diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index 6fd7da4614..fea9a814d2 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -54,6 +54,7 @@ MODULES		+= modules/mavlink_onboard
 #
 MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/position_estimator
 MODULES		+= modules/att_pos_estimator_ekf
 
 #
@@ -62,6 +63,8 @@ MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/fixedwing_backside
 MODULES		+= modules/fixedwing_att_control
 MODULES		+= modules/fixedwing_pos_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
 
 #
 # Logging
@@ -83,12 +86,7 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, adc,                    ,                          2048,  adc_main                   ) \
-	$(call _B, control_demo,           ,                          2048,  control_demo_main          ) \
-	$(call _B, fixedwing_att_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_att_control_main ) \
-	$(call _B, fixedwing_pos_control,  SCHED_PRIORITY_MAX-30,     2048,  fixedwing_pos_control_main ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
-	$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15,     2048,  multirotor_att_control_main) \
-	$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25,     2048,  multirotor_pos_control_main) \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
 	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
 	$(call _B, tone_alarm,             ,                          2048,  tone_alarm_main            ) \
diff --git a/apps/multirotor_pos_control/Makefile b/src/modules/multirotor_att_control/module.mk
old mode 100644
new mode 100755
similarity index 85%
rename from apps/multirotor_pos_control/Makefile
rename to src/modules/multirotor_att_control/module.mk
index c88c854356..2fd52c162e
--- a/apps/multirotor_pos_control/Makefile
+++ b/src/modules/multirotor_att_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,11 @@
 ############################################################################
 
 #
-# Makefile to build multirotor position control
+# Makefile to build the multirotor attitude controller
 #
 
-APPNAME		 = multirotor_pos_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 25
-STACKSIZE	 = 2048
+MODULE_COMMAND	= multirotor_att_control
 
-include $(APPDIR)/mk/app.mk
+SRCS		= multirotor_att_control_main.c \
+		  multirotor_attitude_control.c \
+		  multirotor_rate_control.c
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c
similarity index 100%
rename from apps/multirotor_att_control/multirotor_att_control_main.c
rename to src/modules/multirotor_att_control/multirotor_att_control_main.c
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/src/modules/multirotor_att_control/multirotor_attitude_control.c
similarity index 100%
rename from apps/multirotor_att_control/multirotor_attitude_control.c
rename to src/modules/multirotor_att_control/multirotor_attitude_control.c
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/src/modules/multirotor_att_control/multirotor_attitude_control.h
similarity index 100%
rename from apps/multirotor_att_control/multirotor_attitude_control.h
rename to src/modules/multirotor_att_control/multirotor_attitude_control.h
diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
similarity index 100%
rename from apps/multirotor_att_control/multirotor_rate_control.c
rename to src/modules/multirotor_att_control/multirotor_rate_control.c
diff --git a/apps/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h
similarity index 100%
rename from apps/multirotor_att_control/multirotor_rate_control.h
rename to src/modules/multirotor_att_control/multirotor_rate_control.h
diff --git a/apps/multirotor_att_control/Makefile b/src/modules/multirotor_pos_control/module.mk
old mode 100755
new mode 100644
similarity index 88%
rename from apps/multirotor_att_control/Makefile
rename to src/modules/multirotor_pos_control/module.mk
index 03cf33e434..d048477455
--- a/apps/multirotor_att_control/Makefile
+++ b/src/modules/multirotor_pos_control/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,10 @@
 ############################################################################
 
 #
-# Makefile to build uORB
+# Build multirotor position control
 #
 
-APPNAME		 = multirotor_att_control
-PRIORITY	 = SCHED_PRIORITY_MAX - 15
-STACKSIZE	 = 2048
+MODULE_COMMAND	= multirotor_pos_control
 
-include $(APPDIR)/mk/app.mk
+SRCS		= multirotor_pos_control.c \
+		  multirotor_pos_control_params.c
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c
similarity index 100%
rename from apps/multirotor_pos_control/multirotor_pos_control.c
rename to src/modules/multirotor_pos_control/multirotor_pos_control.c
diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c
similarity index 100%
rename from apps/multirotor_pos_control/multirotor_pos_control_params.c
rename to src/modules/multirotor_pos_control/multirotor_pos_control_params.c
diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h
similarity index 100%
rename from apps/multirotor_pos_control/multirotor_pos_control_params.h
rename to src/modules/multirotor_pos_control/multirotor_pos_control_params.h
diff --git a/apps/multirotor_pos_control/position_control.c b/src/modules/multirotor_pos_control/position_control.c
similarity index 100%
rename from apps/multirotor_pos_control/position_control.c
rename to src/modules/multirotor_pos_control/position_control.c
diff --git a/apps/multirotor_pos_control/position_control.h b/src/modules/multirotor_pos_control/position_control.h
similarity index 100%
rename from apps/multirotor_pos_control/position_control.h
rename to src/modules/multirotor_pos_control/position_control.h
diff --git a/apps/position_estimator/.context b/src/modules/position_estimator/.context
similarity index 100%
rename from apps/position_estimator/.context
rename to src/modules/position_estimator/.context
diff --git a/apps/position_estimator/Makefile b/src/modules/position_estimator/module.mk
similarity index 85%
rename from apps/position_estimator/Makefile
rename to src/modules/position_estimator/module.mk
index cc5072152c..f64095d9d1 100644
--- a/apps/position_estimator/Makefile
+++ b/src/modules/position_estimator/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,10 +35,10 @@
 # Makefile to build the position estimator
 #
 
-APPNAME		 = position_estimator
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 4096
+MODULE_COMMAND		= position_estimator
 
-CSRCS		 = position_estimator_main.c
+# XXX this should be converted to a deamon, its a pretty bad example app
+MODULE_PRIORITY	 	= SCHED_PRIORITY_DEFAULT
+MODULE_STACKSIZE	= 4096
 
-include $(APPDIR)/mk/app.mk
+SRCS		 	= position_estimator_main.c
diff --git a/apps/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c
similarity index 100%
rename from apps/position_estimator/position_estimator_main.c
rename to src/modules/position_estimator/position_estimator_main.c