diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index 8e082bfe265270ea1c04ad8fb77453d0878e6f05..65a74556d085d6294bb12326d3167b9113b61578 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -105,7 +105,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -113,20 +112,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index b7cd86b228797e9ff560ab22c953075c135ea921..a9e3559a3b2d33713fa1c6c3900c212e387e9805 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -70,7 +70,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -78,17 +77,18 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/tailsitter_recovery
lib/version
- lib/DriverFramework/framework
- lib/rc
- platforms/nuttx
platforms/common
+ platforms/nuttx
platforms/nuttx/px4_layer
)
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 55b60b5c805feec80065fe0db88a6950f26b1b70..4b614310d2e7b177973b228ec8c448fc9291e243 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -126,7 +126,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -134,19 +133,20 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index 73981d47cdaebadf09ee2d166370097c6e47ac4c..77d5a2dc7d3b2a91d1ff1f98ce5c660083189500 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -73,7 +73,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -81,19 +80,20 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index e5ef80cb63f1ace5e57969f972aa7381494eb5ef..246efab752712ada8f2580324e9532c416a2cb82 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -130,7 +130,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -138,20 +137,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index bd6179c09a18aadf046d896f32861ae5b5413a5e..b40fc35ff6447de3c4e0dc43ae39a1e98909ac7c 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -134,12 +134,11 @@ set(config_module_list
modules/logger
modules/sdlog2
-#
+ #
# Library modules
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -147,18 +146,19 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
lib/ecl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
lib/DriverFramework/framework
diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
index 05890ebe3336c5d1c2288032aa815e4ab42ab8db..3b027beed95b264fd74fc016a0eb3b91d4781bf3 100644
--- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
+++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
@@ -107,7 +107,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -115,20 +114,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
- lib/led
- lib/DriverFramework/framework
lib/launchdetection
- lib/version
- lib/terrain_estimation
+ lib/led
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
+ lib/version
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
index 735d1f2d50c064704e4146395dd659783fe19c8b..bc4dfa83159e662c2f0800f2222d294752e7cd3f 100644
--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@@ -29,7 +29,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
#
@@ -37,13 +36,14 @@ set(config_module_list
#
#lib/mathlib/CMSIS
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
- lib/conversion
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index e88b5d5caa3c61adcadc9ad65ab60a7ffd29709b..d7bafe40cd8a2391d47e22fca20ebf0403e8d4f7 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -127,7 +127,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -135,19 +134,20 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 19c1442027de75707e37634e5381ac558eadfccd..74eeea90e7a45dee3d659ff1f8d2005846244b96 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -122,7 +122,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -130,19 +129,20 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index a035b619b0ddbfa789730a5b9a08c7675038fc93..da641b297c1ac62ddee2a5d9c830ff22a5610437 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -135,7 +135,6 @@ set(config_module_list
modules/dataman
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
#
@@ -151,6 +150,7 @@ set(config_module_list
lib/led
lib/mathlib
lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 6aa06e4fc17b26a4dc2dd03f2783bfc43d5b85f8..5b098a8c7e4885b654d1f46e2115212268bc88d4 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -135,7 +135,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -143,20 +142,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# Platform
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index e10b6a4da8dc1a9cbb1fa9527e3a1989bba264ca..7425609426fb4d31924bb7b47cbd0687ab645508 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -136,7 +136,6 @@ set(config_module_list
modules/dataman
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
#
@@ -152,6 +151,7 @@ set(config_module_list
lib/led
lib/mathlib
lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index 29a7d9c65d767a975a450c3d40a75e4e0b885c57..43e18cf58c027be21955e1d9eb96cef1ac20ccb9 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -136,7 +136,6 @@ set(config_module_list
modules/dataman
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
#
@@ -152,6 +151,7 @@ set(config_module_list
lib/led
lib/mathlib
lib/mathlib/math/filter
+ lib/mixer
lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
diff --git a/cmake/configs/nuttx_px4io-v1_default.cmake b/cmake/configs/nuttx_px4io-v1_default.cmake
index 8fef069d9e172469494e160f1847abf645f58863..f99eac5270f0de62fe7b0b8b2dcc232a0ee65cef 100644
--- a/cmake/configs/nuttx_px4io-v1_default.cmake
+++ b/cmake/configs/nuttx_px4io-v1_default.cmake
@@ -5,8 +5,8 @@ px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
set(config_module_list
drivers/boards
drivers/stm32
+ lib/mixer
lib/rc
modules/px4iofirmware
- modules/systemlib/mixer
platforms/common
)
diff --git a/cmake/configs/nuttx_px4io-v2_default.cmake b/cmake/configs/nuttx_px4io-v2_default.cmake
index 40ee747ef2cd6e45f82dc3650c76592e6f070be3..27593f720a36ca313ec433f51668b8775500278d 100644
--- a/cmake/configs/nuttx_px4io-v2_default.cmake
+++ b/cmake/configs/nuttx_px4io-v2_default.cmake
@@ -5,9 +5,8 @@ px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
set(config_module_list
drivers/boards/px4io-v2
drivers/stm32
+ lib/mixer
lib/rc
modules/px4iofirmware
- modules/systemlib/mixer
platforms/common
-
)
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 9acaf95ac9e44fe236efbb0f2973b00a9241fd2a..4a1b02125746a49998bc91c278f973a2fb026a96 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -113,7 +113,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -121,20 +120,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/rc
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index 932097bdeecf7266c0b18764b0403dab4d8265a7..ae8dab0a91360c3d86221d211b7491317d87becb 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -80,7 +80,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
@@ -88,20 +87,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
- lib/conversion
lib/launchdetection
lib/led
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 38899b0e0be0733a2c8b070579d49b39b1208a78..98837cd8bf2a4da1f9125258918d90b8ab812363 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -58,7 +58,6 @@ set(config_module_list
modules/commander
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
modules/land_detector
@@ -74,18 +73,19 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
lib/geo_lookup
lib/launchdetection
- lib/conversion
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# POSIX
diff --git a/cmake/configs/posix_ocpoc_cross.cmake b/cmake/configs/posix_ocpoc_cross.cmake
index b07d2b5e91afa34f92afbbe79d5c7ca705508f1a..ee82f80af6717c8c55cfed7a5f33e75df7a9875b 100644
--- a/cmake/configs/posix_ocpoc_cross.cmake
+++ b/cmake/configs/posix_ocpoc_cross.cmake
@@ -61,7 +61,6 @@ set(config_module_list
modules/commander
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
modules/land_detector
@@ -82,20 +81,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
lib/geo_lookup
lib/launchdetection
- lib/conversion
- lib/terrain_estimation
+ lib/led
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
- lib/rc
- lib/led
#
# POSIX
diff --git a/cmake/configs/posix_ocpoc_ubuntu.cmake b/cmake/configs/posix_ocpoc_ubuntu.cmake
index a3da5e3b8756aa7496abe615b75795c120c609b0..0678b60bfeb5bac2ea824fe7ad50ea193bc4516e 100644
--- a/cmake/configs/posix_ocpoc_ubuntu.cmake
+++ b/cmake/configs/posix_ocpoc_ubuntu.cmake
@@ -60,7 +60,6 @@ set(config_module_list
modules/commander
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
modules/land_detector
@@ -81,20 +80,21 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
lib/geo_lookup
lib/launchdetection
- lib/conversion
- lib/terrain_estimation
+ lib/led
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
- lib/rc
- lib/led
#
# POSIX
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index b0adeabfa488759c5027f1c5efaa19d2d13c6085..248f0f35aa4e753920bd47a1125881c0b6169c84 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -70,7 +70,6 @@ set(config_module_list
modules/commander
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/dataman
modules/land_detector
@@ -94,19 +93,20 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
lib/geo_lookup
lib/launchdetection
lib/led
- lib/conversion
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# POSIX
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index 33899384141fc833193a68d5ef5ada1a30159cfa..dd08e2f9323f43cf4c099ab2e69855bc5d8674e4 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -55,7 +55,6 @@ set(config_module_list
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/muorb/krait
modules/sensors
@@ -67,18 +66,19 @@ set(config_module_list
modules/navigator
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/common
platforms/posix/px4_layer
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
index f13018c5dc676424dff96b2d63997b2a7c231b7e..2a70def784c1dd0974b02e537823b5e0fe26e020 100644
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ b/cmake/configs/posix_sdflight_legacy.cmake
@@ -47,7 +47,6 @@ set(config_module_list
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/muorb/krait
modules/sensors
@@ -59,18 +58,19 @@ set(config_module_list
modules/navigator
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
lib/conversion
+ lib/DriverFramework/framework
lib/ecl
lib/geo
lib/geo_lookup
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
platforms/common
platforms/posix/px4_layer
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index ee1b6710c3a7b0d33fdef3a83bcad7e2d7b9b1a8..96460b5ee84f036fccb3b2575cc0cb6aa7439084 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -111,7 +111,6 @@ set(config_module_list
modules/dataman
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
#
@@ -125,6 +124,7 @@ set(config_module_list
lib/geo_lookup
lib/launchdetection
lib/led
+ lib/mixer
lib/mathlib
lib/mathlib/math/filter
lib/rc
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 7cbf3a24115e7aae130a19729a9a4244ead33073..e538475fcfb4b994843801c11d7c17ebc1887a86 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -54,25 +54,25 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/commander
#
# Libraries
#
- lib/mathlib
- lib/mathlib/math/filter
+ lib/controllib
+ lib/conversion
+ lib/DriverFramework/framework
lib/geo
lib/geo_lookup
- lib/conversion
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
- lib/controllib
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# QuRT port
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index c046420a6e9517956648cb89fcdf5eafbe46540a..d8a8c2b1427ceef4b75636304ed120a0640302b5 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -33,16 +33,16 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
#
# Libraries
#
- lib/mathlib
- lib/mathlib/math/filter
lib/conversion
lib/DriverFramework/framework
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
#
# QuRT port
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 5d50971bd9eb474a37186fb8a0dc5f9195940d32..a1cd3724d937ccb94edc828412d2339d5fe67f55 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -59,7 +59,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/commander
@@ -67,18 +66,19 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
- lib/geo_lookup
lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
+ lib/geo_lookup
lib/led
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# QuRT port
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index 2fbd8c2946b5ffe2fc27993b7762a990961fa524..5556ec3909f4d34a947e7d5f3a5df65d6f388393 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -64,7 +64,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/commander
modules/land_detector
@@ -82,18 +81,19 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
lib/geo_lookup
- lib/conversion
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
- lib/rc
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# QuRT port
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
index f4ffa3b0263cf64f21a00c3d23c2ea3a116bc9db..431c907b627bc93d1d450ea7e62c7dafa6727081 100644
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ b/cmake/configs/qurt_sdflight_legacy.cmake
@@ -60,7 +60,6 @@ set(config_module_list
#
modules/systemlib/param
modules/systemlib
- modules/systemlib/mixer
modules/uORB
modules/commander
modules/land_detector
@@ -82,18 +81,19 @@ set(config_module_list
# Libraries
#
lib/controllib
- lib/mathlib
- lib/mathlib/math/filter
- lib/geo
+ lib/conversion
+ lib/DriverFramework/framework
lib/ecl
+ lib/geo
lib/geo_lookup
- lib/conversion
- lib/terrain_estimation
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/mixer
+ lib/rc
lib/runway_takeoff
lib/tailsitter_recovery
- lib/rc
+ lib/terrain_estimation
lib/version
- lib/DriverFramework/framework
#
# QuRT port
diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index ea1976b5ad1008284cd407b5f244ba2e2cf5f40d..7dc8129319458422f556325561337f9e80f14a21 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -47,8 +47,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_load.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index d95166d020693cb2f01fae4ac6bdbd7e0262c3f7..275bd1f13fc5b373fcc28e403e76c6a422c966b0 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -73,7 +73,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
diff --git a/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp b/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
index 8b843f459cbe0da3b82df043eb3ce6e44a56672b..7f25d9bad6082250d6d91cd260cf45df5eb4ff2c 100644
--- a/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
+++ b/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
@@ -46,8 +46,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_multirotor.generated.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_multirotor.generated.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
#include <dev_fs_lib_serial.h>
diff --git a/src/drivers/pwm_out_sim/pwm_out_sim.cpp b/src/drivers/pwm_out_sim/pwm_out_sim.cpp
index e93ee8c8494b2a1244b0c4b4d6e2c1685b6eeeea..4f08c8541af2e9aa785a96c001f6502ca496ec95 100644
--- a/src/drivers/pwm_out_sim/pwm_out_sim.cpp
+++ b/src/drivers/pwm_out_sim/pwm_out_sim.cpp
@@ -74,7 +74,7 @@
#include <drivers/drv_mixer.h>
#include <systemlib/systemlib.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 43f80912d89b40b61c761507f59a92a9891b6c1e..07a640fb7f08612900e68052e52933137af8c840 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -58,7 +58,7 @@
#include <px4_module.h>
#include <systemlib/board_serial.h>
#include <systemlib/circuit_breaker.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <systemlib/pwm_limit/pwm_limit.h>
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 64b1793cbbe84f5ed1cec71c3db753425da12a8b..f505f271fb30fccd38f6ae4bd6fa4090d2786698 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -67,7 +67,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
diff --git a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
index 8f8af58f58755848e3386db5a41281cedd78bdce..196c39744c32ca9064d4501215c94bdfbc41b75c 100644
--- a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+++ b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
@@ -47,9 +47,9 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_load.h>
-#include <systemlib/mixer/mixer_multirotor.generated.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_load.h>
+#include <lib/mixer/mixer_multirotor.generated.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
#include <dev_fs_lib_pwm.h>
diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp
index 2d4b7e6e66e90bbaf4ace3d969b446dfaec36bdd..b670981f619d8e92462f6354e6e0aaf96caaf33b 100644
--- a/src/drivers/tap_esc/tap_esc.cpp
+++ b/src/drivers/tap_esc/tap_esc.cpp
@@ -54,7 +54,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
diff --git a/src/modules/systemlib/mixer/CMakeLists.txt b/src/lib/mixer/CMakeLists.txt
similarity index 99%
rename from src/modules/systemlib/mixer/CMakeLists.txt
rename to src/lib/mixer/CMakeLists.txt
index 2dffcef85752f08a9f9bc6a55335193d8a182357..8cbb8d250d1c90fb2f3a08b978c6fa8e038c1885 100644
--- a/src/modules/systemlib/mixer/CMakeLists.txt
+++ b/src/lib/mixer/CMakeLists.txt
@@ -93,7 +93,7 @@ add_custom_target(mixer_gen_legacy
DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/mixer_multirotor_legacy.generated.h)
px4_add_module(
- MODULE modules__systemlib__mixer
+ MODULE lib__mixer
SRCS
mixer.cpp
mixer_group.cpp
diff --git a/src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml b/src/lib/mixer/geoms/dodeca_bottom_cox.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/dodeca_bottom_cox.toml
rename to src/lib/mixer/geoms/dodeca_bottom_cox.toml
diff --git a/src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml b/src/lib/mixer/geoms/dodeca_top_cox.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/dodeca_top_cox.toml
rename to src/lib/mixer/geoms/dodeca_top_cox.toml
diff --git a/src/modules/systemlib/mixer/geoms/hex_cox.toml b/src/lib/mixer/geoms/hex_cox.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/hex_cox.toml
rename to src/lib/mixer/geoms/hex_cox.toml
diff --git a/src/modules/systemlib/mixer/geoms/hex_plus.toml b/src/lib/mixer/geoms/hex_plus.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/hex_plus.toml
rename to src/lib/mixer/geoms/hex_plus.toml
diff --git a/src/modules/systemlib/mixer/geoms/hex_t.toml b/src/lib/mixer/geoms/hex_t.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/hex_t.toml
rename to src/lib/mixer/geoms/hex_t.toml
diff --git a/src/modules/systemlib/mixer/geoms/hex_x.toml b/src/lib/mixer/geoms/hex_x.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/hex_x.toml
rename to src/lib/mixer/geoms/hex_x.toml
diff --git a/src/modules/systemlib/mixer/geoms/octa_cox.toml b/src/lib/mixer/geoms/octa_cox.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/octa_cox.toml
rename to src/lib/mixer/geoms/octa_cox.toml
diff --git a/src/modules/systemlib/mixer/geoms/octa_cox_wide.toml b/src/lib/mixer/geoms/octa_cox_wide.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/octa_cox_wide.toml
rename to src/lib/mixer/geoms/octa_cox_wide.toml
diff --git a/src/modules/systemlib/mixer/geoms/octa_plus.toml b/src/lib/mixer/geoms/octa_plus.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/octa_plus.toml
rename to src/lib/mixer/geoms/octa_plus.toml
diff --git a/src/modules/systemlib/mixer/geoms/octa_x.toml b/src/lib/mixer/geoms/octa_x.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/octa_x.toml
rename to src/lib/mixer/geoms/octa_x.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_deadcat.toml b/src/lib/mixer/geoms/quad_deadcat.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_deadcat.toml
rename to src/lib/mixer/geoms/quad_deadcat.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_h.toml b/src/lib/mixer/geoms/quad_h.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_h.toml
rename to src/lib/mixer/geoms/quad_h.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_plus.toml b/src/lib/mixer/geoms/quad_plus.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_plus.toml
rename to src/lib/mixer/geoms/quad_plus.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_vtail.toml b/src/lib/mixer/geoms/quad_vtail.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_vtail.toml
rename to src/lib/mixer/geoms/quad_vtail.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_wide.toml b/src/lib/mixer/geoms/quad_wide.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_wide.toml
rename to src/lib/mixer/geoms/quad_wide.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_x.toml b/src/lib/mixer/geoms/quad_x.toml
similarity index 92%
rename from src/modules/systemlib/mixer/geoms/quad_x.toml
rename to src/lib/mixer/geoms/quad_x.toml
index bb76f8bc9bda2162467ce3f540ff331dade17841..8e7fc4be91397c79880caaf090dc5335c5f3131b 100644
--- a/src/modules/systemlib/mixer/geoms/quad_x.toml
+++ b/src/lib/mixer/geoms/quad_x.toml
@@ -13,7 +13,7 @@ Cm = 0.05
[[rotors]]
name = "front_right"
-position = [0.707107, 0.707107]#, 0.0]
+position = [0.707107, 0.707107, 0.0]
direction = "CCW"
[[rotors]]
diff --git a/src/modules/systemlib/mixer/geoms/quad_x_pusher.toml b/src/lib/mixer/geoms/quad_x_pusher.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_x_pusher.toml
rename to src/lib/mixer/geoms/quad_x_pusher.toml
diff --git a/src/modules/systemlib/mixer/geoms/quad_y.toml b/src/lib/mixer/geoms/quad_y.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/quad_y.toml
rename to src/lib/mixer/geoms/quad_y.toml
diff --git a/src/modules/systemlib/mixer/geoms/tools/px_generate_mixers.py b/src/lib/mixer/geoms/tools/px_generate_mixers.py
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/tools/px_generate_mixers.py
rename to src/lib/mixer/geoms/tools/px_generate_mixers.py
diff --git a/src/modules/systemlib/mixer/geoms/tri_y.toml b/src/lib/mixer/geoms/tri_y.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/tri_y.toml
rename to src/lib/mixer/geoms/tri_y.toml
diff --git a/src/modules/systemlib/mixer/geoms/twin_engine.toml b/src/lib/mixer/geoms/twin_engine.toml
similarity index 100%
rename from src/modules/systemlib/mixer/geoms/twin_engine.toml
rename to src/lib/mixer/geoms/twin_engine.toml
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/lib/mixer/mixer.cpp
similarity index 100%
rename from src/modules/systemlib/mixer/mixer.cpp
rename to src/lib/mixer/mixer.cpp
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/lib/mixer/mixer.h
similarity index 100%
rename from src/modules/systemlib/mixer/mixer.h
rename to src/lib/mixer/mixer.h
diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/lib/mixer/mixer_group.cpp
similarity index 100%
rename from src/modules/systemlib/mixer/mixer_group.cpp
rename to src/lib/mixer/mixer_group.cpp
diff --git a/src/modules/systemlib/mixer/mixer_helicopter.cpp b/src/lib/mixer/mixer_helicopter.cpp
similarity index 99%
rename from src/modules/systemlib/mixer/mixer_helicopter.cpp
rename to src/lib/mixer/mixer_helicopter.cpp
index aacada87ab80fc28b3c597878f85fa733b5adf87..d3bae2c65c77a92728d5b213ba5b173ffad23032 100644
--- a/src/modules/systemlib/mixer/mixer_helicopter.cpp
+++ b/src/lib/mixer/mixer_helicopter.cpp
@@ -282,4 +282,3 @@ HelicopterMixer::groups_required(uint32_t &groups)
/* XXX for now, hardcoded to indexes 0-3 in control group zero */
groups |= (1 << 0);
}
-
diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/lib/mixer/mixer_load.c
similarity index 99%
rename from src/modules/systemlib/mixer/mixer_load.c
rename to src/lib/mixer/mixer_load.c
index cee01c83bddca1ce94b0e89d37020198470da690..8ca4b798750d14ca006d69b1636bce82aa57d95d 100644
--- a/src/modules/systemlib/mixer/mixer_load.c
+++ b/src/lib/mixer/mixer_load.c
@@ -112,4 +112,3 @@ int load_mixer_file(const char *fname, char *buf, unsigned maxlen)
fclose(fp);
return 0;
}
-
diff --git a/src/modules/systemlib/mixer/mixer_load.h b/src/lib/mixer/mixer_load.h
similarity index 100%
rename from src/modules/systemlib/mixer/mixer_load.h
rename to src/lib/mixer/mixer_load.h
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/lib/mixer/mixer_multirotor.cpp
similarity index 100%
rename from src/modules/systemlib/mixer/mixer_multirotor.cpp
rename to src/lib/mixer/mixer_multirotor.cpp
diff --git a/src/modules/systemlib/mixer/mixer_simple.cpp b/src/lib/mixer/mixer_simple.cpp
similarity index 100%
rename from src/modules/systemlib/mixer/mixer_simple.cpp
rename to src/lib/mixer/mixer_simple.cpp
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/lib/mixer/multi_tables.py
similarity index 100%
rename from src/modules/systemlib/mixer/multi_tables.py
rename to src/lib/mixer/multi_tables.py
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index a0b2801cb0dfb7a8f8f1f199ce65bb453969be09..f649b94a19bdd481cf50a01f0a9be965baba3d2b 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -64,7 +64,7 @@
#include <px4_tasks.h>
#include <systemlib/circuit_breaker.h>
#include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 014df971410016929229167568c13167d7ac268d..f35caf3faab42057ce637f9c2e884d7c63994c33 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -52,7 +52,7 @@
#include <rc/sbus.h>
#include <systemlib/pwm_limit/pwm_limit.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include "mixer.h"
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index d79ae79fa266f40dec6a2c87b7caaa075567b8ed..286f3b9ed0b1ae72f4fd31b5809326d070127684 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -51,7 +51,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <version/version.h>
#include <arch/board/board.h>
diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index 6197346e85dd65cdd55b9e22b5fc54d7bdbb1313..198c600fad445e087a5df69c4df494f3704962f7 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -44,7 +44,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <version/version.h>
#include <arch/board/board.h>
diff --git a/src/modules/uavcanesc/uavcanesc_main.cpp b/src/modules/uavcanesc/uavcanesc_main.cpp
index 13ee480b0e8d2eff71f8d688487cb3a187ac3d91..9a0eeb4e88d2d78649108fff7e4cce0d9258cccd 100644
--- a/src/modules/uavcanesc/uavcanesc_main.cpp
+++ b/src/modules/uavcanesc/uavcanesc_main.cpp
@@ -44,7 +44,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <version/version.h>
#include <arch/board/board.h>
diff --git a/src/modules/uavcannode/uavcannode_main.cpp b/src/modules/uavcannode/uavcannode_main.cpp
index 9d36f898fee621789e60ea06d6c66632b9d2d77e..e85febdf991bcf1ee2020cefd11ee4ffaea3752f 100644
--- a/src/modules/uavcannode/uavcannode_main.cpp
+++ b/src/modules/uavcannode/uavcannode_main.cpp
@@ -47,7 +47,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <version/version.h>
__BEGIN_DECLS
diff --git a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
index c9867b06d71a5e63a398278312bab6e61e68abd6..29d639546d4b3763b4050bc2324e4627b2298fa5 100644
--- a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
@@ -53,7 +53,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/esc_status.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/battery.h>
#include <bebop_bus/BebopBus.hpp>
diff --git a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp
index 0262468aa1b1fcfc581bdf7ad8182d9d58362748..a2284e45a6592ea0aaea15acd26727d6672390b3 100644
--- a/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp
+++ b/src/platforms/qurt/fc_addon/uart_esc/uart_esc_main.cpp
@@ -46,8 +46,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
-#include <systemlib/mixer/mixer.h>
-#include <systemlib/mixer/mixer_multirotor.generated.h>
+#include <lib/mixer/mixer.h>
+#include <lib/mixer/mixer_multirotor.generated.h>
#include <systemlib/param/param.h>
#ifdef __cplusplus
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
index 5519634505a9dc1050edead929f423e9cef23bd4..133a378b9f625973c0c787234090c20ce9e0f671 100644
--- a/src/systemcmds/mixer/mixer.cpp
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -48,7 +48,7 @@
#include <errno.h>
#include <ctype.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
/**
diff --git a/src/systemcmds/tests/test_autodeclination.cpp b/src/systemcmds/tests/test_autodeclination.cpp
index b39471954b8d2b99c9fe2a212ea08570e3130891..663014edb6360c01aa77f28859019cdfdc259dcb 100644
--- a/src/systemcmds/tests/test_autodeclination.cpp
+++ b/src/systemcmds/tests/test_autodeclination.cpp
@@ -4,7 +4,7 @@
#include <geo/geo.h>
#include <px4iofirmware/px4io.h>
#include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <math.h>
#include <stdio.h>
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 6f8342ca3e372461856ccc9b64f84647074b67d1..d3037e3276a63d763e8a8622c58cc57aff26faf7 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -53,7 +53,7 @@
#include <math.h>
#include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
+#include <lib/mixer/mixer.h>
#include <systemlib/pwm_limit/pwm_limit.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>