diff --git a/src/drivers/linux_pwm_out/CMakeLists.txt b/src/drivers/linux_pwm_out/CMakeLists.txt
index bbbfcc4f53..b2b5715828 100644
--- a/src/drivers/linux_pwm_out/CMakeLists.txt
+++ b/src/drivers/linux_pwm_out/CMakeLists.txt
@@ -40,5 +40,6 @@ px4_add_module(
 		linux_pwm_out.cpp
 		ocpoc_mmap.cpp
 	DEPENDS
+		pwm_limit
 	)
 
diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index 73b7350b82..c076e72eca 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -51,7 +51,7 @@
 #include <lib/mixer/mixer.h>
 #include <lib/mixer/mixer_load.h>
 #include <parameters/param.h>
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <pwm_limit/pwm_limit.h>
 #include <perf/perf_counter.h>
 
 #include "common.h"
diff --git a/src/drivers/mkblctrl/CMakeLists.txt b/src/drivers/mkblctrl/CMakeLists.txt
index eebea04cd4..450e7a5e2c 100644
--- a/src/drivers/mkblctrl/CMakeLists.txt
+++ b/src/drivers/mkblctrl/CMakeLists.txt
@@ -38,5 +38,6 @@ px4_add_module(
 		mkblctrl.cpp
 		mkblctrl_params.c
 	DEPENDS
+		mixer
 	)
 
diff --git a/src/drivers/pwm_out_sim/CMakeLists.txt b/src/drivers/pwm_out_sim/CMakeLists.txt
index 8c29e4a7d3..be07621b6a 100644
--- a/src/drivers/pwm_out_sim/CMakeLists.txt
+++ b/src/drivers/pwm_out_sim/CMakeLists.txt
@@ -35,4 +35,6 @@ px4_add_module(
 	MAIN pwm_out_sim
 	SRCS
 		PWMSim.cpp
+	DEPENDS
+		mixer
 	)
diff --git a/src/drivers/px4fmu/CMakeLists.txt b/src/drivers/px4fmu/CMakeLists.txt
index 60867d2697..1f36779a24 100644
--- a/src/drivers/px4fmu/CMakeLists.txt
+++ b/src/drivers/px4fmu/CMakeLists.txt
@@ -39,5 +39,7 @@ px4_add_module(
 		fmu.cpp
 	DEPENDS
 		circuit_breaker
+		mixer
 		rc
+		pwm_limit
 	)
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 7a9e22cc7e..b7f8abc818 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -60,7 +60,7 @@
 #include <lib/mixer/mixer.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <pwm_limit/pwm_limit.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt
index 0d779b3334..24068de454 100644
--- a/src/drivers/px4io/CMakeLists.txt
+++ b/src/drivers/px4io/CMakeLists.txt
@@ -43,6 +43,7 @@ px4_add_module(
 		px4io_serial_f7.cpp
 	DEPENDS
 		circuit_breaker
+		mixer
 	)
 
 # include the px4io binary in ROMFS
diff --git a/src/drivers/snapdragon_pwm_out/CMakeLists.txt b/src/drivers/snapdragon_pwm_out/CMakeLists.txt
index 9e232b59ca..cf0a14f77e 100644
--- a/src/drivers/snapdragon_pwm_out/CMakeLists.txt
+++ b/src/drivers/snapdragon_pwm_out/CMakeLists.txt
@@ -38,4 +38,5 @@ px4_add_module(
 		snapdragon_pwm_out.cpp
 	DEPENDS
 		mixer
+		pwm_limit
 	)
diff --git a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
index e28439ef34..f50059f681 100644
--- a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+++ b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
@@ -48,12 +48,12 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/mixer.h>
-#include <lib/mixer/mixer_load.h>
-#include <lib/mixer/mixer_multirotor_normalized.generated.h>
+#include <mixer/mixer.h>
+#include <mixer/mixer_load.h>
+#include <mixer/mixer_multirotor_normalized.generated.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <pwm_limit/pwm_limit.h>
 #include <dev_fs_lib_pwm.h>
 
 /*
diff --git a/src/drivers/tap_esc/CMakeLists.txt b/src/drivers/tap_esc/CMakeLists.txt
index 8b8b6b1fea..fc77f26cea 100644
--- a/src/drivers/tap_esc/CMakeLists.txt
+++ b/src/drivers/tap_esc/CMakeLists.txt
@@ -39,5 +39,7 @@ px4_add_module(
 		tap_esc.cpp
 		tap_esc_common.cpp
 	DEPENDS
+		mixer
+		pwm_limit
 	)
 
diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp
index a48c1bbf28..7db89d36a9 100644
--- a/src/drivers/tap_esc/tap_esc.cpp
+++ b/src/drivers/tap_esc/tap_esc.cpp
@@ -59,8 +59,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
-#include <lib/mixer/mixer.h>
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <mixer/mixer.h>
+#include <pwm_limit/pwm_limit.h>
 
 #include "tap_esc_common.h"
 
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 8aa234c76d..1a3ed5ff16 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -45,6 +45,7 @@ add_subdirectory(led)
 add_subdirectory(mathlib)
 add_subdirectory(mixer)
 add_subdirectory(perf)
+add_subdirectory(pwm_limit)
 add_subdirectory(rc)
 add_subdirectory(terrain_estimation)
 add_subdirectory(tunes)
diff --git a/src/lib/pwm_limit/CMakeLists.txt b/src/lib/pwm_limit/CMakeLists.txt
new file mode 100644
index 0000000000..3ffea359dd
--- /dev/null
+++ b/src/lib/pwm_limit/CMakeLists.txt
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(pwm_limit pwm_limit.c)
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/lib/pwm_limit/pwm_limit.c
similarity index 99%
rename from src/modules/systemlib/pwm_limit/pwm_limit.c
rename to src/lib/pwm_limit/pwm_limit.c
index 2c587541e3..1243ccf493 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/lib/pwm_limit/pwm_limit.c
@@ -41,6 +41,7 @@
  */
 
 #include "pwm_limit.h"
+
 #include <math.h>
 #include <stdbool.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/lib/pwm_limit/pwm_limit.h
similarity index 100%
rename from src/modules/systemlib/pwm_limit/pwm_limit.h
rename to src/lib/pwm_limit/pwm_limit.h
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 0569cf462c..b3a37b6220 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -33,7 +33,6 @@
 
 add_library(px4iofirmware
 	hx_stream.c
-	../systemlib/pwm_limit/pwm_limit.c
 	adc.c
 	controls.c
 	mixer.cpp
@@ -52,4 +51,5 @@ target_link_libraries(px4iofirmware
 		mixer
 		rc
 		perf
+		pwm_limit
 )
\ No newline at end of file
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 7aec22234b..317e6ef2ec 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -49,10 +49,11 @@
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
+
+#include <mixer/mixer.h>
+#include <pwm_limit/pwm_limit.h>
 #include <rc/sbus.h>
 
-#include <systemlib/pwm_limit/pwm_limit.h>
-#include <lib/mixer/mixer.h>
 #include <uORB/topics/actuator_controls.h>
 
 #include "mixer.h"
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 5af43cdfb1..0c757d843e 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -55,7 +55,7 @@
 #include <drivers/drv_hrt.h>
 
 #include <perf/perf_counter.h>
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <pwm_limit/pwm_limit.h>
 
 #include <stm32_uart.h>
 
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 10db31a277..3752f9cf10 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -50,7 +50,7 @@
 
 #include "protocol.h"
 
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <pwm_limit/pwm_limit.h>
 
 /*
  hotfix: we are critically short of memory in px4io and this is the
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 16ec98603c..68ba78bfde 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -40,7 +40,6 @@ set(SRCS
 	mavlink_log.c
 	otp.c
 	pid/pid.c
-	pwm_limit/pwm_limit.c
 	)
 
 if(${OS} STREQUAL "nuttx")
diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index 1051ef0fd1..0f2c34259a 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -82,6 +82,8 @@ px4_add_module(
 		sensors/baro.cpp
 
 	DEPENDS
+		mixer
+
 		git_uavcan
 
 		# within libuavcan
diff --git a/src/modules/vtol_att_control/CMakeLists.txt b/src/modules/vtol_att_control/CMakeLists.txt
index b26c00baaf..a5f5dabc8d 100644
--- a/src/modules/vtol_att_control/CMakeLists.txt
+++ b/src/modules/vtol_att_control/CMakeLists.txt
@@ -42,5 +42,6 @@ px4_add_module(
 		tailsitter.cpp
 		standard.cpp
 	DEPENDS
+		pwm_limit
 	)
 
diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt
index ba196381f6..b88b2f796d 100644
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -93,4 +93,5 @@ px4_add_module(
 		modules__mc_pos_control__mc_pos_control_tests
 		git_ecl
 		ecl_geo_lookup # TODO: move this
+		pwm_limit
 	)
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index c448a4ebb3..4173ce6996 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -42,8 +42,8 @@
 #include <string.h>
 
 #include <px4_config.h>
-#include <lib/mixer/mixer.h>
-#include <systemlib/pwm_limit/pwm_limit.h>
+#include <mixer/mixer.h>
+#include <pwm_limit/pwm_limit.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
 #include <px4iofirmware/mixer.h>