diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index e5d7de2015..9eb12183df 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -165,7 +165,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 FLASH_MODE=IAP
 
 ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c $(SRC_FIRMWARE)/main.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/autopilot/sitl.makefile b/conf/autopilot/sitl.makefile
index 3ec10c07a1..d300a0a77a 100644
--- a/conf/autopilot/sitl.makefile
+++ b/conf/autopilot/sitl.makefile
@@ -1,6 +1,6 @@
 sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
+sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 
 
diff --git a/conf/autopilot/sitl_jsbsim.makefile b/conf/autopilot/sitl_jsbsim.makefile
index 4f485deda1..2147a2e6d1 100644
--- a/conf/autopilot/sitl_jsbsim.makefile
+++ b/conf/autopilot/sitl_jsbsim.makefile
@@ -26,7 +26,7 @@ endif
 
 jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO -Ifirmwares/fixedwing
 jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c
-jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
+jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c datalink.c
 jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c
 # Choose in your airframe file type of airframe
 # jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
diff --git a/conf/autopilot/sitl_link_pprz.makefile b/conf/autopilot/sitl_link_pprz.makefile
index 11e7353827..0e6216771e 100644
--- a/conf/autopilot/sitl_link_pprz.makefile
+++ b/conf/autopilot/sitl_link_pprz.makefile
@@ -1,3 +1,3 @@
 sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DINFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DDOWNLINK_AP_DEVICE=SimUart -DDOWNLINK_FBW_DEVICE=SimUart -DDATALINK=PPRZ
-sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c datalink.c
+sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c datalink.c
diff --git a/conf/autopilot/sitl_link_xbee.makefile b/conf/autopilot/sitl_link_xbee.makefile
index b1723aa41c..c0bb033e22 100644
--- a/conf/autopilot/sitl_link_xbee.makefile
+++ b/conf/autopilot/sitl_link_xbee.makefile
@@ -1,3 +1,3 @@
 sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DINFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DSIM_XBEE -DXBEE_UART=SimUart
-sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c
+sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index 20d3f9d480..167aa2d3a5 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -95,7 +95,7 @@ endif
 # Main
 #
 
-ns_srcs	   	+= $(SRC_FIXEDWING)/main.c
+ns_srcs	   	+= $(SRC_FIRMWARE)/main.c
 
 #
 # LEDs
@@ -141,7 +141,7 @@ endif
 ##
 
 fbw_CFLAGS		+= -DFBW
-fbw_srcs 		+= $(SRC_FIXEDWING)/main_fbw.c
+fbw_srcs 		+= $(SRC_FIRMWARE)/main_fbw.c
 fbw_srcs 		+= $(SRC_FIXEDWING)/commands.c
 
 ######################################################################
@@ -150,7 +150,7 @@ fbw_srcs 		+= $(SRC_FIXEDWING)/commands.c
 ##
 
 ap_CFLAGS 		+= -DAP
-ap_srcs 		+= $(SRC_FIXEDWING)/main_ap.c
+ap_srcs 		+= $(SRC_FIRMWARE)/main_ap.c
 ap_srcs 		+= $(SRC_FIXEDWING)/estimator.c
 
 
diff --git a/conf/autopilot/twin_mcu.makefile b/conf/autopilot/twin_mcu.makefile
index 464fa13a94..3fb0f7d7d7 100644
--- a/conf/autopilot/twin_mcu.makefile
+++ b/conf/autopilot/twin_mcu.makefile
@@ -1,6 +1,6 @@
-ap.srcs += main_ap.c sys_time.c main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c spi.c rc_settings.c latlong.c nav_survey_rectangle.c
+ap.srcs += $(SRC_FIRMWARE)/main_ap.c sys_time.c $(SRC_FIRMWARE)/main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c spi.c rc_settings.c latlong.c nav_survey_rectangle.c
 ap.CFLAGS += -DMCU_SPI_LINK -DGPS -DUBX -DINFRARED -DRADIO_CONTROL -DINTER_MCU -DSPI_MASTER -DUSE_SPI -DNAV -DRADIO_CONTROL_SETTINGS
 
-fbw.srcs +=  sys_time.c main_fbw.c main.c commands.c radio_control.c pprz_transport.c downlink.c  inter_mcu.c spi.c link_mcu.c
+fbw.srcs +=  sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main.c commands.c radio_control.c pprz_transport.c downlink.c  inter_mcu.c spi.c link_mcu.c
 fbw.CFLAGS += -DRADIO_CONTROL -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK -DUART0_BAUD=B38400 -DSPI_SLAVE -DUSE_SPI
 
diff --git a/sw/airborne/arch/sim/jsbsim_hw.h b/sw/airborne/arch/sim/jsbsim_hw.h
index 87eef9b170..a5ffff13f0 100644
--- a/sw/airborne/arch/sim/jsbsim_hw.h
+++ b/sw/airborne/arch/sim/jsbsim_hw.h
@@ -42,7 +42,7 @@
 #include "fw_v_ctl.h"
 #include "infrared.h"
 #include "commands.h"
-#include "main_ap.h"
+#include "firmwares/fixedwing/main_ap.h"
 #include "ap_downlink.h"
 #include "sim_uart.h"
 #include "latlong.h"
diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c
index 2ec229bcac..3c5a51d4ba 100644
--- a/sw/airborne/arch/sim/sim_ap.c
+++ b/sw/airborne/arch/sim/sim_ap.c
@@ -20,7 +20,7 @@
 #include "fw_v_ctl.h"
 #include "infrared.h"
 #include "commands.h"
-#include "main_ap.h"
+#include "firmwares/fixedwing/main_ap.h"
 #include "ap_downlink.h"
 #include "sim_uart.h"
 #include "latlong.h"
diff --git a/sw/airborne/arch/sim/sim_jsbsim.c b/sw/airborne/arch/sim/sim_jsbsim.c
index 3fccb0bda5..368c23f527 100644
--- a/sw/airborne/arch/sim/sim_jsbsim.c
+++ b/sw/airborne/arch/sim/sim_jsbsim.c
@@ -20,7 +20,7 @@
 #include "fw_v_ctl.h"
 #include "infrared.h"
 #include "commands.h"
-#include "main_ap.h"
+#include "firmwares/fixedwing/main_ap.h"
 #include "ap_downlink.h"
 #include "sim_uart.h"
 #include "latlong.h"
diff --git a/sw/airborne/fbw_downlink.h b/sw/airborne/fbw_downlink.h
index 03d517e785..49ab1ff416 100644
--- a/sw/airborne/fbw_downlink.h
+++ b/sw/airborne/fbw_downlink.h
@@ -43,7 +43,7 @@
 #include "actuators.h"
 
 #include "uart.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #include "subsystems/radio_control.h"
 #include "inter_mcu.h"
 
diff --git a/sw/airborne/main.c b/sw/airborne/firmwares/fixedwing/main.c
similarity index 92%
rename from sw/airborne/main.c
rename to sw/airborne/firmwares/fixedwing/main.c
index c600219d96..2b9413895f 100644
--- a/sw/airborne/main.c
+++ b/sw/airborne/firmwares/fixedwing/main.c
@@ -1,6 +1,6 @@
 /*
  * Paparazzi $Id$
- *  
+ *
  * Copyright (C) 2005 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  *
  */
 /** \file main.c
@@ -28,14 +28,14 @@
 #include "sys_time.h"
 
 #ifdef FBW
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #define Fbw(f) f ## _fbw()
 #else
 #define Fbw(f)
 #endif
 
 #ifdef AP
-#include "main_ap.h"
+#include "firmwares/fixedwing/main_ap.h"
 #define Ap(f) f ## _ap()
 #else
 #define Ap(f)
diff --git a/sw/airborne/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
similarity index 99%
rename from sw/airborne/main_ap.c
rename to sw/airborne/firmwares/fixedwing/main_ap.c
index 35a5d56bf0..adb047d6da 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -33,7 +33,7 @@
 
 #include <math.h>
 
-#include "main_ap.h"
+#include "firmwares/fixedwing/main_ap.h"
 
 #include "interrupt_hw.h"
 #include "init_hw.h"
diff --git a/sw/airborne/main_ap.h b/sw/airborne/firmwares/fixedwing/main_ap.h
similarity index 100%
rename from sw/airborne/main_ap.h
rename to sw/airborne/firmwares/fixedwing/main_ap.h
diff --git a/sw/airborne/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
similarity index 98%
rename from sw/airborne/main_fbw.c
rename to sw/airborne/firmwares/fixedwing/main_fbw.c
index f5e4c7cdb7..0e9c789b45 100644
--- a/sw/airborne/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -1,6 +1,6 @@
 /*
  * Paparazzi $Id$
- *  
+ *
  * Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -18,20 +18,20 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  *
  */
 
 /** \file main_fbw.c
  *  \brief FBW ( FlyByWire ) process
  *
- *   This process is responsible for decoding radio control, generating actuators 
- * signals either from the radio control or from the commands provided by the 
+ *   This process is responsible for decoding radio control, generating actuators
+ * signals either from the radio control or from the commands provided by the
  * AP (autopilot) process. It also performs a telemetry task and a low level monitoring
  * ( for parameters like the supply )
  */
 
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #include "airframe.h"
 
 #include "init_hw.h"
diff --git a/sw/airborne/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h
similarity index 97%
rename from sw/airborne/main_fbw.h
rename to sw/airborne/firmwares/fixedwing/main_fbw.h
index a4be674b32..d21aa0e451 100644
--- a/sw/airborne/main_fbw.h
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.h
@@ -1,6 +1,6 @@
 /*
  * Paparazzi $Id$
- *  
+ *
  * Copyright (C) 2005 Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  *
  */
 
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index aadfdb7ddd..e00aeb9f5f 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -42,7 +42,7 @@
 #include "paparazzi.h"
 #include "airframe.h"
 #include "subsystems/radio_control.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 
 #ifndef SINGLE_MCU
 #include "radio.h"
diff --git a/sw/airborne/modules/MPPT/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c
index 8b796cd692..389f997e9f 100644
--- a/sw/airborne/modules/MPPT/MPPT.c
+++ b/sw/airborne/modules/MPPT/MPPT.c
@@ -25,7 +25,7 @@
 
 #include <stdbool.h>
 #include "MPPT.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #include "i2c.h"
 
 
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
index c4138c9a58..68db855b0d 100644
--- a/sw/airborne/modules/ins/ins_arduimu.c
+++ b/sw/airborne/modules/ins/ins_arduimu.c
@@ -7,7 +7,7 @@ Autoren@ZHAW:   schmiemi
 
 #include <stdbool.h>
 #include "ins_arduimu.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #include "i2c.h"
 
 // test
diff --git a/sw/airborne/setup_actuators.c b/sw/airborne/setup_actuators.c
index 1a5d6fdfd6..df13d47f90 100644
--- a/sw/airborne/setup_actuators.c
+++ b/sw/airborne/setup_actuators.c
@@ -10,7 +10,7 @@
 #include "datalink.h"
 #include "uart.h"
 #include "pprz_transport.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #include "downlink.h"
 #include "settings.h"
 
diff --git a/sw/simulator/sim_ac_booz.c b/sw/simulator/sim_ac_booz.c
index a38b677eb7..a92cd74eba 100644
--- a/sw/simulator/sim_ac_booz.c
+++ b/sw/simulator/sim_ac_booz.c
@@ -24,8 +24,8 @@
 
 #include <string.h>
 #include "sim_ac_jsbsim.h"
-#include "main_ap.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_ap.h"
+#include "firmwares/fixedwing/main_fbw.h"
 
 using namespace JSBSim;
 
diff --git a/sw/simulator/sim_ac_fw.c b/sw/simulator/sim_ac_fw.c
index 0f1de1a5d3..23d75a1b60 100644
--- a/sw/simulator/sim_ac_fw.c
+++ b/sw/simulator/sim_ac_fw.c
@@ -24,8 +24,8 @@
 
 #include <string.h>
 #include "sim_ac_jsbsim.h"
-#include "main_ap.h"
-#include "main_fbw.h"
+#include "firmwares/fixedwing/main_ap.h"
+#include "firmwares/fixedwing/main_fbw.h"
 #include "jsbsim_hw.h"
 
 #include <iostream>