diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 69ab23aacc0e..cdd347da75ba 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -31,6 +31,7 @@
 #
 ############################################################################
 
+add_subdirectory(actuator_effectiveness EXCLUDE_FROM_ALL)
 add_subdirectory(adsb EXCLUDE_FROM_ALL)
 add_subdirectory(airspeed EXCLUDE_FROM_ALL)
 add_subdirectory(atmosphere EXCLUDE_FROM_ALL)
@@ -43,6 +44,7 @@ add_subdirectory(cdrstream EXCLUDE_FROM_ALL)
 add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL)
 add_subdirectory(collision_prevention EXCLUDE_FROM_ALL)
 add_subdirectory(component_information EXCLUDE_FROM_ALL)
+add_subdirectory(control_allocation EXCLUDE_FROM_ALL)
 add_subdirectory(controllib EXCLUDE_FROM_ALL)
 add_subdirectory(conversion EXCLUDE_FROM_ALL)
 add_subdirectory(crc EXCLUDE_FROM_ALL)
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp b/src/lib/actuator_effectiveness/ActuatorEffectiveness.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectiveness.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp b/src/lib/actuator_effectiveness/ActuatorEffectiveness.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectiveness.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp
similarity index 98%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp
index c7c2bba7d709..0a4516ba56fb 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
+++ b/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp
@@ -32,7 +32,6 @@
  ****************************************************************************/
 
 #include "ActuatorEffectivenessFixedWing.hpp"
-#include <ControlAllocation/ControlAllocation.hpp>
 
 using namespace matrix;
 
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp
similarity index 98%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp
index 94f5db16f36b..e9eda4c5387f 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
+++ b/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp
@@ -32,7 +32,6 @@
  ****************************************************************************/
 
 #include "ActuatorEffectivenessRoverAckermann.hpp"
-#include <ControlAllocation/ControlAllocation.hpp>
 
 using namespace matrix;
 
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp
similarity index 98%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp
index 79853c7518c5..f15624dd6749 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
+++ b/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp
@@ -32,7 +32,6 @@
  ****************************************************************************/
 
 #include "ActuatorEffectivenessStandardVTOL.hpp"
-#include <ControlAllocation/ControlAllocation.hpp>
 
 using namespace matrix;
 
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp b/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
rename to src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt b/src/lib/actuator_effectiveness/CMakeLists.txt
similarity index 100%
rename from src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt
rename to src/lib/actuator_effectiveness/CMakeLists.txt
diff --git a/src/modules/control_allocator/ControlAllocation/CMakeLists.txt b/src/lib/control_allocation/CMakeLists.txt
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/CMakeLists.txt
rename to src/lib/control_allocation/CMakeLists.txt
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp b/src/lib/control_allocation/ControlAllocation.cpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
rename to src/lib/control_allocation/ControlAllocation.cpp
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/lib/control_allocation/ControlAllocation.hpp
similarity index 99%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
rename to src/lib/control_allocation/ControlAllocation.hpp
index c60784a03c2c..a7d7d41ed36d 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+++ b/src/lib/control_allocation/ControlAllocation.hpp
@@ -71,7 +71,7 @@
 
 #include <matrix/matrix/math.hpp>
 
-#include "ActuatorEffectiveness/ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ControlAllocation
 {
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp b/src/lib/control_allocation/ControlAllocationPseudoInverse.cpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
rename to src/lib/control_allocation/ControlAllocationPseudoInverse.cpp
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp b/src/lib/control_allocation/ControlAllocationPseudoInverse.hpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.hpp
rename to src/lib/control_allocation/ControlAllocationPseudoInverse.hpp
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp b/src/lib/control_allocation/ControlAllocationPseudoInverseTest.cpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverseTest.cpp
rename to src/lib/control_allocation/ControlAllocationPseudoInverseTest.cpp
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp b/src/lib/control_allocation/ControlAllocationSequentialDesaturation.cpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp
rename to src/lib/control_allocation/ControlAllocationSequentialDesaturation.cpp
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp b/src/lib/control_allocation/ControlAllocationSequentialDesaturation.hpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp
rename to src/lib/control_allocation/ControlAllocationSequentialDesaturation.hpp
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp b/src/lib/control_allocation/ControlAllocationSequentialDesaturationTest.cpp
similarity index 100%
rename from src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturationTest.cpp
rename to src/lib/control_allocation/ControlAllocationSequentialDesaturationTest.cpp
diff --git a/src/modules/control_allocator/CMakeLists.txt b/src/modules/control_allocator/CMakeLists.txt
index 65872dc432ee..fc23e1336480 100644
--- a/src/modules/control_allocator/CMakeLists.txt
+++ b/src/modules/control_allocator/CMakeLists.txt
@@ -32,8 +32,6 @@
 ############################################################################
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-add_subdirectory(ActuatorEffectiveness)
-add_subdirectory(ControlAllocation)
 
 px4_add_module(
 	MODULE modules__control_allocator