diff --git a/User_Code/module/periph/imu/damiao_imu/damiao_imu.c b/User_Code/module/periph/imu/expansion/damiao_imu/damiao_imu.c
similarity index 100%
rename from User_Code/module/periph/imu/damiao_imu/damiao_imu.c
rename to User_Code/module/periph/imu/expansion/damiao_imu/damiao_imu.c
diff --git a/User_Code/module/periph/imu/damiao_imu/damiao_imu.h b/User_Code/module/periph/imu/expansion/damiao_imu/damiao_imu.h
similarity index 100%
rename from User_Code/module/periph/imu/damiao_imu/damiao_imu.h
rename to User_Code/module/periph/imu/expansion/damiao_imu/damiao_imu.h
diff --git a/User_Code/module/periph/imu/damiao_imu/damiao_imu.md b/User_Code/module/periph/imu/expansion/damiao_imu/damiao_imu.md
similarity index 100%
rename from User_Code/module/periph/imu/damiao_imu/damiao_imu.md
rename to User_Code/module/periph/imu/expansion/damiao_imu/damiao_imu.md
diff --git a/User_Code/module/periph/imu/helios_imu/helios_imu.c b/User_Code/module/periph/imu/expansion/helios_imu/helios_imu.c
similarity index 100%
rename from User_Code/module/periph/imu/helios_imu/helios_imu.c
rename to User_Code/module/periph/imu/expansion/helios_imu/helios_imu.c
diff --git a/User_Code/module/periph/imu/helios_imu/helios_imu.h b/User_Code/module/periph/imu/expansion/helios_imu/helios_imu.h
similarity index 100%
rename from User_Code/module/periph/imu/helios_imu/helios_imu.h
rename to User_Code/module/periph/imu/expansion/helios_imu/helios_imu.h
diff --git a/User_Code/module/periph/imu/helios_imu/helios_imu.md b/User_Code/module/periph/imu/expansion/helios_imu/helios_imu.md
similarity index 100%
rename from User_Code/module/periph/imu/helios_imu/helios_imu.md
rename to User_Code/module/periph/imu/expansion/helios_imu/helios_imu.md
diff --git a/User_Code/module/periph/imu/BMI088/BMI088drv(reserved).md b/User_Code/module/periph/imu/imu.md
similarity index 100%
rename from User_Code/module/periph/imu/BMI088/BMI088drv(reserved).md
rename to User_Code/module/periph/imu/imu.md
diff --git a/User_Code/module/periph/imu/ins_task.h b/User_Code/module/periph/imu/ins_task.h
index 3ddec82..89c567c 100644
--- a/User_Code/module/periph/imu/ins_task.h
+++ b/User_Code/module/periph/imu/ins_task.h
@@ -16,7 +16,7 @@
 #define __INS_TASK_H
 
 #include "stdint.h"
-#include "BMI088/BMI088driver.h"
+#include "BMI088driver.h"
 #include "QuaternionEKF.h"
 
 #define X 0
diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/BMI088NewerSupport.md b/User_Code/module/periph/imu/onboard/BMI088(newer_support)/BMI088NewerSupport.md
similarity index 100%
rename from User_Code/module/periph/imu/BMI088(newer_support)/BMI088NewerSupport.md
rename to User_Code/module/periph/imu/onboard/BMI088(newer_support)/BMI088NewerSupport.md
diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.c b/User_Code/module/periph/imu/onboard/BMI088(newer_support)/bmi088.c
similarity index 100%
rename from User_Code/module/periph/imu/BMI088(newer_support)/bmi088.c
rename to User_Code/module/periph/imu/onboard/BMI088(newer_support)/bmi088.c
diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.h b/User_Code/module/periph/imu/onboard/BMI088(newer_support)/bmi088.h
similarity index 100%
rename from User_Code/module/periph/imu/BMI088(newer_support)/bmi088.h
rename to User_Code/module/periph/imu/onboard/BMI088(newer_support)/bmi088.h
diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/bmi088_regNdef.h b/User_Code/module/periph/imu/onboard/BMI088(newer_support)/bmi088_regNdef.h
similarity index 100%
rename from User_Code/module/periph/imu/BMI088(newer_support)/bmi088_regNdef.h
rename to User_Code/module/periph/imu/onboard/BMI088(newer_support)/bmi088_regNdef.h
diff --git a/User_Code/module/periph/imu/BMI088/BMI088Middleware.c b/User_Code/module/periph/imu/onboard/BMI088/BMI088Middleware.c
similarity index 100%
rename from User_Code/module/periph/imu/BMI088/BMI088Middleware.c
rename to User_Code/module/periph/imu/onboard/BMI088/BMI088Middleware.c
diff --git a/User_Code/module/periph/imu/BMI088/BMI088Middleware.h b/User_Code/module/periph/imu/onboard/BMI088/BMI088Middleware.h
similarity index 100%
rename from User_Code/module/periph/imu/BMI088/BMI088Middleware.h
rename to User_Code/module/periph/imu/onboard/BMI088/BMI088Middleware.h
diff --git a/User_Code/module/periph/imu/BMI088/BMI088driver.c b/User_Code/module/periph/imu/onboard/BMI088/BMI088driver.c
similarity index 100%
rename from User_Code/module/periph/imu/BMI088/BMI088driver.c
rename to User_Code/module/periph/imu/onboard/BMI088/BMI088driver.c
diff --git a/User_Code/module/periph/imu/BMI088/BMI088driver.h b/User_Code/module/periph/imu/onboard/BMI088/BMI088driver.h
similarity index 100%
rename from User_Code/module/periph/imu/BMI088/BMI088driver.h
rename to User_Code/module/periph/imu/onboard/BMI088/BMI088driver.h
diff --git a/User_Code/module/periph/imu/onboard/BMI088/BMI088drv(reserved).md b/User_Code/module/periph/imu/onboard/BMI088/BMI088drv(reserved).md
new file mode 100644
index 0000000..e69de29
diff --git a/User_Code/module/periph/imu/BMI088/BMI088reg.h b/User_Code/module/periph/imu/onboard/BMI088/BMI088reg.h
similarity index 100%
rename from User_Code/module/periph/imu/BMI088/BMI088reg.h
rename to User_Code/module/periph/imu/onboard/BMI088/BMI088reg.h