
   <makefile target="!fbw|sim|nps|hitl">
@@ -44,7 +44,7 @@
     <define name="DATALINK" value="PPRZ"/>
     <file name="pprz_dl.c"/>
     <file name="pprz_transport.c" dir="pprzlink/src"/>
-    <file name="frsky_x.c" dir="subsystems/datalink"/>
+    <file name="frsky_x.c"/>
   </makefile>
 </module>
 

conf/modules/telemetry_w5100.xml

@@ -22,7 +22,7 @@
   </dep>
   <autoload name="telemetry" type="sim"/>
   <header>
-    <file name="w5100.h" dir="subsystems/datalink"/>
+    <file name="w5100.h"/>
   </header>
   <init fun="w5100_init()"/>
   <event fun="w5100_event()"/>
@@ -43,7 +43,7 @@
     <define name="DOWNLINK_TRANSPORT" value="pprz_w5100_tp"/>
     <define name="DATALINK" value="W5100"/>
     <file name="pprz_transport.c" dir="pprzlink/src"/>
-    <file name="w5100.c" dir="subsystems/datalink"/>
+    <file name="w5100.c"/>
   </makefile>
 </module>
 

conf/settings/nps.xml

@@ -7,7 +7,7 @@
        <dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ahrs" values="No|Yes"/>
        <dl_setting var="nps_bypass_ins" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ins" values="No|Yes"/>
        <dl_setting var="gps_has_fix" min="0" step="1" max="1" module="modules/gps/gps_sim_nps" shortname="gps_fix" values="No|Yes"/>
-       <dl_setting var="datalink_enabled" min="0" step="1" max="1" module="subsystems/datalink/datalink" shortname="datalink" values="OFF|ON"/>
+       <dl_setting var="datalink_enabled" min="0" step="1" max="1" module="modules/datalink/datalink" shortname="datalink" values="OFF|ON"/>
        <dl_setting var="nps_electrical.supply_voltage" min="0" step="0.1" max="24" module="nps/nps_electrical" shortname="bat_voltage" unit="V"/>
        <dl_setting var="nps_atmosphere.wind_speed" min="0" step="0.1" max="25" module="nps/nps_atmosphere" shortname="wind_speed" unit="m/s" handler="set_wind_speed"/>
        <dl_setting var="nps_atmosphere.wind_dir" min="0" step="1" max="360" module="nps/nps_atmosphere" shortname="wind_dir" unit="rad" alt_unit="deg" handler="set_wind_dir"/>

conf/settings/superbitrf.xml

@@ -4,9 +4,9 @@
   <dl_settings>
     <dl_settings NAME="Superbit">
       <dl_setting var="settings_store_flag" min="1" step="1" max="1" shortname="store" handler="StoreSettings" module="subsystems/settings" values="Store"/>
-      <dl_setting var="superbitrf.bind_mfg_id32" type="uint32" min="0" step="1" max="4294967295" shortname ="mfg_id" persistent="true" module="subsystems/datalink/superbitrf" handler="set_mfg_id"/>
+      <dl_setting var="superbitrf.bind_mfg_id32" type="uint32" min="0" step="1" max="4294967295" shortname ="mfg_id" persistent="true" module="modules/datalink/superbitrf" handler="set_mfg_id"/>
-      <dl_setting var="superbitrf.num_channels" type="uint8" min="0" step="1" max="14" shortname ="#chan" persistent="true" module="subsystems/datalink/superbitrf"/>
+      <dl_setting var="superbitrf.num_channels" type="uint8" min="0" step="1" max="14" shortname ="#chan" persistent="true" module="modules/datalink/superbitrf"/>
-      <dl_setting var="superbitrf.protocol" type="uint8" min="0" step="1" max="32" shortname ="prot" persistent="true" module="subsystems/datalink/superbitrf" handler="set_protocol"/>
+      <dl_setting var="superbitrf.protocol" type="uint8" min="0" step="1" max="32" shortname ="prot" persistent="true" module="modules/datalink/superbitrf" handler="set_protocol"/>
     </dl_settings>
   </dl_settings>
 </settings>

sw/airborne/arch/sim/modules/datalink/superbitrf.c

@@ -20,13 +20,13 @@
  */
 
 /**
- * @file arch/sim/subsystems/datalink/superbitrf.c
+ * @file arch/sim/modules/datalink/superbitrf.c
  * DSM2 and DSMX datalink implementation for the cyrf6936 2.4GHz radio chip trough SPI
  *
  * Dummy for sim so you don't have to remove the superbitrf.xml settings file.
  */
 
-#include "subsystems/datalink/superbitrf.h"
+#include "modules/datalink/superbitrf.h"
 
 /* The superbitRF structure */
 struct SuperbitRF superbitrf;

sw/airborne/arch/sim/modules/datalink/superbitrf.h

@@ -20,7 +20,7 @@
  */
 
 /**
- * @file arch/sim/subsystems/datalink/superbitrf.h
+ * @file arch/sim/modules/datalink/superbitrf.h
  * DSM2 and DSMX datalink implementation for the cyrf6936 2.4GHz radio chip trough SPI
  *
  * Dummy for sim so you don't have to remove the superbitrf.xml settings file.

sw/airborne/arch/sim/sim_ap.c

@@ -19,8 +19,8 @@
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "modules/core/commands.h"
 #include "firmwares/fixedwing/main_ap.h"
-#include "subsystems/datalink/datalink.h"
+#include "modules/datalink/datalink.h"
-#include "subsystems/datalink/telemetry.h"
+#include "modules/datalink/telemetry.h"
 #include "generated/flight_plan.h"
 
 #include "generated/modules.h"