diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1dd8091769..6385538b19 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -418,7 +418,6 @@ include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 2bfee94f3b..68cc410118 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -10,10 +10,10 @@ fi
 
 exec find boards src platforms \
     -path platforms/nuttx/NuttX -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \
+    -path src/lib/systemlib/uthash -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
-    -path src/modules/systemlib/uthash -prune -o \
-    -path src/drivers/uavcan/libuavcan -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 24d7ec156a..4c139a39c6 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -53,6 +53,7 @@ add_subdirectory(perf)
 add_subdirectory(pid)
 add_subdirectory(pwm_limit)
 add_subdirectory(rc)
+add_subdirectory(systemlib)
 add_subdirectory(terrain_estimation)
 add_subdirectory(tunes)
 add_subdirectory(version)
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/lib/systemlib/CMakeLists.txt
similarity index 89%
rename from src/modules/systemlib/CMakeLists.txt
rename to src/lib/systemlib/CMakeLists.txt
index 0a61c6455b..87737454d9 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/lib/systemlib/CMakeLists.txt
@@ -50,10 +50,4 @@ else()
 		)
 endif()
 
-# TODO: find a better way to do this
-if (NOT "${PX4_BOARD}" MATCHES "px4_io")
-	px4_add_library(systemlib ${SRCS})
-else()
-	add_library(systemlib ${PX4_SOURCE_DIR}/src/platforms/empty.c)
-	add_dependencies(systemlib prebuild_targets)
-endif()
+px4_add_library(systemlib ${SRCS})
diff --git a/src/modules/systemlib/conversions.c b/src/lib/systemlib/conversions.c
similarity index 100%
rename from src/modules/systemlib/conversions.c
rename to src/lib/systemlib/conversions.c
diff --git a/src/modules/systemlib/conversions.h b/src/lib/systemlib/conversions.h
similarity index 100%
rename from src/modules/systemlib/conversions.h
rename to src/lib/systemlib/conversions.h
diff --git a/src/modules/systemlib/cpuload.c b/src/lib/systemlib/cpuload.c
similarity index 100%
rename from src/modules/systemlib/cpuload.c
rename to src/lib/systemlib/cpuload.c
diff --git a/src/modules/systemlib/cpuload.h b/src/lib/systemlib/cpuload.h
similarity index 100%
rename from src/modules/systemlib/cpuload.h
rename to src/lib/systemlib/cpuload.h
diff --git a/src/modules/systemlib/crc.c b/src/lib/systemlib/crc.c
similarity index 100%
rename from src/modules/systemlib/crc.c
rename to src/lib/systemlib/crc.c
diff --git a/src/modules/systemlib/crc.h b/src/lib/systemlib/crc.h
similarity index 100%
rename from src/modules/systemlib/crc.h
rename to src/lib/systemlib/crc.h
diff --git a/src/modules/systemlib/err.h b/src/lib/systemlib/err.h
similarity index 100%
rename from src/modules/systemlib/err.h
rename to src/lib/systemlib/err.h
diff --git a/src/modules/systemlib/hardfault_log.h b/src/lib/systemlib/hardfault_log.h
similarity index 100%
rename from src/modules/systemlib/hardfault_log.h
rename to src/lib/systemlib/hardfault_log.h
diff --git a/src/modules/systemlib/hysteresis/hysteresis.cpp b/src/lib/systemlib/hysteresis/hysteresis.cpp
similarity index 100%
rename from src/modules/systemlib/hysteresis/hysteresis.cpp
rename to src/lib/systemlib/hysteresis/hysteresis.cpp
diff --git a/src/modules/systemlib/hysteresis/hysteresis.h b/src/lib/systemlib/hysteresis/hysteresis.h
similarity index 100%
rename from src/modules/systemlib/hysteresis/hysteresis.h
rename to src/lib/systemlib/hysteresis/hysteresis.h
diff --git a/src/modules/systemlib/mavlink_log.c b/src/lib/systemlib/mavlink_log.c
similarity index 100%
rename from src/modules/systemlib/mavlink_log.c
rename to src/lib/systemlib/mavlink_log.c
diff --git a/src/modules/systemlib/mavlink_log.h b/src/lib/systemlib/mavlink_log.h
similarity index 100%
rename from src/modules/systemlib/mavlink_log.h
rename to src/lib/systemlib/mavlink_log.h
diff --git a/src/modules/systemlib/otp.c b/src/lib/systemlib/otp.c
similarity index 100%
rename from src/modules/systemlib/otp.c
rename to src/lib/systemlib/otp.c
diff --git a/src/modules/systemlib/otp.h b/src/lib/systemlib/otp.h
similarity index 100%
rename from src/modules/systemlib/otp.h
rename to src/lib/systemlib/otp.h
diff --git a/src/modules/systemlib/ppm_decode.h b/src/lib/systemlib/ppm_decode.h
similarity index 100%
rename from src/modules/systemlib/ppm_decode.h
rename to src/lib/systemlib/ppm_decode.h
diff --git a/src/modules/systemlib/print_load_nuttx.c b/src/lib/systemlib/print_load_nuttx.c
similarity index 100%
rename from src/modules/systemlib/print_load_nuttx.c
rename to src/lib/systemlib/print_load_nuttx.c
diff --git a/src/modules/systemlib/print_load_posix.c b/src/lib/systemlib/print_load_posix.c
similarity index 100%
rename from src/modules/systemlib/print_load_posix.c
rename to src/lib/systemlib/print_load_posix.c
diff --git a/src/modules/systemlib/printload.h b/src/lib/systemlib/printload.h
similarity index 100%
rename from src/modules/systemlib/printload.h
rename to src/lib/systemlib/printload.h
diff --git a/src/modules/systemlib/px4_macros.h b/src/lib/systemlib/px4_macros.h
similarity index 100%
rename from src/modules/systemlib/px4_macros.h
rename to src/lib/systemlib/px4_macros.h
diff --git a/src/modules/systemlib/system_params.c b/src/lib/systemlib/system_params.c
similarity index 100%
rename from src/modules/systemlib/system_params.c
rename to src/lib/systemlib/system_params.c
diff --git a/src/modules/systemlib/uthash/doc/userguide.txt b/src/lib/systemlib/uthash/doc/userguide.txt
similarity index 100%
rename from src/modules/systemlib/uthash/doc/userguide.txt
rename to src/lib/systemlib/uthash/doc/userguide.txt
diff --git a/src/modules/systemlib/uthash/doc/utarray.txt b/src/lib/systemlib/uthash/doc/utarray.txt
similarity index 100%
rename from src/modules/systemlib/uthash/doc/utarray.txt
rename to src/lib/systemlib/uthash/doc/utarray.txt
diff --git a/src/modules/systemlib/uthash/doc/utlist.txt b/src/lib/systemlib/uthash/doc/utlist.txt
similarity index 100%
rename from src/modules/systemlib/uthash/doc/utlist.txt
rename to src/lib/systemlib/uthash/doc/utlist.txt
diff --git a/src/modules/systemlib/uthash/doc/utstring.txt b/src/lib/systemlib/uthash/doc/utstring.txt
similarity index 100%
rename from src/modules/systemlib/uthash/doc/utstring.txt
rename to src/lib/systemlib/uthash/doc/utstring.txt
diff --git a/src/modules/systemlib/uthash/utarray.h b/src/lib/systemlib/uthash/utarray.h
similarity index 100%
rename from src/modules/systemlib/uthash/utarray.h
rename to src/lib/systemlib/uthash/utarray.h
diff --git a/src/modules/systemlib/uthash/uthash.h b/src/lib/systemlib/uthash/uthash.h
similarity index 100%
rename from src/modules/systemlib/uthash/uthash.h
rename to src/lib/systemlib/uthash/uthash.h
diff --git a/src/modules/systemlib/uthash/utlist.h b/src/lib/systemlib/uthash/utlist.h
similarity index 100%
rename from src/modules/systemlib/uthash/utlist.h
rename to src/lib/systemlib/uthash/utlist.h
diff --git a/src/modules/systemlib/uthash/utstring.h b/src/lib/systemlib/uthash/utstring.h
similarity index 100%
rename from src/modules/systemlib/uthash/utstring.h
rename to src/lib/systemlib/uthash/utstring.h