diff --git a/src/lib/actuator_effectiveness/CMakeLists.txt b/src/lib/actuator_effectiveness/CMakeLists.txt
index 2406b81bf80b..f4cdf0d0acf0 100644
--- a/src/lib/actuator_effectiveness/CMakeLists.txt
+++ b/src/lib/actuator_effectiveness/CMakeLists.txt
@@ -34,34 +34,6 @@
 px4_add_library(ActuatorEffectiveness
 	ActuatorEffectiveness.cpp
 	ActuatorEffectiveness.hpp
-	ActuatorEffectivenessUUV.cpp
-	ActuatorEffectivenessUUV.hpp
-	ActuatorEffectivenessControlSurfaces.cpp
-	ActuatorEffectivenessControlSurfaces.hpp
-	ActuatorEffectivenessCustom.cpp
-	ActuatorEffectivenessCustom.hpp
-	ActuatorEffectivenessFixedWing.cpp
-	ActuatorEffectivenessFixedWing.hpp
-	ActuatorEffectivenessHelicopter.cpp
-	ActuatorEffectivenessHelicopter.hpp
-	ActuatorEffectivenessHelicopterCoaxial.cpp
-	ActuatorEffectivenessHelicopterCoaxial.hpp
-	ActuatorEffectivenessMCTilt.cpp
-	ActuatorEffectivenessMCTilt.hpp
-	ActuatorEffectivenessMultirotor.cpp
-	ActuatorEffectivenessMultirotor.hpp
-	ActuatorEffectivenessTilts.cpp
-	ActuatorEffectivenessTilts.hpp
-	ActuatorEffectivenessRotors.cpp
-	ActuatorEffectivenessRotors.hpp
-	ActuatorEffectivenessStandardVTOL.cpp
-	ActuatorEffectivenessStandardVTOL.hpp
-	ActuatorEffectivenessTiltrotorVTOL.cpp
-	ActuatorEffectivenessTiltrotorVTOL.hpp
-	ActuatorEffectivenessTailsitterVTOL.cpp
-	ActuatorEffectivenessTailsitterVTOL.hpp
-	ActuatorEffectivenessRoverAckermann.hpp
-	ActuatorEffectivenessRoverAckermann.cpp
 )
 
 target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
@@ -70,6 +42,3 @@ target_link_libraries(ActuatorEffectiveness
 	PRIVATE
 		mathlib
 )
-
-px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS ActuatorEffectiveness)
-px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS ActuatorEffectiveness)
diff --git a/src/modules/control_allocator/CMakeLists.txt b/src/modules/control_allocator/CMakeLists.txt
index fc23e1336480..36d5c7e17190 100644
--- a/src/modules/control_allocator/CMakeLists.txt
+++ b/src/modules/control_allocator/CMakeLists.txt
@@ -32,6 +32,7 @@
 ############################################################################
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+add_subdirectory(VehicleActuatorEffectiveness)
 
 px4_add_module(
 	MODULE modules__control_allocator
@@ -48,6 +49,7 @@ px4_add_module(
 	DEPENDS
 		mathlib
 		ActuatorEffectiveness
+		VehicleActuatorEffectiveness
 		ControlAllocation
 		px4_work_queue
 		SlewRate
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
index a0b8b06c16c6..446fd44926d9 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessControlSurfaces.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <lib/slew_rate/SlewRate.hpp>
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
similarity index 97%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
index 0cc1390bd272..c640ba83c765 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessCustom.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessCustom.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
index 5b4b7785b251..55c6282b46ad 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessFixedWing.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessFixedWing.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
index 439e0f4ab9ce..60e770de0c90 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopter.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
index d5316bf498c8..a01306d972bc 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessHelicopterTest.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopterTest.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
index 848c8b8853d3..d35ecadc547b 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessMCTilt.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMCTilt.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
similarity index 97%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
index e0a355edd24e..11111e073a91 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessMultirotor.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessMultirotor : public ModuleParams, public ActuatorEffectiveness
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
index 3844df4c8481..48aa604eaea2 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 #include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRotorsTest.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotorsTest.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
similarity index 97%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
index 294e453ec664..5c1388de1501 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessRoverAckermann.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRoverAckermann.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 
 class ActuatorEffectivenessRoverAckermann : public ActuatorEffectiveness
 {
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
index 0e5d1bfa44a7..2160ca929cdb 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessStandardVTOL.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
index 604f05f9e0b8..ba5255eb5212 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
index 310d937064dc..e96ec61def85 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 #include "ActuatorEffectivenessControlSurfaces.hpp"
 #include "ActuatorEffectivenessTilts.hpp"
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp
similarity index 98%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp
index d885a091552b..936d0e4b6744 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessTilts.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTilts.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 #include <px4_platform_common/module_params.h>
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
similarity index 100%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.cpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
diff --git a/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
similarity index 97%
rename from src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp
rename to src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
index 57e86f943653..8235747dde74 100644
--- a/src/lib/actuator_effectiveness/ActuatorEffectivenessUUV.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessUUV.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include "ActuatorEffectiveness.hpp"
+#include "actuator_effectiveness/ActuatorEffectiveness.hpp"
 #include "ActuatorEffectivenessRotors.hpp"
 
 class ActuatorEffectivenessUUV : public ModuleParams, public ActuatorEffectiveness
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt b/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt
new file mode 100644
index 000000000000..14c3a37ecd46
--- /dev/null
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/CMakeLists.txt
@@ -0,0 +1,41 @@
+px4_add_library(VehicleActuatorEffectiveness
+	ActuatorEffectivenessUUV.cpp
+	ActuatorEffectivenessUUV.hpp
+	ActuatorEffectivenessControlSurfaces.cpp
+	ActuatorEffectivenessControlSurfaces.hpp
+	ActuatorEffectivenessCustom.cpp
+	ActuatorEffectivenessCustom.hpp
+	ActuatorEffectivenessFixedWing.cpp
+	ActuatorEffectivenessFixedWing.hpp
+	ActuatorEffectivenessHelicopter.cpp
+	ActuatorEffectivenessHelicopter.hpp
+	ActuatorEffectivenessHelicopterCoaxial.cpp
+	ActuatorEffectivenessHelicopterCoaxial.hpp
+	ActuatorEffectivenessMCTilt.cpp
+	ActuatorEffectivenessMCTilt.hpp
+	ActuatorEffectivenessMultirotor.cpp
+	ActuatorEffectivenessMultirotor.hpp
+	ActuatorEffectivenessTilts.cpp
+	ActuatorEffectivenessTilts.hpp
+	ActuatorEffectivenessRotors.cpp
+	ActuatorEffectivenessRotors.hpp
+	ActuatorEffectivenessStandardVTOL.cpp
+	ActuatorEffectivenessStandardVTOL.hpp
+	ActuatorEffectivenessTiltrotorVTOL.cpp
+	ActuatorEffectivenessTiltrotorVTOL.hpp
+	ActuatorEffectivenessTailsitterVTOL.cpp
+	ActuatorEffectivenessTailsitterVTOL.hpp
+	ActuatorEffectivenessRoverAckermann.hpp
+	ActuatorEffectivenessRoverAckermann.cpp
+)
+
+target_compile_options(VehicleActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(VehicleActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(VehicleActuatorEffectiveness
+	PRIVATE
+		mathlib
+		ActuatorEffectiveness
+)
+
+px4_add_functional_gtest(SRC ActuatorEffectivenessHelicopterTest.cpp LINKLIBS VehicleActuatorEffectiveness)
+px4_add_functional_gtest(SRC ActuatorEffectivenessRotorsTest.cpp LINKLIBS VehicleActuatorEffectiveness)