diff --git a/firmware/controllers/math/math.mk b/firmware/controllers/math/math.mk
index 7a7f6a9919..9d09cf68d6 100644
--- a/firmware/controllers/math/math.mk
+++ b/firmware/controllers/math/math.mk
@@ -2,7 +2,5 @@
 CONTROLLERS_MATH_SRC = 
 
 CONTROLLERS_MATH_SRC_CPP = $(PROJECT_DIR)/controllers/math/engine_math.cpp \
-	$(PROJECT_DIR)/controllers/math/pid.cpp \
-	$(PROJECT_DIR)/controllers/math/biquad.cpp \
 	$(PROJECT_DIR)/controllers/math/pid_auto_tune.cpp \
 	$(PROJECT_DIR)/controllers/math/speed_density.cpp
diff --git a/firmware/controllers/math/biquad.cpp b/firmware/util/biquad.cpp
similarity index 100%
rename from firmware/controllers/math/biquad.cpp
rename to firmware/util/biquad.cpp
diff --git a/firmware/controllers/math/biquad.h b/firmware/util/biquad.h
similarity index 100%
rename from firmware/controllers/math/biquad.h
rename to firmware/util/biquad.h
diff --git a/firmware/controllers/math/pid.cpp b/firmware/util/pid.cpp
similarity index 100%
rename from firmware/controllers/math/pid.cpp
rename to firmware/util/pid.cpp
diff --git a/firmware/controllers/math/pid.h b/firmware/util/pid.h
similarity index 100%
rename from firmware/controllers/math/pid.h
rename to firmware/util/pid.h
diff --git a/firmware/controllers/algo/rusefi_true.h b/firmware/util/rusefi_true.h
similarity index 100%
rename from firmware/controllers/algo/rusefi_true.h
rename to firmware/util/rusefi_true.h
diff --git a/firmware/util/util.mk b/firmware/util/util.mk
index c30bef1785..1d3ba006fa 100644
--- a/firmware/util/util.mk
+++ b/firmware/util/util.mk
@@ -9,6 +9,8 @@ UTILSRC_CPP = $(PROJECT_DIR)/util/cyclic_buffer.cpp \
 	$(PROJECT_DIR)/util/loggingcentral.cpp \
 	$(PROJECT_DIR)/util/listener_array.cpp \
 	$(PROJECT_DIR)/util/cli_registry.cpp \
+	$(PROJECT_DIR)/util/pid.cpp \
+	$(PROJECT_DIR)/util/biquad.cpp \
 	$(PROJECT_DIR)/util/efilib.cpp \
 	$(PROJECT_DIR)/util/efilib2.cpp \
 	$(PROJECT_DIR)/util/LocalVersionHolder.cpp