diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b57b40f90a1..25eb9e466cb 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -133,6 +133,7 @@ add_subdirectory(FlightDisplay)
 add_subdirectory(FlightMap)
 add_subdirectory(FollowMe)
 add_subdirectory(Geo)
+add_subdirectory(Gimbal)
 add_subdirectory(GPS)
 add_subdirectory(Joystick)
 if (${QGC_GST_MICROHARD_ENABLED})
@@ -176,6 +177,7 @@ target_link_libraries(qgc
 		FlightMap
 		FollowMe
 		Geo
+		Gimbal
 		gps
 		Joystick
 		MissionManager
diff --git a/src/Gimbal/CMakeLists.txt b/src/Gimbal/CMakeLists.txt
new file mode 100644
index 00000000000..736696633bb
--- /dev/null
+++ b/src/Gimbal/CMakeLists.txt
@@ -0,0 +1,15 @@
+
+add_library(Gimbal
+	GimbalController.cc
+)
+
+target_link_libraries(Gimbal
+	PUBLIC
+		qgc
+)
+
+target_include_directories(Gimbal
+	PUBLIC
+		${CMAKE_CURRENT_SOURCE_DIR}
+)
+
diff --git a/src/Joystick/CMakeLists.txt b/src/Joystick/CMakeLists.txt
index 83b1065fdca..f1411af78b4 100644
--- a/src/Joystick/CMakeLists.txt
+++ b/src/Joystick/CMakeLists.txt
@@ -17,6 +17,7 @@ add_library(Joystick
 
 target_link_libraries(Joystick
         PRIVATE
+			Gimbal
             ui
 	PUBLIC
 		qgc
diff --git a/src/Settings/CMakeLists.txt b/src/Settings/CMakeLists.txt
index c06f941d3ed..5e8f5e6942f 100644
--- a/src/Settings/CMakeLists.txt
+++ b/src/Settings/CMakeLists.txt
@@ -12,6 +12,8 @@ add_library(Settings
 	BrandImageSettings.h
 	FirmwareUpgradeSettings.cc
 	FirmwareUpgradeSettings.h
+	GimbalControllerSettings.cc
+	GimbalControllerSettings.h
 	FlightMapSettings.cc
 	FlightMapSettings.h
 	FlyViewSettings.cc
diff --git a/src/Vehicle/CMakeLists.txt b/src/Vehicle/CMakeLists.txt
index dd764c4fe25..00a37f97b39 100644
--- a/src/Vehicle/CMakeLists.txt
+++ b/src/Vehicle/CMakeLists.txt
@@ -113,6 +113,7 @@ add_library(Vehicle
 target_link_libraries(Vehicle
 	PRIVATE
 		Actuators
+		Gimbal
 		ui
 		compression
 		libevents_generated