diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
similarity index 99%
rename from libraries/AP_DCM/AP_DCM.cpp
rename to libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 5d08c9b810..58c195549c 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -161,7 +161,7 @@ void
 AP_DCM::matrix_reset(bool recover_eulers)
 {
 	if (_compass != NULL) {
-		_compass->null_offsets_disable();		
+		_compass->null_offsets_disable();
 	}
 
 	// reset the integration terms
diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
similarity index 99%
rename from libraries/AP_DCM/AP_DCM.h
rename to libraries/AP_AHRS/AP_AHRS_DCM.h
index 7c7b2a4217..2a0bfa2157 100644
--- a/libraries/AP_DCM/AP_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -152,6 +152,3 @@ private:
 };
 
 #endif
-
-
-
diff --git a/libraries/AP_DCM/AP_DCM_HIL.cpp b/libraries/AP_AHRS/AP_AHRS_HIL.cpp
similarity index 100%
rename from libraries/AP_DCM/AP_DCM_HIL.cpp
rename to libraries/AP_AHRS/AP_AHRS_HIL.cpp
diff --git a/libraries/AP_DCM/AP_DCM_HIL.h b/libraries/AP_AHRS/AP_AHRS_HIL.h
similarity index 99%
rename from libraries/AP_DCM/AP_DCM_HIL.h
rename to libraries/AP_AHRS/AP_AHRS_HIL.h
index 6ebdf13893..bda5bf4afb 100644
--- a/libraries/AP_DCM/AP_DCM_HIL.h
+++ b/libraries/AP_AHRS/AP_AHRS_HIL.h
@@ -76,6 +76,3 @@ private:
 };
 
 #endif
-
-
-
diff --git a/libraries/AP_Quaternion/AP_Quaternion.cpp b/libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
similarity index 100%
rename from libraries/AP_Quaternion/AP_Quaternion.cpp
rename to libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
diff --git a/libraries/AP_Quaternion/AP_Quaternion.h b/libraries/AP_AHRS/AP_AHRS_Quaternion.h
similarity index 100%
rename from libraries/AP_Quaternion/AP_Quaternion.h
rename to libraries/AP_AHRS/AP_AHRS_Quaternion.h
diff --git a/libraries/AP_Quaternion/examples/Quaternion/Quaternion.pde b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
similarity index 100%
rename from libraries/AP_Quaternion/examples/Quaternion/Quaternion.pde
rename to libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
diff --git a/libraries/AP_DCM/examples/DCM_Test/Makefile b/libraries/AP_AHRS/examples/AHRS_Test/Makefile
similarity index 100%
rename from libraries/AP_DCM/examples/DCM_Test/Makefile
rename to libraries/AP_AHRS/examples/AHRS_Test/Makefile
diff --git a/libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde b/libraries/AP_AHRS/examples/DCM_Test/DCM_Test.pde
similarity index 100%
rename from libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde
rename to libraries/AP_AHRS/examples/DCM_Test/DCM_Test.pde
diff --git a/libraries/AP_Quaternion/examples/Quaternion/Makefile b/libraries/AP_AHRS/examples/DCM_Test/Makefile
similarity index 100%
rename from libraries/AP_Quaternion/examples/Quaternion/Makefile
rename to libraries/AP_AHRS/examples/DCM_Test/Makefile