diff --git a/src/examples/fixedwing_control/main.cpp b/src/examples/fixedwing_control/main.cpp
index 8f26da4be5..628b201c6c 100644
--- a/src/examples/fixedwing_control/main.cpp
+++ b/src/examples/fixedwing_control/main.cpp
@@ -54,7 +54,6 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <systemlib/pid/pid.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp
index b5568e2ae3..0afe0fc75d 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -62,7 +62,6 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/parameter_update.h>
 #include <parameters/param.h>
-#include <systemlib/pid/pid.h>
 #include <lib/ecl/geo/geo.h>
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 1a3ed5ff16..e07addaf4c 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(pid)
 add_subdirectory(pwm_limit)
 add_subdirectory(rc)
 add_subdirectory(terrain_estimation)
diff --git a/src/lib/pid/CMakeLists.txt b/src/lib/pid/CMakeLists.txt
new file mode 100644
index 0000000000..88af32e3d4
--- /dev/null
+++ b/src/lib/pid/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(pid pid.c)
diff --git a/src/modules/systemlib/pid/pid.c b/src/lib/pid/pid.c
similarity index 100%
rename from src/modules/systemlib/pid/pid.c
rename to src/lib/pid/pid.c
diff --git a/src/modules/systemlib/pid/pid.h b/src/lib/pid/pid.h
similarity index 100%
rename from src/modules/systemlib/pid/pid.h
rename to src/lib/pid/pid.h
diff --git a/src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp b/src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp
index 017e9ccc1b..bb11a36f8d 100644
--- a/src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp
+++ b/src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp
@@ -50,7 +50,7 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 #include <parameters/param.h>
-#include <systemlib/pid/pid.h>
+#include <pid/pid.h>
 #include <perf/perf_counter.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
diff --git a/src/modules/gnd_pos_control/CMakeLists.txt b/src/modules/gnd_pos_control/CMakeLists.txt
index 7e5afec80d..1c52a1be87 100644
--- a/src/modules/gnd_pos_control/CMakeLists.txt
+++ b/src/modules/gnd_pos_control/CMakeLists.txt
@@ -38,4 +38,5 @@ px4_add_module(
 	DEPENDS
 		git_ecl
 		ecl_l1
+		pid
 	)
diff --git a/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp b/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
index 2badf66f94..cbbfdcc913 100644
--- a/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
+++ b/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
@@ -53,7 +53,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <mathlib/mathlib.h>
 #include <perf/perf_counter.h>
-#include <systemlib/pid/pid.h>
+#include <pid/pid.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/fw_pos_ctrl_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 68ba78bfde..bdcde3b89c 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -39,7 +39,6 @@ set(SRCS
 	hysteresis/hysteresis.cpp
 	mavlink_log.c
 	otp.c
-	pid/pid.c
 	)
 
 if(${OS} STREQUAL "nuttx")