diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 5da80dbf90..dd5396ccfc 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -35,17 +35,17 @@ px4_add_git_submodule(TARGET git_ecl PATH "ecl")
 px4_add_git_submodule(TARGET git_matrix PATH "matrix")
 
 add_subdirectory(airspeed)
-add_subdirectory(AirspeedValidator)
+add_subdirectory(airspeed_validator)
 add_subdirectory(battery)
 add_subdirectory(bezier)
 add_subdirectory(cdev)
 add_subdirectory(circuit_breaker)
-add_subdirectory(CollisionPrevention)
+add_subdirectory(collision_prevention)
 add_subdirectory(controllib)
 add_subdirectory(conversion)
 add_subdirectory(drivers)
 add_subdirectory(ecl)
-add_subdirectory(FlightTasks)
+add_subdirectory(flight_tasks)
 add_subdirectory(hysteresis)
 add_subdirectory(landing_slope)
 add_subdirectory(led)
@@ -60,4 +60,4 @@ add_subdirectory(systemlib)
 add_subdirectory(terrain_estimation)
 add_subdirectory(tunes)
 add_subdirectory(version)
-add_subdirectory(WeatherVane)
+add_subdirectory(weather_vane)
diff --git a/src/lib/AirspeedValidator/AirspeedValidator.cpp b/src/lib/airspeed_validator/AirspeedValidator.cpp
similarity index 100%
rename from src/lib/AirspeedValidator/AirspeedValidator.cpp
rename to src/lib/airspeed_validator/AirspeedValidator.cpp
diff --git a/src/lib/AirspeedValidator/AirspeedValidator.hpp b/src/lib/airspeed_validator/AirspeedValidator.hpp
similarity index 100%
rename from src/lib/AirspeedValidator/AirspeedValidator.hpp
rename to src/lib/airspeed_validator/AirspeedValidator.hpp
diff --git a/src/lib/AirspeedValidator/CMakeLists.txt b/src/lib/airspeed_validator/CMakeLists.txt
similarity index 100%
rename from src/lib/AirspeedValidator/CMakeLists.txt
rename to src/lib/airspeed_validator/CMakeLists.txt
diff --git a/src/lib/CollisionPrevention/CMakeLists.txt b/src/lib/collision_prevention/CMakeLists.txt
similarity index 100%
rename from src/lib/CollisionPrevention/CMakeLists.txt
rename to src/lib/collision_prevention/CMakeLists.txt
diff --git a/src/lib/CollisionPrevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
similarity index 99%
rename from src/lib/CollisionPrevention/CollisionPrevention.cpp
rename to src/lib/collision_prevention/CollisionPrevention.cpp
index 862bde93c5..0c3c8eb122 100644
--- a/src/lib/CollisionPrevention/CollisionPrevention.cpp
+++ b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -37,7 +37,7 @@
  *
  */
 
-#include <CollisionPrevention/CollisionPrevention.hpp>
+#include "CollisionPrevention.hpp"
 
 using namespace matrix;
 using namespace time_literals;
diff --git a/src/lib/CollisionPrevention/CollisionPrevention.hpp b/src/lib/collision_prevention/CollisionPrevention.hpp
similarity index 100%
rename from src/lib/CollisionPrevention/CollisionPrevention.hpp
rename to src/lib/collision_prevention/CollisionPrevention.hpp
diff --git a/src/lib/CollisionPrevention/CollisionPreventionTest.cpp b/src/lib/collision_prevention/CollisionPreventionTest.cpp
similarity index 99%
rename from src/lib/CollisionPrevention/CollisionPreventionTest.cpp
rename to src/lib/collision_prevention/CollisionPreventionTest.cpp
index a1a0e7b96c..2b1209a9dc 100644
--- a/src/lib/CollisionPrevention/CollisionPreventionTest.cpp
+++ b/src/lib/collision_prevention/CollisionPreventionTest.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 #include <gtest/gtest.h>
-#include <CollisionPrevention/CollisionPrevention.hpp>
+#include "CollisionPrevention.hpp"
 
 // to run: make tests TESTFILTER=CollisionPrevention
 hrt_abstime mocked_time = 0;
diff --git a/src/lib/CollisionPrevention/collisionprevention_params.c b/src/lib/collision_prevention/collisionprevention_params.c
similarity index 100%
rename from src/lib/CollisionPrevention/collisionprevention_params.c
rename to src/lib/collision_prevention/collisionprevention_params.c
diff --git a/src/lib/FlightTasks/CMakeLists.txt b/src/lib/flight_tasks/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/CMakeLists.txt
rename to src/lib/flight_tasks/CMakeLists.txt
diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/flight_tasks/FlightTasks.cpp
similarity index 100%
rename from src/lib/FlightTasks/FlightTasks.cpp
rename to src/lib/flight_tasks/FlightTasks.cpp
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/flight_tasks/FlightTasks.hpp
similarity index 99%
rename from src/lib/FlightTasks/FlightTasks.hpp
rename to src/lib/flight_tasks/FlightTasks.hpp
index 4d7948db3d..7215557965 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/flight_tasks/FlightTasks.hpp
@@ -43,7 +43,7 @@
 
 #include "FlightTask.hpp"
 #include "FlightTasks_generated.hpp"
-#include <lib/WeatherVane/WeatherVane.hpp>
+#include <lib/weather_vane/WeatherVane.hpp>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_command_ack.h>
diff --git a/src/lib/FlightTasks/Templates/FlightTasks_generated.cpp.em b/src/lib/flight_tasks/Templates/FlightTasks_generated.cpp.em
similarity index 100%
rename from src/lib/FlightTasks/Templates/FlightTasks_generated.cpp.em
rename to src/lib/flight_tasks/Templates/FlightTasks_generated.cpp.em
diff --git a/src/lib/FlightTasks/Templates/FlightTasks_generated.hpp.em b/src/lib/flight_tasks/Templates/FlightTasks_generated.hpp.em
similarity index 100%
rename from src/lib/FlightTasks/Templates/FlightTasks_generated.hpp.em
rename to src/lib/flight_tasks/Templates/FlightTasks_generated.hpp.em
diff --git a/src/lib/FlightTasks/generate_flight_tasks.py b/src/lib/flight_tasks/generate_flight_tasks.py
similarity index 100%
rename from src/lib/FlightTasks/generate_flight_tasks.py
rename to src/lib/flight_tasks/generate_flight_tasks.py
diff --git a/src/lib/FlightTasks/tasks/Auto/CMakeLists.txt b/src/lib/flight_tasks/tasks/Auto/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Auto/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Auto/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
rename to src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
rename to src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.hpp
diff --git a/src/lib/FlightTasks/tasks/AutoFollowMe/CMakeLists.txt b/src/lib/flight_tasks/tasks/AutoFollowMe/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoFollowMe/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/AutoFollowMe/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.cpp b/src/lib/flight_tasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.cpp
rename to src/lib/flight_tasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.cpp
diff --git a/src/lib/FlightTasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.hpp b/src/lib/flight_tasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.hpp
rename to src/lib/flight_tasks/tasks/AutoFollowMe/FlightTaskAutoFollowMe.hpp
diff --git a/src/lib/FlightTasks/tasks/AutoLine/CMakeLists.txt b/src/lib/flight_tasks/tasks/AutoLine/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoLine/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/AutoLine/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp b/src/lib/flight_tasks/tasks/AutoLine/FlightTaskAutoLine.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
rename to src/lib/flight_tasks/tasks/AutoLine/FlightTaskAutoLine.cpp
diff --git a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.hpp b/src/lib/flight_tasks/tasks/AutoLine/FlightTaskAutoLine.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.hpp
rename to src/lib/flight_tasks/tasks/AutoLine/FlightTaskAutoLine.hpp
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/CMakeLists.txt b/src/lib/flight_tasks/tasks/AutoLineSmoothVel/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoLineSmoothVel/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/AutoLineSmoothVel/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
rename to src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp b/src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
rename to src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/CMakeLists.txt b/src/lib/flight_tasks/tasks/AutoMapper/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoMapper/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/AutoMapper/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
rename to src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp b/src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
rename to src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.hpp
diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/CMakeLists.txt b/src/lib/flight_tasks/tasks/AutoMapper2/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoMapper2/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/AutoMapper2/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
rename to src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp b/src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp
rename to src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp
diff --git a/src/lib/FlightTasks/tasks/CMakeLists.txt b/src/lib/flight_tasks/tasks/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Descend/CMakeLists.txt b/src/lib/flight_tasks/tasks/Descend/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Descend/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Descend/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Descend/FlightTaskDescend.cpp b/src/lib/flight_tasks/tasks/Descend/FlightTaskDescend.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Descend/FlightTaskDescend.cpp
rename to src/lib/flight_tasks/tasks/Descend/FlightTaskDescend.cpp
diff --git a/src/lib/FlightTasks/tasks/Descend/FlightTaskDescend.hpp b/src/lib/flight_tasks/tasks/Descend/FlightTaskDescend.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Descend/FlightTaskDescend.hpp
rename to src/lib/flight_tasks/tasks/Descend/FlightTaskDescend.hpp
diff --git a/src/lib/FlightTasks/tasks/Failsafe/CMakeLists.txt b/src/lib/flight_tasks/tasks/Failsafe/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Failsafe/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Failsafe/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp b/src/lib/flight_tasks/tasks/Failsafe/FlightTaskFailsafe.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.cpp
rename to src/lib/flight_tasks/tasks/Failsafe/FlightTaskFailsafe.cpp
diff --git a/src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp b/src/lib/flight_tasks/tasks/Failsafe/FlightTaskFailsafe.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Failsafe/FlightTaskFailsafe.hpp
rename to src/lib/flight_tasks/tasks/Failsafe/FlightTaskFailsafe.hpp
diff --git a/src/lib/FlightTasks/tasks/FlightTask/CMakeLists.txt b/src/lib/flight_tasks/tasks/FlightTask/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/FlightTask/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/FlightTask/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp b/src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
rename to src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
similarity index 99%
rename from src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
rename to src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
index 8da77373e0..65a02c0228 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+++ b/src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp
@@ -52,7 +52,7 @@
 #include <uORB/topics/vehicle_constraints.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
-#include <lib/WeatherVane/WeatherVane.hpp>
+#include <lib/weather_vane/WeatherVane.hpp>
 
 class FlightTask : public ModuleParams
 {
diff --git a/src/lib/FlightTasks/tasks/Manual/CMakeLists.txt b/src/lib/flight_tasks/tasks/Manual/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Manual/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Manual/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp b/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp
rename to src/lib/flight_tasks/tasks/Manual/FlightTaskManual.cpp
diff --git a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp b/src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
rename to src/lib/flight_tasks/tasks/Manual/FlightTaskManual.hpp
diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitude/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/ManualAltitude/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
rename to src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
rename to src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmooth/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualAltitudeSmooth/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitudeSmooth/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/ManualAltitudeSmooth/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.cpp b/src/lib/flight_tasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.cpp
rename to src/lib/flight_tasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.cpp
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.hpp b/src/lib/flight_tasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.hpp
rename to src/lib/flight_tasks/tasks/ManualAltitudeSmooth/FlightTaskManualAltitudeSmooth.hpp
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
rename to src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
rename to src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
diff --git a/src/lib/FlightTasks/tasks/ManualPosition/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualPosition/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPosition/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/ManualPosition/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
rename to src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
diff --git a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
similarity index 98%
rename from src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
rename to src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
index 8b051fc517..9e9e3dde22 100644
--- a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
+++ b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <CollisionPrevention/CollisionPrevention.hpp>
+#include <lib/collision_prevention/CollisionPrevention.hpp>
 #include "FlightTaskManualAltitude.hpp"
 
 class FlightTaskManualPosition : public FlightTaskManualAltitude
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmooth/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualPositionSmooth/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPositionSmooth/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/ManualPositionSmooth/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.cpp b/src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.cpp
rename to src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.cpp
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.hpp b/src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.hpp
rename to src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.hpp
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/CMakeLists.txt b/src/lib/flight_tasks/tasks/ManualPositionSmoothVel/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPositionSmoothVel/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/ManualPositionSmoothVel/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/flight_tasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
rename to src/lib/flight_tasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp b/src/lib/flight_tasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
rename to src/lib/flight_tasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
diff --git a/src/lib/FlightTasks/tasks/Offboard/CMakeLists.txt b/src/lib/flight_tasks/tasks/Offboard/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Offboard/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Offboard/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp b/src/lib/flight_tasks/tasks/Offboard/FlightTaskOffboard.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp
rename to src/lib/flight_tasks/tasks/Offboard/FlightTaskOffboard.cpp
diff --git a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp b/src/lib/flight_tasks/tasks/Offboard/FlightTaskOffboard.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp
rename to src/lib/flight_tasks/tasks/Offboard/FlightTaskOffboard.hpp
diff --git a/src/lib/FlightTasks/tasks/Orbit/CMakeLists.txt b/src/lib/flight_tasks/tasks/Orbit/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Orbit/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Orbit/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
rename to src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp
rename to src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.hpp
diff --git a/src/lib/FlightTasks/tasks/Sport/CMakeLists.txt b/src/lib/flight_tasks/tasks/Sport/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Sport/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Sport/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp b/src/lib/flight_tasks/tasks/Sport/FlightTaskSport.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Sport/FlightTaskSport.hpp
rename to src/lib/flight_tasks/tasks/Sport/FlightTaskSport.hpp
diff --git a/src/lib/FlightTasks/tasks/Transition/CMakeLists.txt b/src/lib/flight_tasks/tasks/Transition/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Transition/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Transition/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.cpp
rename to src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
diff --git a/src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Transition/FlightTaskTransition.hpp
rename to src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/CMakeLists.txt b/src/lib/flight_tasks/tasks/Utility/CMakeLists.txt
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/CMakeLists.txt
rename to src/lib/flight_tasks/tasks/Utility/CMakeLists.txt
diff --git a/src/lib/FlightTasks/tasks/Utility/Makefile b/src/lib/flight_tasks/tasks/Utility/Makefile
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/Makefile
rename to src/lib/flight_tasks/tasks/Utility/Makefile
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/flight_tasks/tasks/Utility/ManualSmoothingXY.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
rename to src/lib/flight_tasks/tasks/Utility/ManualSmoothingXY.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp b/src/lib/flight_tasks/tasks/Utility/ManualSmoothingXY.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
rename to src/lib/flight_tasks/tasks/Utility/ManualSmoothingXY.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp b/src/lib/flight_tasks/tasks/Utility/ManualSmoothingZ.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
rename to src/lib/flight_tasks/tasks/Utility/ManualSmoothingZ.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp b/src/lib/flight_tasks/tasks/Utility/ManualSmoothingZ.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
rename to src/lib/flight_tasks/tasks/Utility/ManualSmoothingZ.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp b/src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
rename to src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp b/src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
rename to src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXY.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp b/src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp
rename to src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingZ.cpp b/src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingZ.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingZ.cpp
rename to src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingZ.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingZ.hpp b/src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingZ.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingZ.hpp
rename to src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingZ.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/flight_tasks/tasks/Utility/ObstacleAvoidance.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
rename to src/lib/flight_tasks/tasks/Utility/ObstacleAvoidance.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/flight_tasks/tasks/Utility/ObstacleAvoidance.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
rename to src/lib/flight_tasks/tasks/Utility/ObstacleAvoidance.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidanceTest.cpp b/src/lib/flight_tasks/tasks/Utility/ObstacleAvoidanceTest.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/ObstacleAvoidanceTest.cpp
rename to src/lib/flight_tasks/tasks/Utility/ObstacleAvoidanceTest.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/flight_tasks/tasks/Utility/StraightLine.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
rename to src/lib/flight_tasks/tasks/Utility/StraightLine.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp b/src/lib/flight_tasks/tasks/Utility/StraightLine.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
rename to src/lib/flight_tasks/tasks/Utility/StraightLine.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp b/src/lib/flight_tasks/tasks/Utility/VelocitySmoothing.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
rename to src/lib/flight_tasks/tasks/Utility/VelocitySmoothing.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.hpp b/src/lib/flight_tasks/tasks/Utility/VelocitySmoothing.hpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.hpp
rename to src/lib/flight_tasks/tasks/Utility/VelocitySmoothing.hpp
diff --git a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp b/src/lib/flight_tasks/tasks/Utility/VelocitySmoothingTest.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp
rename to src/lib/flight_tasks/tasks/Utility/VelocitySmoothingTest.cpp
diff --git a/src/lib/FlightTasks/tasks/Utility/test_velocity_smoothing.cpp b/src/lib/flight_tasks/tasks/Utility/test_velocity_smoothing.cpp
similarity index 100%
rename from src/lib/FlightTasks/tasks/Utility/test_velocity_smoothing.cpp
rename to src/lib/flight_tasks/tasks/Utility/test_velocity_smoothing.cpp
diff --git a/src/lib/WeatherVane/CMakeLists.txt b/src/lib/weather_vane/CMakeLists.txt
similarity index 100%
rename from src/lib/WeatherVane/CMakeLists.txt
rename to src/lib/weather_vane/CMakeLists.txt
diff --git a/src/lib/WeatherVane/WeatherVane.cpp b/src/lib/weather_vane/WeatherVane.cpp
similarity index 100%
rename from src/lib/WeatherVane/WeatherVane.cpp
rename to src/lib/weather_vane/WeatherVane.cpp
diff --git a/src/lib/WeatherVane/WeatherVane.hpp b/src/lib/weather_vane/WeatherVane.hpp
similarity index 100%
rename from src/lib/WeatherVane/WeatherVane.hpp
rename to src/lib/weather_vane/WeatherVane.hpp
diff --git a/src/lib/WeatherVane/weathervane_params.c b/src/lib/weather_vane/weathervane_params.c
similarity index 100%
rename from src/lib/WeatherVane/weathervane_params.c
rename to src/lib/weather_vane/weathervane_params.c
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 715658fe7c..3ffbd23420 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -39,12 +39,12 @@
 #include <commander/px4_custom_mode.h>
 #include <drivers/drv_hrt.h>
 #include <lib/controllib/blocks.hpp>
-#include <lib/FlightTasks/FlightTasks.hpp>
+#include <lib/flight_tasks/FlightTasks.hpp>
 #include <lib/hysteresis/hysteresis.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
 #include <lib/systemlib/mavlink_log.h>
-#include <lib/WeatherVane/WeatherVane.hpp>
+#include <lib/weather_vane/WeatherVane.hpp>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>
diff --git a/src/systemcmds/tests/test_smooth_z.cpp b/src/systemcmds/tests/test_smooth_z.cpp
index 8eba151fdd..63edd8fcd2 100644
--- a/src/systemcmds/tests/test_smooth_z.cpp
+++ b/src/systemcmds/tests/test_smooth_z.cpp
@@ -37,7 +37,7 @@
  */
 
 #include <unit_test.h>
-#include <lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp>
+#include <lib/flight_tasks/tasks/Utility/ManualSmoothingZ.hpp>
 #include <float.h>
 #include <math.h>