diff --git a/quad/Makefile b/quad/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..26713a9480758980774be3fdb61c95f2598119f6
--- /dev/null
+++ b/quad/Makefile
@@ -0,0 +1,56 @@
+# Declaration of variables
+
+# Generic Variables
+GCC=gcc
+CFLAGS= -Wall
+
+HEADERS = $(shell find src -name "*.h")
+INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
+INCDIR=inc
+LIBS=
+OBJDIR=obj
+
+# Test library specific variables
+TESTSRCDIR=src/test
+TESTSOURCES := $(wildcard $(TESTSRCDIR)/*.c )
+TESTOBJECTS = $(TESTCSOURCES:$(TESTSRCDIR)/%.c=$(OBJDIR)/%.o)
+
+# Queue library specific variables
+QUEUESRCDIR=src/queue
+QUEUESOURCES := $(wildcard $(QUEUESRCDIR)/*.c)
+QUEUEOBJECTS = $(QUEUESOURCES:$(QUEUESRCDIR)/%.c=$(OBJDIR)/%.o)
+
+# Computation graph library specific variables
+COMPGRAPHSRCDIR=src/computation_graph
+COMPGRAPHSOURCES := $(wildcard $(COMPGRAPHSRCDIR)/*.c)
+COMPGRAPHOBJECTS = $(COMPGRAPHSOURCES:$(COMPGRAPHSRCDIR)/%.c=$(OBJDIR)/%.o)
+
+# Quad app library specific variables
+QUADAPPSRCDIR=src/quad_app
+QUADAPPSOURCES := $(wildcard $(QUADAPPSRCDIR)/*.c)
+QUADAPPOBJECTS = $(QUADAPPSOURCES:$(QUADAPPSRCDIR)/%.c=$(OBJDIR)/%.o)
+
+# Default target
+all: $(INCDIR) $(OBJDIR) $(TESTOBJECTS) $(QUEUEOBJECTS) $(COMPGRAPHOBJECTS) $(QUADAPPOBJECTS)
+
+$(TESTOBJECTS) : $(OBJDIR)/%.o : $(TESTSRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES)
+
+$(QUEUEOBJECTS) : $(OBJDIR)/%.o : $(QUEUESRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES)
+
+$(COMPGRAPHOBJECTS) : $(OBJDIR)/%.o : $(COMPGRAPHSRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES)
+
+$(QUADAPPOBJECTS) : $(OBJDIR)/%.o : $(QUADAPPSRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES)
+
+$(INCDIR): $(HEADERS)
+	[ -d $(INCDIR) ] || mkdir $(INCDIR)
+	cp $^ $(INCDIR)
+
+$(OBJDIR):
+	[ -d $(OBJDIR) ] || mkdir $(OBJDIR)
+
+clean:
+	rm -rf $(OBJDIR)/
diff --git a/quad/computation_graph/src/main.c b/quad/computation_graph/src/main.c
deleted file mode 100644
index b7fb2d3302228793a67465812e155e37e2f3b1f8..0000000000000000000000000000000000000000
--- a/quad/computation_graph/src/main.c
+++ /dev/null
@@ -1,42 +0,0 @@
-#include <stdio.h>
-#include "computation_graph.h"
-#include "graph_blocks/node_add.h"
-#include "graph_blocks/node_mult.h"
-#include "graph_blocks/node_constant.h"
-#include "graph_blocks/node_gain.h"
-#include "tests.h"
-
-int main() {
-//    struct computation_graph *graph = create_graph();
-//
-//    int const1 = graph_add_node_const(graph, "Const 2");
-//    graph_set_param_val(graph, const1, CONST_SET, 2);
-//    int const2 = graph_add_node_const(graph, "Const 1");
-//    graph_set_param_val(graph, const2, CONST_SET, 3);
-//
-//    int add1_id = graph_add_node_add(graph, "Add");
-//    graph_set_source(graph, add1_id, ADD_SUMMAND1, const1, CONST_VAL);
-//    graph_set_source(graph, add1_id, ADD_SUMMAND2, const2, CONST_VAL);
-//
-//    int gain1_id = graph_add_node_gain(graph, "Gain");
-//    graph_set_param_val(graph, gain1_id, GAIN_GAIN, 3);
-//    graph_set_source(graph, gain1_id, GAIN_INPUT, add1_id, ADD_SUM);
-//
-//    int mult1_id = graph_add_node_mult(graph, "Mult");
-//    graph_set_source(graph, mult1_id, MULT_MULTIPLICAND2, gain1_id, GAIN_RESULT);
-//    graph_set_source(graph, mult1_id, MULT_MULTIPLICAND1, const1, CONST_VAL);
-//
-//    graph_compute_node(graph, mult1_id);
-
-//    FILE* dot_fp;
-//    dot_fp = fopen("..\\comp_graph.dot", "w");
-//    export_dot(graph, dot_fp);
-//    fclose(dot_fp);
-//    printf("Sum is %f\n", graph_get_output(graph, mult1_id, GAIN_RESULT));
-
-    int success = graph_run_tests();
-    printf("Success: %s\n", success == 0 ? "Yes" : "No");
-    fflush(stdout);
-    
-    return 0;
-}
diff --git a/quad/computation_graph/test/Makefile b/quad/computation_graph/test/Makefile
deleted file mode 100644
index 4fb6cf11603044352c832c27ce2b2a21edc58147..0000000000000000000000000000000000000000
--- a/quad/computation_graph/test/Makefile
+++ /dev/null
@@ -1,12 +0,0 @@
-# QUAD_ROOT is obtained from environment
-SRC = $(QUAD_ROOT)/computation_graph/src/graph_blocks/*.c $(QUAD_ROOT)/computation_graph/src/computation_graph.c
-INC = $(QUAD_ROOT)/computation_graph/src
-BLOCKS_INC = $(QUAD_ROOT)/computation_graph/src/graph_blocks
-LIB = $(QUAD_ROOT)/lib/test
-
-test_computation_graph: test_computation_graph.c $(SRC)
-	gcc -o test_computation_graph -I. -I$(INC) -I$(BLOCKS_INC) -I$(LIB) $(LIB)/test.o test_computation_graph.c $(SRC) -lm
-
-.PHONY: clean
-clean:
-	rm test_computation_graph
diff --git a/quad/computation_graph/.gitignore b/quad/src/computation_graph/.gitignore
similarity index 100%
rename from quad/computation_graph/.gitignore
rename to quad/src/computation_graph/.gitignore
diff --git a/quad/computation_graph/Makefile b/quad/src/computation_graph/Makefile
similarity index 100%
rename from quad/computation_graph/Makefile
rename to quad/src/computation_graph/Makefile
diff --git a/quad/computation_graph/src/computation_graph.c b/quad/src/computation_graph/computation_graph.c
similarity index 100%
rename from quad/computation_graph/src/computation_graph.c
rename to quad/src/computation_graph/computation_graph.c
diff --git a/quad/computation_graph/src/computation_graph.h b/quad/src/computation_graph/computation_graph.h
similarity index 100%
rename from quad/computation_graph/src/computation_graph.h
rename to quad/src/computation_graph/computation_graph.h
diff --git a/quad/computation_graph/src/graph_blocks/node_accumulator.c b/quad/src/computation_graph/node_accumulator.c
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_accumulator.c
rename to quad/src/computation_graph/node_accumulator.c
diff --git a/quad/computation_graph/src/graph_blocks/node_accumulator.h b/quad/src/computation_graph/node_accumulator.h
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_accumulator.h
rename to quad/src/computation_graph/node_accumulator.h
diff --git a/quad/computation_graph/src/graph_blocks/node_add.c b/quad/src/computation_graph/node_add.c
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_add.c
rename to quad/src/computation_graph/node_add.c
diff --git a/quad/computation_graph/src/graph_blocks/node_add.h b/quad/src/computation_graph/node_add.h
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_add.h
rename to quad/src/computation_graph/node_add.h
diff --git a/quad/computation_graph/src/graph_blocks/node_constant.c b/quad/src/computation_graph/node_constant.c
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_constant.c
rename to quad/src/computation_graph/node_constant.c
diff --git a/quad/computation_graph/src/graph_blocks/node_constant.h b/quad/src/computation_graph/node_constant.h
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_constant.h
rename to quad/src/computation_graph/node_constant.h
diff --git a/quad/computation_graph/src/graph_blocks/node_gain.c b/quad/src/computation_graph/node_gain.c
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_gain.c
rename to quad/src/computation_graph/node_gain.c
diff --git a/quad/computation_graph/src/graph_blocks/node_gain.h b/quad/src/computation_graph/node_gain.h
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_gain.h
rename to quad/src/computation_graph/node_gain.h
diff --git a/quad/computation_graph/src/graph_blocks/node_mult.c b/quad/src/computation_graph/node_mult.c
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_mult.c
rename to quad/src/computation_graph/node_mult.c
diff --git a/quad/computation_graph/src/graph_blocks/node_mult.h b/quad/src/computation_graph/node_mult.h
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_mult.h
rename to quad/src/computation_graph/node_mult.h
diff --git a/quad/computation_graph/src/graph_blocks/node_pow.c b/quad/src/computation_graph/node_pow.c
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_pow.c
rename to quad/src/computation_graph/node_pow.c
diff --git a/quad/computation_graph/src/graph_blocks/node_pow.h b/quad/src/computation_graph/node_pow.h
similarity index 100%
rename from quad/computation_graph/src/graph_blocks/node_pow.h
rename to quad/src/computation_graph/node_pow.h
diff --git a/quad/computation_graph/test/test_computation_graph.c b/quad/src/computation_graph/test_computation_graph.c
similarity index 100%
rename from quad/computation_graph/test/test_computation_graph.c
rename to quad/src/computation_graph/test_computation_graph.c
diff --git a/quad/computation_graph/src/tests.c b/quad/src/computation_graph/tests.c
similarity index 100%
rename from quad/computation_graph/src/tests.c
rename to quad/src/computation_graph/tests.c
diff --git a/quad/computation_graph/src/tests.h b/quad/src/computation_graph/tests.h
similarity index 100%
rename from quad/computation_graph/src/tests.h
rename to quad/src/computation_graph/tests.h
diff --git a/quad/sw/modular_quad_pid/gen_diagram/.gitignore b/quad/src/gen_diagram/.gitignore
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/.gitignore
rename to quad/src/gen_diagram/.gitignore
diff --git a/quad/sw/modular_quad_pid/gen_diagram/Makefile b/quad/src/gen_diagram/Makefile
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/Makefile
rename to quad/src/gen_diagram/Makefile
diff --git a/quad/sw/modular_quad_pid/gen_diagram/README.md b/quad/src/gen_diagram/README.md
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/README.md
rename to quad/src/gen_diagram/README.md
diff --git a/quad/sw/modular_quad_pid/gen_diagram/create_png.sh b/quad/src/gen_diagram/create_png.sh
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/create_png.sh
rename to quad/src/gen_diagram/create_png.sh
diff --git a/quad/sw/modular_quad_pid/gen_diagram/gen_diagram b/quad/src/gen_diagram/gen_diagram
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/gen_diagram
rename to quad/src/gen_diagram/gen_diagram
diff --git a/quad/sw/modular_quad_pid/gen_diagram/generate.c b/quad/src/gen_diagram/generate.c
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/generate.c
rename to quad/src/gen_diagram/generate.c
diff --git a/quad/sw/modular_quad_pid/gen_diagram/local_PID.h b/quad/src/gen_diagram/local_PID.h
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/local_PID.h
rename to quad/src/gen_diagram/local_PID.h
diff --git a/quad/sw/modular_quad_pid/gen_diagram/network.dot b/quad/src/gen_diagram/network.dot
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/network.dot
rename to quad/src/gen_diagram/network.dot
diff --git a/quad/sw/modular_quad_pid/gen_diagram/network.png b/quad/src/gen_diagram/network.png
similarity index 100%
rename from quad/sw/modular_quad_pid/gen_diagram/network.png
rename to quad/src/gen_diagram/network.png
diff --git a/quad/sw/imu_logger/src/Copy of original lscript.ld b/quad/src/quad_app/Copy of original lscript.ld
similarity index 100%
rename from quad/sw/imu_logger/src/Copy of original lscript.ld
rename to quad/src/quad_app/Copy of original lscript.ld
diff --git a/quad/sw/imu_logger/src/PID.c b/quad/src/quad_app/PID.c
similarity index 100%
rename from quad/sw/imu_logger/src/PID.c
rename to quad/src/quad_app/PID.c
diff --git a/quad/sw/modular_quad_pid/src/application/PID.h b/quad/src/quad_app/PID.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/PID.h
rename to quad/src/quad_app/PID.h
diff --git a/quad/sw/imu_logger/src/README.txt b/quad/src/quad_app/README.txt
similarity index 100%
rename from quad/sw/imu_logger/src/README.txt
rename to quad/src/quad_app/README.txt
diff --git a/quad/sw/modular_quad_pid/src/application/actuator_command_processing.c b/quad/src/quad_app/actuator_command_processing.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/actuator_command_processing.c
rename to quad/src/quad_app/actuator_command_processing.c
diff --git a/quad/sw/imu_logger/src/actuator_command_processing.h b/quad/src/quad_app/actuator_command_processing.h
similarity index 100%
rename from quad/sw/imu_logger/src/actuator_command_processing.h
rename to quad/src/quad_app/actuator_command_processing.h
diff --git a/quad/sw/modular_quad_pid/src/application/callbacks.c b/quad/src/quad_app/callbacks.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/callbacks.c
rename to quad/src/quad_app/callbacks.c
diff --git a/quad/sw/modular_quad_pid/src/application/callbacks.h b/quad/src/quad_app/callbacks.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/callbacks.h
rename to quad/src/quad_app/callbacks.h
diff --git a/quad/sw/modular_quad_pid/src/application/cb_default.h b/quad/src/quad_app/cb_default.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/cb_default.h
rename to quad/src/quad_app/cb_default.h
diff --git a/quad/sw/modular_quad_pid/src/application/commands.c b/quad/src/quad_app/commands.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/commands.c
rename to quad/src/quad_app/commands.c
diff --git a/quad/sw/modular_quad_pid/src/application/commands.h b/quad/src/quad_app/commands.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/commands.h
rename to quad/src/quad_app/commands.h
diff --git a/quad/sw/modular_quad_pid/src/application/communication.c b/quad/src/quad_app/communication.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/communication.c
rename to quad/src/quad_app/communication.c
diff --git a/quad/sw/modular_quad_pid/src/application/communication.h b/quad/src/quad_app/communication.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/communication.h
rename to quad/src/quad_app/communication.h
diff --git a/quad/sw/modular_quad_pid/src/application/computation_graph.c b/quad/src/quad_app/computation_graph.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/computation_graph.c
rename to quad/src/quad_app/computation_graph.c
diff --git a/quad/sw/modular_quad_pid/src/application/computation_graph.h b/quad/src/quad_app/computation_graph.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/computation_graph.h
rename to quad/src/quad_app/computation_graph.h
diff --git a/quad/sw/modular_quad_pid/src/application/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/control_algorithm.c
rename to quad/src/quad_app/control_algorithm.c
diff --git a/quad/sw/modular_quad_pid/src/application/control_algorithm.h b/quad/src/quad_app/control_algorithm.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/control_algorithm.h
rename to quad/src/quad_app/control_algorithm.h
diff --git a/quad/sw/modular_quad_pid/src/application/controllers.c b/quad/src/quad_app/controllers.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/controllers.c
rename to quad/src/quad_app/controllers.c
diff --git a/quad/sw/imu_logger/src/controllers.h b/quad/src/quad_app/controllers.h
similarity index 100%
rename from quad/sw/imu_logger/src/controllers.h
rename to quad/src/quad_app/controllers.h
diff --git a/quad/sw/imu_logger/src/conversion.c b/quad/src/quad_app/conversion.c
similarity index 100%
rename from quad/sw/imu_logger/src/conversion.c
rename to quad/src/quad_app/conversion.c
diff --git a/quad/sw/imu_logger/src/conversion.h b/quad/src/quad_app/conversion.h
similarity index 100%
rename from quad/sw/imu_logger/src/conversion.h
rename to quad/src/quad_app/conversion.h
diff --git a/quad/sw/modular_quad_pid/src/application/gam.h b/quad/src/quad_app/gam.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/gam.h
rename to quad/src/quad_app/gam.h
diff --git a/quad/sw/modular_quad_pid/src/application/graph_blocks/node_add.c b/quad/src/quad_app/graph_blocks/node_add.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/graph_blocks/node_add.c
rename to quad/src/quad_app/graph_blocks/node_add.c
diff --git a/quad/sw/modular_quad_pid/src/application/graph_blocks/node_add.h b/quad/src/quad_app/graph_blocks/node_add.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/graph_blocks/node_add.h
rename to quad/src/quad_app/graph_blocks/node_add.h
diff --git a/quad/sw/modular_quad_pid/src/application/graph_blocks/node_constant.c b/quad/src/quad_app/graph_blocks/node_constant.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/graph_blocks/node_constant.c
rename to quad/src/quad_app/graph_blocks/node_constant.c
diff --git a/quad/sw/modular_quad_pid/src/application/graph_blocks/node_constant.h b/quad/src/quad_app/graph_blocks/node_constant.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/graph_blocks/node_constant.h
rename to quad/src/quad_app/graph_blocks/node_constant.h
diff --git a/quad/sw/modular_quad_pid/src/application/hw_iface.h b/quad/src/quad_app/hw_iface.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/hw_iface.h
rename to quad/src/quad_app/hw_iface.h
diff --git a/quad/sw/modular_quad_pid/src/application/iic_utils.c b/quad/src/quad_app/iic_utils.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/iic_utils.c
rename to quad/src/quad_app/iic_utils.c
diff --git a/quad/sw/modular_quad_pid/src/application/iic_utils.h b/quad/src/quad_app/iic_utils.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/iic_utils.h
rename to quad/src/quad_app/iic_utils.h
diff --git a/quad/sw/modular_quad_pid/src/application/initialize_components.c b/quad/src/quad_app/initialize_components.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/initialize_components.c
rename to quad/src/quad_app/initialize_components.c
diff --git a/quad/sw/modular_quad_pid/src/application/initialize_components.h b/quad/src/quad_app/initialize_components.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/initialize_components.h
rename to quad/src/quad_app/initialize_components.h
diff --git a/quad/sw/modular_quad_pid/src/application/log_data.c b/quad/src/quad_app/log_data.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/log_data.c
rename to quad/src/quad_app/log_data.c
diff --git a/quad/sw/modular_quad_pid/src/application/log_data.h b/quad/src/quad_app/log_data.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/log_data.h
rename to quad/src/quad_app/log_data.h
diff --git a/quad/sw/imu_logger/src/lscript.ld b/quad/src/quad_app/lscript.ld
similarity index 100%
rename from quad/sw/imu_logger/src/lscript.ld
rename to quad/src/quad_app/lscript.ld
diff --git a/quad/sw/modular_quad_pid/src/application/main.c b/quad/src/quad_app/main.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/main.c
rename to quad/src/quad_app/main.c
diff --git a/quad/sw/modular_quad_pid/src/application/mio7_led.c b/quad/src/quad_app/mio7_led.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/mio7_led.c
rename to quad/src/quad_app/mio7_led.c
diff --git a/quad/sw/modular_quad_pid/src/application/mio7_led.h b/quad/src/quad_app/mio7_led.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/mio7_led.h
rename to quad/src/quad_app/mio7_led.h
diff --git a/quad/sw/imu_logger/src/new_PID.h b/quad/src/quad_app/new_PID.h
similarity index 100%
rename from quad/sw/imu_logger/src/new_PID.h
rename to quad/src/quad_app/new_PID.h
diff --git a/quad/sw/imu_logger/src/new_log_data.c b/quad/src/quad_app/new_log_data.c
similarity index 100%
rename from quad/sw/imu_logger/src/new_log_data.c
rename to quad/src/quad_app/new_log_data.c
diff --git a/quad/sw/modular_quad_pid/src/application/new_log_data.h b/quad/src/quad_app/new_log_data.h
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/new_log_data.h
rename to quad/src/quad_app/new_log_data.h
diff --git a/quad/sw/modular_quad_pid/src/application/graph_blocks/node_bounds.c b/quad/src/quad_app/node_bounds.c
similarity index 100%
rename from quad/sw/modular_quad_pid/src/application/graph_blocks/node_bounds.c
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