diff --git a/Cargo.lock b/Cargo.lock
index 8c65758..da05a3e 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -143,6 +143,13 @@ version = "0.1.0"
 name = "kaptan-board"
 version = "0.1.0"
 
+[[package]]
+name = "kaptan-control"
+version = "0.1.0"
+dependencies = [
+ "kaptan-math",
+]
+
 [[package]]
 name = "kaptan-data-channel"
 version = "0.1.0"
@@ -188,6 +195,10 @@ dependencies = [
  "platform-stm32f7",
 ]
 
+[[package]]
+name = "kaptan-math"
+version = "0.1.0"
+
 [[package]]
 name = "kaptan-mavlink"
 version = "0.1.0"
@@ -201,6 +212,22 @@ dependencies = [
  "mavlink-core",
 ]
 
+[[package]]
+name = "kaptan-navigation"
+version = "0.1.0"
+dependencies = [
+ "kaptan-math",
+ "kaptan-sensor",
+ "kaptan-time",
+]
+
+[[package]]
+name = "kaptan-safety"
+version = "0.1.0"
+dependencies = [
+ "kaptan-time",
+]
+
 [[package]]
 name = "kaptan-sensor"
 version = "0.1.0"
@@ -208,6 +235,17 @@ dependencies = [
  "kaptan-time",
 ]
 
+[[package]]
+name = "kaptan-sitl"
+version = "0.1.0"
+dependencies = [
+ "kaptan-control",
+ "kaptan-math",
+ "kaptan-navigation",
+ "kaptan-safety",
+ "kaptan-time",
+]
+
 [[package]]
 name = "kaptan-spi"
 version = "0.1.0"
@@ -312,7 +350,6 @@ version = "0.1.0"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
- "kaptan-actuator",
  "kaptan-board",
  "kaptan-data-channel",
  "kaptan-dma",
diff --git a/Cargo.toml b/Cargo.toml
index 68f1666..72ac351 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -4,16 +4,21 @@ members = [
     "boards/kakute-f7-mini-v3",
     "libs/kaptan-actuator",
     "libs/kaptan-board",
+    "libs/kaptan-control",
     "libs/kaptan-data-channel",
     "libs/kaptan-dma",
     "libs/kaptan-drivers",
     "libs/kaptan-i2c",
+    "libs/kaptan-math",
     "libs/kaptan-mavlink",
+    "libs/kaptan-navigation",
+    "libs/kaptan-safety",
     "libs/kaptan-sensor",
     "libs/kaptan-spi",
     "libs/kaptan-time",
     "libs/kaptan-tx",
     "platforms/stm32f7",
+    "tools/sitl",
 ]
 resolver = "2"