diff --git a/lib/Espfc/src/Controller.cpp b/lib/Espfc/src/Control/Controller.cpp
similarity index 99%
rename from lib/Espfc/src/Controller.cpp
rename to lib/Espfc/src/Control/Controller.cpp
index e661042a..d57f9841 100644
--- a/lib/Espfc/src/Controller.cpp
+++ b/lib/Espfc/src/Control/Controller.cpp
@@ -1,8 +1,10 @@
-#include "Controller.h"
+#include "Control/Controller.h"
 #include "Math/Utils.h"
 
 namespace Espfc {
 
+namespace Control {
+
 Controller::Controller(Model& model): _model(model) {}
 
 int Controller::begin()
@@ -185,3 +187,5 @@ float Controller::calculateSetpointRate(int axis, float input)
 }
 
 }
+
+}
diff --git a/lib/Espfc/src/Controller.h b/lib/Espfc/src/Control/Controller.h
similarity index 87%
rename from lib/Espfc/src/Controller.h
rename to lib/Espfc/src/Control/Controller.h
index e24c6782..87432151 100644
--- a/lib/Espfc/src/Controller.h
+++ b/lib/Espfc/src/Control/Controller.h
@@ -1,11 +1,12 @@
-#ifndef _ESPFC_CONTROLLER_H_
-#define _ESPFC_CONTROLLER_H_
+#pragma once
 
 #include "Model.h"
 #include "Control/Rates.h"
 
 namespace Espfc {
 
+namespace Control {
+
 class Controller
 {
   public:
@@ -30,4 +31,4 @@ class Controller
 
 }
 
-#endif
+}
diff --git a/lib/Espfc/src/Espfc.h b/lib/Espfc/src/Espfc.h
index 43fa0e7d..da90dabf 100644
--- a/lib/Espfc/src/Espfc.h
+++ b/lib/Espfc/src/Espfc.h
@@ -2,7 +2,7 @@
 
 #include "Model.h"
 #include "Hardware.h"
-#include "Controller.h"
+#include "Control/Controller.h"
 #include "Input.h"
 #include "Actuator.h"
 #include "SensorManager.h"
@@ -32,7 +32,7 @@ class Espfc
   private:
     Model _model;
     Hardware _hardware;
-    Controller _controller;
+    Control::Controller _controller;
     TelemetryManager _telemetry;
     Input _input;
     Actuator _actuator;
diff --git a/test/test_fc/test_fc.cpp b/test/test_fc/test_fc.cpp
index e8d7d6fa..3ea650e2 100644
--- a/test/test_fc/test_fc.cpp
+++ b/test/test_fc/test_fc.cpp
@@ -3,12 +3,13 @@
 #include <EscDriver.h>
 #include "Timer.h"
 #include "Model.h"
-#include "Controller.h"
+#include "Control/Controller.h"
 #include "Actuator.h"
 #include "Output/Mixer.h"
 
 using namespace fakeit;
 using namespace Espfc;
+using namespace Espfc::Control;
 
 /*void setUp(void)
 {