diff --git a/SConstruct b/SConstruct
index 1ea3476c..138c6ab3 100644
--- a/SConstruct
+++ b/SConstruct
@@ -83,6 +83,9 @@ if arch == "aarch64" or arch == "larch64":
       "#phonelibs/libyuv/larch64/lib",
       "/usr/lib/aarch64-linux-gnu"
     ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     rpath = ["/usr/local/lib"]
@@ -175,7 +178,6 @@ env = Environment(
 
   CPPPATH=cpppath + [
     "#",
-    "#selfdrive",
     "#phonelibs/catch2/include",
     "#phonelibs/bzip2",
     "#phonelibs/libyuv/include",
@@ -191,14 +193,6 @@ env = Environment(
     "#phonelibs/nanovg",
     "#phonelibs/qrcode",
     "#phonelibs",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
     "#cereal",
     "#cereal/messaging",
     "#cereal/visionipc",
diff --git a/installer/installer.c b/installer/installer.c
index 7ed667d5..2e070c6d 100644
--- a/installer/installer.c
+++ b/installer/installer.c
@@ -1,23 +1,22 @@
+#include <assert.h>
+#include <math.h>
+#include <pthread.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <unistd.h>
-#include <assert.h>
-#include <pthread.h>
-
-#include <sys/wait.h>
 #include <sys/stat.h>
+#include <sys/wait.h>
+#include <unistd.h>
 
-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
+#include <GLES3/gl3.h>
 
-#include "common/util.h"
-#include "common/mat.h"
-#include "common/glutil.h"
-#include "common/framebuffer.h"
-#include "common/spinner.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/glutil.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/spinner.h"
+#include "selfdrive/common/util.h"
 
 #ifndef BRAND
 #define BRAND openpilot
diff --git a/installer/updater/updater.cc b/installer/updater/updater.cc
index 9b7e42fa..b2f9dd45 100644
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -1,37 +1,33 @@
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+#include <unistd.h>
+
+#include <cassert>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
 #include <fstream>
 #include <iostream>
-#include <mutex>
 #include <memory>
+#include <mutex>
+#include <sstream>
+#include <string>
 #include <thread>
 
 #include <curl/curl.h>
 #include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
-
+#include <GLES3/gl3.h>
 #include "nanovg.h"
 #define NANOVG_GLES3_IMPLEMENTATION
+#include "json11.hpp"
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"
 
-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/util.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/touch.h"
+#include "selfdrive/common/util.h"
 
 #define USER_AGENT "NEOSUpdater-0.2"
 
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 382d6fc8..f1f885b0 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -1,36 +1,35 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <sched.h>
 #include <errno.h>
+#include <sched.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
 #include <sys/cdefs.h>
-#include <sys/types.h>
 #include <sys/resource.h>
+#include <sys/types.h>
+#include <unistd.h>
 
-#include <ctime>
-#include <cassert>
-#include <iostream>
 #include <algorithm>
-#include <bitset>
-#include <thread>
 #include <atomic>
+#include <bitset>
+#include <cassert>
+#include <ctime>
+#include <iostream>
+#include <thread>
 #include <unordered_map>
 
 #include <libusb-1.0/libusb.h>
 
 #include "cereal/gen/cpp/car.capnp.h"
-
-#include "common/util.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "messaging.h"
-#include "locationd/ublox_msg.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
+#include "selfdrive/locationd/ublox_msg.h"
 
-#include "panda.h"
-#include "pigeon.h"
+#include "selfdrive/boardd/panda.h"
+#include "selfdrive/boardd/pigeon.h"
 
 #define MAX_IR_POWER 0.5f
 #define MIN_IR_POWER 0.0f
diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc
index 09f28a0c..a4c9f3f6 100644
--- a/selfdrive/boardd/can_list_to_can_capnp.cc
+++ b/selfdrive/boardd/can_list_to_can_capnp.cc
@@ -1,4 +1,4 @@
-#include "messaging.h"
+#include "cereal/messaging/messaging.h"
 
 typedef struct {
 	long address;
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 4fa51c59..71f5770e 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -1,14 +1,16 @@
-#include <stdexcept>
-#include <cassert>
-#include <iostream>
-#include <vector>
+#include "selfdrive/boardd/panda.h"
+
 #include <unistd.h>
 
-#include "common/swaglog.h"
-#include "common/gpio.h"
-#include "common/util.h"
-#include "messaging.h"
-#include "panda.h"
+#include <cassert>
+#include <iostream>
+#include <stdexcept>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/gpio.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 
 Panda::Panda(){
   // init libusb
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index d525c2f5..e725da4f 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -1,11 +1,13 @@
 #pragma once
 
-#include <ctime>
-#include <cstdint>
 #include <pthread.h>
+
+#include <atomic>
+#include <cstdint>
+#include <ctime>
 #include <mutex>
-#include <vector>
 #include <optional>
+#include <vector>
 
 #include <libusb-1.0/libusb.h>
 
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
index 529b9b81..9b3bcd31 100644
--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -1,14 +1,15 @@
-#include <cassert>
-#include <unistd.h>
-#include <fcntl.h>
+#include "selfdrive/boardd/pigeon.h"
+
 #include <errno.h>
+#include <fcntl.h>
 #include <termios.h>
+#include <unistd.h>
 
-#include "common/swaglog.h"
-#include "common/gpio.h"
-#include "common/util.h"
+#include <cassert>
 
-#include "pigeon.h"
+#include "selfdrive/common/gpio.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 
 // Termios on macos doesn't define all baud rate constants
 #ifndef B460800
diff --git a/selfdrive/boardd/pigeon.h b/selfdrive/boardd/pigeon.h
index edc1d47a..0543c482 100644
--- a/selfdrive/boardd/pigeon.h
+++ b/selfdrive/boardd/pigeon.h
@@ -1,9 +1,11 @@
 #pragma once
-#include <string>
+
 #include <termios.h>
 
+#include <atomic>
+#include <string>
 
-#include "panda.h"
+#include "selfdrive/boardd/panda.h"
 
 class Pigeon {
  public:
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index be8ca78b..6294c158 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -1,31 +1,32 @@
-#include <thread>
-#include <chrono>
-#include <stdio.h>
+#include "selfdrive/camerad/cameras/camera_common.h"
+
 #include <assert.h>
+#include <stdio.h>
 #include <unistd.h>
+#include <chrono>
+#include <thread>
 
-#if defined(QCOM) && !defined(QCOM_REPLAY)
-#include "cameras/camera_qcom.h"
-#elif QCOM2
-#include "cameras/camera_qcom2.h"
-#elif WEBCAM
-#include "cameras/camera_webcam.h"
-#else
-#include "cameras/camera_frame_stream.h"
-#endif
-
-#include "camera_common.h"
-#include <libyuv.h>
+#include "libyuv.h"
 #include <jpeglib.h>
 
-#include "clutil.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "modeldata.h"
-#include "imgproc/utils.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
 
+#if defined(QCOM) && !defined(QCOM_REPLAY)
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+#elif QCOM2
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#elif WEBCAM
+#include "selfdrive/camerad/cameras/camera_webcam.h"
+#else
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"
+#endif
+
 static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b, const CameraState *s) {
   char args[4096];
   snprintf(args, sizeof(args),
diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h
index fed07925..337d33bd 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@@ -1,20 +1,21 @@
 #pragma once
 
-#include <stdlib.h>
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
+
 #include <memory>
 #include <thread>
-#include "common/mat.h"
-#include "common/swaglog.h"
-#include "common/queue.h"
-#include "visionbuf.h"
-#include "common/visionimg.h"
-#include "messaging.h"
-#include "transforms/rgb_to_yuv.h"
 
-#include "visionipc.h"
-#include "visionipc_server.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/queue.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/visionimg.h"
 
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1
diff --git a/selfdrive/camerad/cameras/camera_frame_stream.cc b/selfdrive/camerad/cameras/camera_frame_stream.cc
index 29e0bef5..a03feb13 100644
--- a/selfdrive/camerad/cameras/camera_frame_stream.cc
+++ b/selfdrive/camerad/cameras/camera_frame_stream.cc
@@ -1,12 +1,12 @@
-#include "camera_frame_stream.h"
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"
 
 #include <unistd.h>
 #include <cassert>
 
 #include <capnp/dynamic.h>
 
-#include "messaging.h"
-#include "common/util.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
 
 #define FRAME_WIDTH 1164
 #define FRAME_HEIGHT 874
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index 3b41d70d..7d5b1611 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -1,32 +1,31 @@
-#include <stdio.h>
-#include <stdbool.h>
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+
 #include <assert.h>
-#include <unistd.h>
 #include <fcntl.h>
 #include <math.h>
 #include <poll.h>
+#include <pthread.h>
+#include <stdbool.h>
+#include <stdio.h>
 #include <sys/ioctl.h>
-#include <atomic>
-#include <algorithm>
+#include <unistd.h>
 
-#include <linux/media.h>
+#include <algorithm>
+#include <atomic>
 
 #include <cutils/properties.h>
+#include <linux/media.h>
 
-#include <pthread.h>
-#include "msmb_isp.h"
-#include "msmb_ispif.h"
-#include "msmb_camera.h"
-#include "msm_cam_sensor.h"
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "common/params.h"
-#include "clutil.h"
-
-#include "sensor_i2c.h"
-#include "camera_qcom.h"
+#include "selfdrive/camerad/cameras/sensor_i2c.h"
+#include "selfdrive/camerad/include/msm_cam_sensor.h"
+#include "selfdrive/camerad/include/msmb_camera.h"
+#include "selfdrive/camerad/include/msmb_isp.h"
+#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 // leeco actuator (DW9800W H-Bridge Driver IC)
 // from sniff
diff --git a/selfdrive/camerad/cameras/camera_qcom.h b/selfdrive/camerad/cameras/camera_qcom.h
index d9df3883..55792c4f 100644
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@@ -1,24 +1,22 @@
 #pragma once
 
-#include <stdint.h>
-#include <stdbool.h>
 #include <pthread.h>
-#include <memory>
+#include <stdbool.h>
+#include <stdint.h>
+
 #include <atomic>
-#include "messaging.h"
+#include <memory>
 
-#include "msmb_isp.h"
-#include "msmb_ispif.h"
-#include "msmb_camera.h"
-#include "msm_cam_sensor.h"
-
-#include "visionbuf.h"
-
-#include "common/mat.h"
-#include "common/util.h"
-#include "imgproc/utils.h"
-
-#include "camera_common.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+#include "selfdrive/camerad/include/msm_cam_sensor.h"
+#include "selfdrive/camerad/include/msmb_camera.h"
+#include "selfdrive/camerad/include/msmb_isp.h"
+#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/util.h"
 
 #define FRAME_BUF_COUNT 4
 #define METADATA_BUF_COUNT 4
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 0bddfdfb..0f0fb10b 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -1,4 +1,3 @@
-
 #include <stdio.h>
 #include <string.h>
 #include <errno.h>
@@ -11,19 +10,17 @@
 #include <math.h>
 #include <atomic>
 
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "camera_qcom2.h"
-
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
 #include "media/cam_isp_ife.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sensor.h"
 #include "media/cam_sync.h"
-
 #include "sensor2_i2c.h"
 
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+
 #define FRAME_WIDTH  1928
 #define FRAME_HEIGHT 1208
 //#define FRAME_STRIDE 1936 // for 8 bit output
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/selfdrive/camerad/cameras/camera_qcom2.h
index 1361bad7..ac37f557 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@@ -4,9 +4,10 @@
 #include <stdbool.h>
 #include <pthread.h>
 
-#include "common/util.h"
-#include "camera_common.h"
-#include "media/cam_req_mgr.h"
+#include <media/cam_req_mgr.h>
+
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/util.h"
 
 #define FRAME_BUF_COUNT 4
 
@@ -21,7 +22,7 @@
 typedef struct CameraState {
   MultiCameraState *multi_cam_state;
   CameraInfo ci;
-  
+
   std::mutex exp_lock;
   float analog_gain_frac;
   uint16_t analog_gain;
diff --git a/selfdrive/camerad/cameras/camera_webcam.cc b/selfdrive/camerad/cameras/camera_webcam.cc
index 054d3451..1fd94d56 100644
--- a/selfdrive/camerad/cameras/camera_webcam.cc
+++ b/selfdrive/camerad/cameras/camera_webcam.cc
@@ -1,23 +1,22 @@
-#include "camera_webcam.h"
+#include "selfdrive/camerad/cameras/camera_webcam.h"
 
-#include <unistd.h>
 #include <assert.h>
-#include <string.h>
 #include <pthread.h>
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
+#include <string.h>
+#include <unistd.h>
 
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wundefined-inline"
-#include <opencv2/opencv.hpp>
-#include <opencv2/highgui.hpp>
 #include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/opencv.hpp>
 #include <opencv2/videoio.hpp>
 #pragma clang diagnostic pop
 
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 // id of the video capturing device
 const int ROAD_CAMERA_ID = getenv("ROADCAM_ID") ? atoi(getenv("ROADCAM_ID")) : 1;
diff --git a/selfdrive/camerad/cameras/camera_webcam.h b/selfdrive/camerad/cameras/camera_webcam.h
index 047b0574..7fc83094 100644
--- a/selfdrive/camerad/cameras/camera_webcam.h
+++ b/selfdrive/camerad/cameras/camera_webcam.h
@@ -8,7 +8,7 @@
 #include <CL/cl.h>
 #endif
 
-#include "camera_common.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
 
 #define FRAME_BUF_COUNT 16
 
diff --git a/selfdrive/camerad/imgproc/utils.cc b/selfdrive/camerad/imgproc/utils.cc
index 7dd0ab97..5c211013 100644
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/selfdrive/camerad/imgproc/utils.cc
@@ -1,7 +1,9 @@
-#include "utils.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+
 #include <assert.h>
 #include <stdio.h>
 #include <string.h>
+
 #include <algorithm>
 #include <cmath>
 
diff --git a/selfdrive/camerad/imgproc/utils.h b/selfdrive/camerad/imgproc/utils.h
index e33cfe9c..d7d518c0 100644
--- a/selfdrive/camerad/imgproc/utils.h
+++ b/selfdrive/camerad/imgproc/utils.h
@@ -1,9 +1,11 @@
 #pragma once
 
-#include <stdint.h>
 #include <stddef.h>
+#include <stdint.h>
+
 #include <vector>
-#include "clutil.h"
+
+#include "selfdrive/common/clutil.h"
 
 #define NUM_SEGMENTS_X 8
 #define NUM_SEGMENTS_Y 6
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 8bce8570..6cfa85bd 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -1,29 +1,30 @@
-#include <thread>
-#include <stdio.h>
-#include <poll.h>
 #include <assert.h>
-#include <unistd.h>
+#include <poll.h>
+#include <stdio.h>
 #include <sys/socket.h>
+#include <unistd.h>
+
+#include <thread>
+
+#include "libyuv.h"
+
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
 
 #if defined(QCOM) && !defined(QCOM_REPLAY)
-#include "cameras/camera_qcom.h"
+#include "selfdrive/camerad/cameras/camera_qcom.h"
 #elif QCOM2
-#include "cameras/camera_qcom2.h"
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
 #elif WEBCAM
-#include "cameras/camera_webcam.h"
+#include "selfdrive/camerad/cameras/camera_webcam.h"
 #else
-#include "cameras/camera_frame_stream.h"
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"
 #endif
 
-#include <libyuv.h>
-
-#include "clutil.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "visionipc_server.h"
-#include "selfdrive/hardware/hw.h"
-
 ExitHandler do_exit;
 
 void party(cl_device_id device_id, cl_context context) {
diff --git a/selfdrive/camerad/test/ae_gray_test.cc b/selfdrive/camerad/test/ae_gray_test.cc
index c25c7b2a..1e105f08 100644
--- a/selfdrive/camerad/test/ae_gray_test.cc
+++ b/selfdrive/camerad/test/ae_gray_test.cc
@@ -1,11 +1,13 @@
 // unittest for set_exposure_target
 
+#include "ae_gray_test.h"
+
 #include <assert.h>
-#include <cstring>
+
 #include <cmath>
+#include <cstring>
 
 #include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/camerad/test/ae_gray_test.h"
 
 void camera_autoexposure(CameraState *s, float grey_frac) {}
 
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/selfdrive/camerad/transforms/rgb_to_yuv.cc
index ce144d34..1fdeb593 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.cc
@@ -1,4 +1,5 @@
 #include "rgb_to_yuv.h"
+
 #include <assert.h>
 
 Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/selfdrive/camerad/transforms/rgb_to_yuv.h
index e1de180d..3bb50669 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.h
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "common/clutil.h"
+#include "selfdrive/common/clutil.h"
 
 class Rgb2Yuv {
 public:
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
index a2fd4035..04b6afd0 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
@@ -1,18 +1,19 @@
-#include <memory.h>
-#include <iostream>
+#include <fcntl.h>
 #include <getopt.h>
 #include <math.h>
-#include <fstream>
-#include <cstdlib>
-#include <vector>
-#include <string>
-#include <iomanip>
-#include <thread>
-#include <fcntl.h>
+#include <memory.h>
 #include <signal.h>
 #include <unistd.h>
+
 #include <cassert>
 #include <cstdint>
+#include <cstdlib>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <string>
+#include <thread>
+#include <vector>
 
 #ifdef ANDROID
 
@@ -26,13 +27,11 @@
 
 #endif
 
-#include <libyuv.h>
-
 #include <CL/cl.h>
 
-#include "clutil.h"
-#include "rgb_to_yuv.h"
-
+#include "libyuv.h"
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "selfdrive/common/clutil.h"
 
 static inline double millis_since_boot() {
   struct timespec t;
diff --git a/selfdrive/clocksd/clocksd.cc b/selfdrive/clocksd/clocksd.cc
index ce94e918..c6ad4061 100644
--- a/selfdrive/clocksd/clocksd.cc
+++ b/selfdrive/clocksd/clocksd.cc
@@ -1,8 +1,8 @@
-#include <stdio.h>
 #include <stdint.h>
-#include <unistd.h>
+#include <stdio.h>
 #include <sys/resource.h>
 #include <sys/time.h>
+#include <unistd.h>
 
 // Apple doesn't have timerfd
 #ifdef __APPLE__
@@ -14,9 +14,9 @@
 #include <cassert>
 #include <chrono>
 
-#include "messaging.h"
-#include "common/timing.h"
-#include "common/util.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 ExitHandler do_exit;
 
diff --git a/selfdrive/common/clutil.cc b/selfdrive/common/clutil.cc
index c6a2b49d..526c66b2 100644
--- a/selfdrive/common/clutil.cc
+++ b/selfdrive/common/clutil.cc
@@ -1,12 +1,15 @@
-#include "clutil.h"
+#include "selfdrive/common/clutil.h"
+
 #include <assert.h>
 #include <inttypes.h>
 #include <string.h>
 #include <sys/stat.h>
-#include <memory>
+
 #include <iostream>
+#include <memory>
 #include <vector>
-#include "util.h"
+
+#include "selfdrive/common/util.h"
 
 namespace {  // helper functions
 
diff --git a/selfdrive/common/framebuffer.cc b/selfdrive/common/framebuffer.cc
index ac6bd3cb..79051f7e 100644
--- a/selfdrive/common/framebuffer.cc
+++ b/selfdrive/common/framebuffer.cc
@@ -1,15 +1,15 @@
-#include "framebuffer.h"
-#include "util.h"
+#include "selfdrive/common/framebuffer.h"
+
 #include <cstdio>
 #include <cassert>
 
+#include "selfdrive/common/util.h"
+
 #include <ui/DisplayInfo.h>
 
 #include <gui/ISurfaceComposer.h>
 #include <gui/Surface.h>
 #include <gui/SurfaceComposerClient.h>
-
-
 #include <GLES2/gl2.h>
 #include <EGL/eglext.h>
 
diff --git a/selfdrive/common/framebuffer.h b/selfdrive/common/framebuffer.h
index d60424d6..d7054374 100644
--- a/selfdrive/common/framebuffer.h
+++ b/selfdrive/common/framebuffer.h
@@ -1,5 +1,7 @@
 #pragma once
+
 #include <cstdlib>
+
 #include "hardware/hwcomposer_defs.h"
 
 bool set_brightness(int brightness);
diff --git a/selfdrive/common/glutil.cc b/selfdrive/common/glutil.cc
index 77cb8262..7e53975e 100644
--- a/selfdrive/common/glutil.cc
+++ b/selfdrive/common/glutil.cc
@@ -1,9 +1,10 @@
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <string>
+#include "selfdrive/common/glutil.h"
 
-#include "glutil.h"
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <string>
 
 static GLuint load_shader(GLenum shaderType, const char *src) {
   GLint status = 0, len = 0;
diff --git a/selfdrive/common/glutil.h b/selfdrive/common/glutil.h
index dff87821..7180f855 100644
--- a/selfdrive/common/glutil.h
+++ b/selfdrive/common/glutil.h
@@ -1,12 +1,13 @@
 #pragma once
 
-#ifdef __APPLE__
-  #include <OpenGL/gl3.h>
-#else
-  #include <GLES3/gl3.h>
-#endif
 #include <map>
 
+#ifdef __APPLE__
+#include <OpenGL/gl3.h>
+#else
+#include <GLES3/gl3.h>
+#endif
+
 class GLShader {
 public:
   GLShader(const char *vert_src, const char *frag_src);
diff --git a/selfdrive/common/gpio.cc b/selfdrive/common/gpio.cc
index 79dfce45..8a288531 100644
--- a/selfdrive/common/gpio.cc
+++ b/selfdrive/common/gpio.cc
@@ -1,8 +1,10 @@
-#include "gpio.h"
-#include "util.h"
+#include "selfdrive/common/gpio.h"
+
 #include <fcntl.h>
-#include <unistd.h>
 #include <string.h>
+#include <unistd.h>
+
+#include "selfdrive/common/util.h"
 
 // We assume that all pins have already been exported on boot,
 // and that we have permission to write to them.
diff --git a/selfdrive/common/i2c.cc b/selfdrive/common/i2c.cc
index 95d0aedd..c2842948 100644
--- a/selfdrive/common/i2c.cc
+++ b/selfdrive/common/i2c.cc
@@ -1,12 +1,14 @@
-#include "i2c.h"
+#include "selfdrive/common/i2c.h"
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cassert>
-#include <unistd.h>
 #include <stdexcept>
-#include <stdio.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include "common/swaglog.h"
+
+#include "selfdrive/common/swaglog.h"
 
 #define UNUSED(x) (void)(x)
 
diff --git a/selfdrive/common/modeldata.h b/selfdrive/common/modeldata.h
index 3c099d6d..b6282000 100644
--- a/selfdrive/common/modeldata.h
+++ b/selfdrive/common/modeldata.h
@@ -19,7 +19,7 @@ const double X_IDXS[TRAJECTORY_SIZE] = { 0.    ,   0.1875,   0.75  ,   1.6875,
 
 #ifdef __cplusplus
 
-#include "common/mat.h"
+#include "selfdrive/common/mat.h"
 #include "selfdrive/hardware/hw.h"
 const mat3 fcam_intrinsic_matrix =
     Hardware::TICI() ? (mat3){{2648.0, 0.0, 1928.0 / 2,
diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index 12ee35dc..dd27331d 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -1,22 +1,25 @@
-#include "common/params.h"
+#include "selfdrive/common/params.h"
 
 #ifndef _GNU_SOURCE
 #define _GNU_SOURCE
 #endif  // _GNU_SOURCE
 
+#include <dirent.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
-#include <dirent.h>
+#include <string.h>
 #include <sys/file.h>
 #include <sys/stat.h>
-#include <mutex>
+#include <unistd.h>
+
 #include <csignal>
-#include <string.h>
+#include <mutex>
 #include <unordered_map>
-#include "common/util.h"
-#include "common/swaglog.h"
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
+
 // keep trying if x gets interrupted by a signal
 #define HANDLE_EINTR(x)                                       \
   ({                                                          \
diff --git a/selfdrive/common/params.h b/selfdrive/common/params.h
index 279ea419..589775c3 100644
--- a/selfdrive/common/params.h
+++ b/selfdrive/common/params.h
@@ -1,9 +1,10 @@
 #pragma once
 
 #include <stddef.h>
+
 #include <map>
-#include <string>
 #include <sstream>
+#include <string>
 
 #define ERR_NO_VALUE -33
 
diff --git a/selfdrive/common/swaglog.cc b/selfdrive/common/swaglog.cc
index b115f754..80d2379d 100644
--- a/selfdrive/common/swaglog.cc
+++ b/selfdrive/common/swaglog.cc
@@ -2,22 +2,22 @@
 #define _GNU_SOURCE
 #endif
 
-#include <string>
-#include <string.h>
-#include <assert.h>
-
-#include <mutex>
-#include <zmq.h>
-
-#include "json11.hpp"
-
-#include "common/util.h"
-#include "common/version.h"
-#include "selfdrive/hardware/hw.h"
 #include "swaglog.h"
 
+#include <assert.h>
+#include <string.h>
+#include <mutex>
+#include <string>
+
+#include <zmq.h>
+#include "json11.hpp"
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/version.h"
+#include "selfdrive/hardware/hw.h"
+
 class LogState {
-public:
+ public:
   LogState() = default;
   ~LogState();
   std::mutex lock;
diff --git a/selfdrive/common/timing.h b/selfdrive/common/timing.h
index 48d031e5..b940cc92 100644
--- a/selfdrive/common/timing.h
+++ b/selfdrive/common/timing.h
@@ -1,5 +1,4 @@
-#ifndef COMMON_TIMING_H
-#define COMMON_TIMING_H
+#pragma once
 
 #include <stdint.h>
 #include <time.h>
@@ -50,5 +49,3 @@ static inline uint64_t nanos_monotonic_raw() {
   clock_gettime(CLOCK_MONOTONIC_RAW, &t);
   return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
-
-#endif
diff --git a/selfdrive/common/touch.c b/selfdrive/common/touch.c
index 0ab1e38c..eef83d8f 100644
--- a/selfdrive/common/touch.c
+++ b/selfdrive/common/touch.c
@@ -1,14 +1,14 @@
+#include "selfdrive/common/touch.h"
+
+#include <assert.h>
+#include <dirent.h>
+#include <fcntl.h>
+#include <linux/input.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <dirent.h>
 #include <sys/poll.h>
-#include <linux/input.h>
-
-#include "touch.h"
+#include <unistd.h>
 
 /* this macro is used to tell if "bit" is set in "array"
  * it selects a byte from the array, and does a boolean AND
diff --git a/selfdrive/common/util.cc b/selfdrive/common/util.cc
index c3584cdc..e26acc45 100644
--- a/selfdrive/common/util.cc
+++ b/selfdrive/common/util.cc
@@ -1,7 +1,8 @@
-#include <errno.h>
-#include <sstream>
+#include "selfdrive/common/util.h"
 
-#include "common/util.h"
+#include <errno.h>
+
+#include <sstream>
 
 #ifdef __linux__
 #include <sys/prctl.h>
@@ -10,7 +11,7 @@
 #define __USE_GNU
 #endif
 #include <sched.h>
-#endif // __linux__
+#endif  // __linux__
 
 void set_thread_name(const char* name) {
 #ifdef __linux__
diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h
index 3715da73..f7a7d550 100644
--- a/selfdrive/common/util.h
+++ b/selfdrive/common/util.h
@@ -1,19 +1,19 @@
 #pragma once
 
-#include <cstdio>
-#include <csignal>
-#include <cassert>
-#include <cstring>
-#include <unistd.h>
 #include <fcntl.h>
+#include <unistd.h>
 
-#include <string>
-#include <memory>
-#include <atomic>
-#include <fstream>
-#include <thread>
-#include <chrono>
 #include <algorithm>
+#include <atomic>
+#include <cassert>
+#include <chrono>
+#include <csignal>
+#include <cstdio>
+#include <cstring>
+#include <fstream>
+#include <memory>
+#include <string>
+#include <thread>
 
 #ifndef sighandler_t
 typedef void (*sighandler_t)(int sig);
diff --git a/selfdrive/common/visionimg.cc b/selfdrive/common/visionimg.cc
index fdd7d07c..770e18a1 100644
--- a/selfdrive/common/visionimg.cc
+++ b/selfdrive/common/visionimg.cc
@@ -1,11 +1,12 @@
+#include "selfdrive/common/visionimg.h"
+
 #include <cassert>
-#include "common/visionimg.h"
 
 #ifdef QCOM
+#include <gralloc_priv.h>
 #include <system/graphics.h>
 #include <ui/GraphicBuffer.h>
 #include <ui/PixelFormat.h>
-#include <gralloc_priv.h>
 #define GL_GLEXT_PROTOTYPES
 #include <GLES2/gl2ext.h>
 using namespace android;
diff --git a/selfdrive/common/visionimg.h b/selfdrive/common/visionimg.h
index 20a476c1..cf3b36b7 100644
--- a/selfdrive/common/visionimg.h
+++ b/selfdrive/common/visionimg.h
@@ -3,9 +3,9 @@
 #include "visionbuf.h"
 
 #ifdef __APPLE__
-  #include <OpenGL/gl3.h>
+#include <OpenGL/gl3.h>
 #else
-  #include <GLES3/gl3.h>
+#include <GLES3/gl3.h>
 #endif
 
 #ifdef QCOM
diff --git a/selfdrive/common/watchdog.cc b/selfdrive/common/watchdog.cc
index 5fb43f6e..fe95e23f 100644
--- a/selfdrive/common/watchdog.cc
+++ b/selfdrive/common/watchdog.cc
@@ -1,10 +1,12 @@
-#include <string>
-#include <cstdint>
+#include "selfdrive/common/watchdog.h"
+
 #include <unistd.h>
 
-#include "common/timing.h"
-#include "common/util.h"
-#include "common/watchdog.h"
+#include <cstdint>
+#include <string>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
diff --git a/selfdrive/controls/lib/lateral_mpc/generator.cpp b/selfdrive/controls/lib/lateral_mpc/generator.cpp
index ca4be4c2..171e7231 100644
--- a/selfdrive/controls/lib/lateral_mpc/generator.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/generator.cpp
@@ -1,6 +1,6 @@
 #include <math.h>
 #include <acado_code_generation.hpp>
-#include "common/modeldata.h"
+#include "selfdrive/common/modeldata.h"
 
 #define deg2rad(d) (d/180.0*M_PI)
 
diff --git a/selfdrive/hardware/base.h b/selfdrive/hardware/base.h
index 185af702..d9ce5c48 100644
--- a/selfdrive/hardware/base.h
+++ b/selfdrive/hardware/base.h
@@ -3,7 +3,6 @@
 #include <cstdlib>
 #include <fstream>
 
-
 // no-op base hw class
 class HardwareNone {
 public:
diff --git a/selfdrive/hardware/eon/hardware.h b/selfdrive/hardware/eon/hardware.h
index afd1f77b..6ca51ee8 100644
--- a/selfdrive/hardware/eon/hardware.h
+++ b/selfdrive/hardware/eon/hardware.h
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <cstdlib>
-#include <fstream>
-
 #include <gui/ISurfaceComposer.h>
 #include <gui/SurfaceComposerClient.h>
 #include <hardware/hwcomposer_defs.h>
 
+#include <cstdlib>
+#include <fstream>
+
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/base.h"
 
diff --git a/selfdrive/hardware/tici/hardware.h b/selfdrive/hardware/tici/hardware.h
index b179422e..0ff73b84 100644
--- a/selfdrive/hardware/tici/hardware.h
+++ b/selfdrive/hardware/tici/hardware.h
@@ -3,8 +3,8 @@
 #include <cstdlib>
 #include <fstream>
 
-#include "selfdrive/common/util.h"
 #include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index b99993d0..f50056dc 100755
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -1,21 +1,22 @@
 #pragma once
 
-#include <fstream>
-#include <string>
-#include <memory>
-
 #include <eigen3/Eigen/Dense>
+#include <fstream>
+#include <memory>
+#include <string>
 
-#include "messaging.h"
-#include "common/params.h"
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
+#include "cereal/messaging/messaging.h"
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"
-#include "selfdrive/sensord/sensors/constants.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
-#include "models/live_kf.h"
+#include "selfdrive/sensord/sensors/constants.h"
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
+#include "selfdrive/locationd/models/live_kf.h"
 
 #define POSENET_STD_HIST_HALF 20
 
diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc
index 0b91f080..0eb08a01 100644
--- a/selfdrive/locationd/ublox_msg.cc
+++ b/selfdrive/locationd/ublox_msg.cc
@@ -1,16 +1,17 @@
+#include "ublox_msg.h"
+
+#include <unistd.h>
+
+#include <cassert>
+#include <chrono>
+#include <cmath>
 #include <cstdio>
 #include <cstdlib>
-#include <unistd.h>
-#include <cmath>
 #include <ctime>
-#include <chrono>
 #include <iostream>
-#include <cassert>
 #include <unordered_map>
 
-#include "common/swaglog.h"
-
-#include "ublox_msg.h"
+#include "selfdrive/common/swaglog.h"
 
 const double gpsPi = 3.1415926535898;
 #define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h
index 2fcf26d1..1f8ed974 100644
--- a/selfdrive/locationd/ublox_msg.h
+++ b/selfdrive/locationd/ublox_msg.h
@@ -1,13 +1,13 @@
 #pragma once
 
-#include <string>
 #include <cstdint>
 #include <memory>
+#include <string>
 #include <unordered_map>
 
-#include "messaging.h"
-#include "generated/ubx.h"
-#include "generated/gps.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/locationd/generated/gps.h"
+#include "selfdrive/locationd/generated/ubx.h"
 
 // protocol constants
 namespace ublox {
diff --git a/selfdrive/locationd/ubloxd.cc b/selfdrive/locationd/ubloxd.cc
index a0b4ef7f..445495a8 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/selfdrive/locationd/ubloxd.cc
@@ -1,9 +1,9 @@
-#include "messaging.h"
-#include "common/util.h"
-#include "common/swaglog.h"
+#include <kaitai/kaitaistream.h>
 
-#include "ublox_msg.h"
-#include "kaitai/kaitaistream.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/locationd/ublox_msg.h"
 
 ExitHandler do_exit;
 using namespace ublox;
diff --git a/selfdrive/logcatd/logcatd_android.cc b/selfdrive/logcatd/logcatd_android.cc
index 99c70115..1a982a0f 100644
--- a/selfdrive/logcatd/logcatd_android.cc
+++ b/selfdrive/logcatd/logcatd_android.cc
@@ -5,8 +5,8 @@
 #include <log/logger.h>
 #include <log/logprint.h>
 
-#include "common/util.h"
-#include "messaging.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
 
 int main() {
   setpriority(PRIO_PROCESS, 0, -15);
diff --git a/selfdrive/logcatd/logcatd_systemd.cc b/selfdrive/logcatd/logcatd_systemd.cc
index 1ab59cd9..61d6cb9b 100644
--- a/selfdrive/logcatd/logcatd_systemd.cc
+++ b/selfdrive/logcatd/logcatd_systemd.cc
@@ -1,15 +1,16 @@
-#include <iostream>
-#include <cassert>
-#include <csignal>
-#include <string>
-#include <map>
-
-#include "json11.hpp"
 #include <systemd/sd-journal.h>
 
-#include "common/timing.h"
-#include "common/util.h"
-#include "messaging.h"
+#include <cassert>
+#include <csignal>
+#include <iostream>
+#include <map>
+#include <string>
+
+#include "json11.hpp"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 ExitHandler do_exit;
 int main(int argc, char *argv[]) {
diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc
index e731047b..74f61323 100644
--- a/selfdrive/loggerd/bootlog.cc
+++ b/selfdrive/loggerd/bootlog.cc
@@ -1,8 +1,10 @@
 #include <assert.h>
+
 #include <string>
-#include "common/swaglog.h"
-#include "logger.h"
-#include "messaging.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/loggerd/logger.h"
 
 static kj::Array<capnp::word> build_boot_log() {
   MessageBuilder msg;
diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc
index ee397046..72bb4cb6 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@@ -1,28 +1,27 @@
+#include "selfdrive/loggerd/logger.h"
+
+#include <assert.h>
+#include <errno.h>
+#include <stdbool.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdint.h>
-#include <stdbool.h>
 #include <string.h>
-#include <assert.h>
-#include <time.h>
-#include <errno.h>
-#include <unistd.h>
 #include <sys/stat.h>
+#include <time.h>
+#include <unistd.h>
 
-#include <iostream>
 #include <fstream>
+#include <iostream>
 #include <streambuf>
 #ifdef QCOM
 #include <cutils/properties.h>
 #endif
 
-#include "common/swaglog.h"
-#include "common/params.h"
-#include "common/version.h"
-#include "messaging.h"
-#include "selfdrive/hardware/hw.h"
-#include "logger.h"
-
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/version.h"
 
 // ***** logging helpers *****
 
diff --git a/selfdrive/loggerd/logger.h b/selfdrive/loggerd/logger.h
index 5627af75..f530a2b0 100644
--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
@@ -1,13 +1,17 @@
 #pragma once
 
-#include <stdio.h>
-#include <stdint.h>
 #include <pthread.h>
+#include <stdint.h>
+#include <stdio.h>
+
 #include <memory>
+
 #include <bzlib.h>
-#include <kj/array.h>
 #include <capnp/serialize.h>
-#include "common/util.h"
+#include <kj/array.h>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/swaglog.h"
 #include "selfdrive/hardware/hw.h"
 
 const std::string LOG_ROOT =
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 3745e5d3..c5511540 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -1,41 +1,40 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstdint>
-#include <cassert>
-#include <unistd.h>
 #include <errno.h>
-#include <string.h>
+#include <ftw.h>
 #include <inttypes.h>
 #include <pthread.h>
+#include <string.h>
 #include <sys/resource.h>
+#include <unistd.h>
 
+#include <atomic>
+#include <cassert>
+#include <condition_variable>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <mutex>
+#include <random>
 #include <string>
 #include <thread>
-#include <mutex>
-#include <condition_variable>
-#include <atomic>
-#include <random>
 
-#include <ftw.h>
-
-#include "common/timing.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "camerad/cameras/camera_common.h"
-#include "logger.h"
-#include "messaging.h"
-#include "services.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-#include "visionipc.h"
-#include "visionipc_client.h"
 
-#include "encoder.h"
+#include "selfdrive/loggerd/encoder.h"
+#include "selfdrive/loggerd/logger.h"
 #if defined(QCOM) || defined(QCOM2)
-#include "omx_encoder.h"
+#include "selfdrive/loggerd/omx_encoder.h"
 #define Encoder OmxEncoder
 #else
-#include "raw_logger.h"
+#include "selfdrive/loggerd/raw_logger.h"
 #define Encoder RawLogger
 #endif
 
diff --git a/selfdrive/loggerd/omx_encoder.cc b/selfdrive/loggerd/omx_encoder.cc
index b629490f..6891d47d 100644
--- a/selfdrive/loggerd/omx_encoder.cc
+++ b/selfdrive/loggerd/omx_encoder.cc
@@ -1,25 +1,24 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
+#include "selfdrive/loggerd/omx_encoder.h"
+
+#include <assert.h>
+#include <fcntl.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <assert.h>
 #include <sys/stat.h>
-#include <fcntl.h>
+#include <unistd.h>
 
 #include <OMX_Component.h>
 #include <OMX_IndexExt.h>
-#include <OMX_VideoExt.h>
 #include <OMX_QCOMExtns.h>
+#include <OMX_VideoExt.h>
+#include "libyuv.h"
 
-#include <libyuv.h>
-#include <msm_media_info.h>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-#include "omx_encoder.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/loggerd/include/msm_media_info.h"
 
 // Check the OMX error code and assert if an error occurred.
 #define OMX_CHECK(_expr)          \
diff --git a/selfdrive/loggerd/omx_encoder.h b/selfdrive/loggerd/omx_encoder.h
index 08bb30ec..271ef113 100644
--- a/selfdrive/loggerd/omx_encoder.h
+++ b/selfdrive/loggerd/omx_encoder.h
@@ -1,17 +1,18 @@
 #pragma once
 
-#include <stdio.h>
-#include <stdint.h>
 #include <stdbool.h>
-#include <vector>
-#include <OMX_Component.h>
+#include <stdint.h>
+#include <stdio.h>
 
+#include <vector>
+
+#include <OMX_Component.h>
 extern "C" {
-  #include <libavformat/avformat.h>
+#include <libavformat/avformat.h>
 }
 
-#include "encoder.h"
-#include "common/queue.h"
+#include "selfdrive/common/queue.h"
+#include "selfdrive/loggerd/encoder.h"
 
 // OmxEncoder, lossey codec using hardware hevc
 class OmxEncoder : public VideoEncoder {
diff --git a/selfdrive/loggerd/raw_logger.cc b/selfdrive/loggerd/raw_logger.cc
index 2e8fd20a..cd279977 100644
--- a/selfdrive/loggerd/raw_logger.cc
+++ b/selfdrive/loggerd/raw_logger.cc
@@ -1,24 +1,24 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
-#include <cstdio>
-#include <cstdlib>
-#include <cassert>
+#include "selfdrive/loggerd/raw_logger.h"
 
 #include <fcntl.h>
 #include <unistd.h>
 
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+
 #define __STDC_CONSTANT_MACROS
 
 extern "C" {
-#include <libavutil/imgutils.h>
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
 }
 
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#include "raw_logger.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 
 RawLogger::RawLogger(const char* filename, int width, int height, int fps,
                      int bitrate, bool h265, bool downscale)
diff --git a/selfdrive/loggerd/raw_logger.h b/selfdrive/loggerd/raw_logger.h
index 5df6eabe..7955ef5e 100644
--- a/selfdrive/loggerd/raw_logger.h
+++ b/selfdrive/loggerd/raw_logger.h
@@ -2,20 +2,19 @@
 
 #include <cstdio>
 #include <cstdlib>
-
 #include <string>
 #include <vector>
 
 extern "C" {
-#include <libavutil/imgutils.h>
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
 }
 
-#include "encoder.h"
+#include "selfdrive/loggerd/encoder.h"
 
 class RawLogger : public VideoEncoder {
-public:
+ public:
   RawLogger(const char* filename, int width, int height, int fps,
             int bitrate, bool h265, bool downscale);
   ~RawLogger();
diff --git a/selfdrive/loggerd/tests/testraw.cc b/selfdrive/loggerd/tests/testraw.cc
index e4f11919..3641916c 100644
--- a/selfdrive/loggerd/tests/testraw.cc
+++ b/selfdrive/loggerd/tests/testraw.cc
@@ -1,13 +1,13 @@
-#include <cstdio>
-#include <cstdlib>
 #include <unistd.h>
-
 #include <zmq.h>
 
-#include "common/visionipc.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "RawLogger.h"
+#include <cstdio>
+#include <cstdlib>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/visionipc.h"
+#include "selfdrive/loggerd/raw_logger.h"
 
 int main() {
   int err;
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index b21bbd78..85b41260 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -1,16 +1,12 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <sys/resource.h>
+#include <limits.h>
 
-#include "visionipc_client.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#include "models/dmonitoring.h"
-
-#ifndef PATH_MAX
-#include <linux/limits.h>
-#endif
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/dmonitoring.h"
 
 ExitHandler do_exit;
 
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 5bb48d51..0cfed4ac 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -1,16 +1,18 @@
 #include <stdio.h>
 #include <stdlib.h>
+
 #include <mutex>
+
 #include <eigen3/Eigen/Dense>
 
-#include "visionipc_client.h"
-#include "common/swaglog.h"
-#include "common/clutil.h"
-#include "common/util.h"
-#include "common/params.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-#include "models/driving.h"
-#include "messaging.h"
+#include "selfdrive/modeld/models/driving.h"
 
 ExitHandler do_exit;
 // globals
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index 4ce25580..495bfe78 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -1,10 +1,13 @@
+#include "commonmodel.h"
+
 #include <assert.h>
 #include <math.h>
+
 #include <algorithm>
-#include "commonmodel.h"
-#include "common/clutil.h"
-#include "common/mat.h"
-#include "common/timing.h"
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/timing.h"
 
 void frame_init(ModelFrame* frame, int width, int height,
                       cl_device_id device_id, cl_context context) {
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
index 05bb3e46..281930be 100644
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -1,4 +1,8 @@
 #pragma once
+
+#include <float.h>
+#include <stdlib.h>
+
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
@@ -6,11 +10,9 @@
 #include <CL/cl.h>
 #endif
 
-#include <float.h>
-#include <stdlib.h>
-#include "common/mat.h"
-#include "transforms/transform.h"
-#include "transforms/loadyuv.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/modeld/transforms/loadyuv.h"
+#include "selfdrive/modeld/transforms/transform.h"
 
 const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
 
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 3491f393..9425128b 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -1,11 +1,13 @@
-#include <string.h>
-#include <libyuv.h>
-#include "selfdrive/hardware/hw.h"
-#include "dmonitoring.h"
-#include "common/mat.h"
-#include "common/timing.h"
-#include "common/params.h"
+#include "selfdrive/modeld/models/dmonitoring.h"
 
+#include <string.h>
+
+#include "libyuv.h"
+
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/hardware/hw.h"
 
 #define MODEL_WIDTH 320
 #define MODEL_HEIGHT 640
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 9135e7f3..2a134b7b 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -1,9 +1,11 @@
 #pragma once
+
 #include <vector>
-#include "common/util.h"
-#include "commonmodel.h"
-#include "runners/run.h"
-#include "messaging.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
 
 #define OUTPUT_SIZE 38
 
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 0bd6534d..a54fd478 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -1,14 +1,16 @@
 
-#include <string.h>
+#include "driving.h"
+
 #include <assert.h>
 #include <fcntl.h>
+#include <string.h>
 #include <unistd.h>
+
 #include <eigen3/Eigen/Dense>
 
-#include "common/timing.h"
-#include "common/params.h"
-#include "driving.h"
-#include "clutil.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"
 
 constexpr int DESIRE_PRED_SIZE = 32;
 constexpr int OTHER_META_SIZE = 4;
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 82a8284b..d523f47c 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -5,15 +5,14 @@
 #define DESIRE
 #define TRAFFIC_CONVENTION
 
-#include "common/mat.h"
-#include "common/util.h"
-#include "common/modeldata.h"
-
-#include "commonmodel.h"
-#include "runners/run.h"
-
 #include <memory>
-#include "messaging.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"
 
 constexpr int DESIRE_LEN = 8;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index ceefd85c..8631c628 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -1,16 +1,18 @@
 #include "onnxmodel.h"
-#include <stdio.h>
-#include <string>
-#include <string.h>
+
 #include <poll.h>
 #include <signal.h>
-#include <unistd.h>
+#include <stdio.h>
 #include <stdlib.h>
-#include <stdexcept>
-#include "common/util.h"
-#include "common/swaglog.h"
-#include <cassert>
+#include <string.h>
+#include <unistd.h>
 
+#include <cassert>
+#include <stdexcept>
+#include <string>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 
 ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime) {
   output = _output;
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index 81fd2d5b..5ecfdc04 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -1,8 +1,8 @@
-#ifndef ONNXMODEL_H
-#define ONNXMODEL_H
+#pragma once
 
 #include <stdlib.h>
-#include "runmodel.h"
+
+#include "selfdrive/modeld/runners/runmodel.h"
 
 class ONNXModel : public RunModel {
 public:
@@ -32,5 +32,3 @@ private:
   int pipeout[2];
 };
 
-#endif
-
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
index 98a3fb8b..3051dfb0 100644
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@@ -4,13 +4,13 @@
 #include "snpemodel.h"
 
 #if defined(QCOM) || defined(QCOM2)
-  #include "thneedmodel.h"
-  #define DefaultRunModel SNPEModel
+#include "thneedmodel.h"
+#define DefaultRunModel SNPEModel
 #else
-  #ifdef USE_ONNX_MODEL
-    #include "onnxmodel.h"
-    #define DefaultRunModel ONNXModel
-  #else
-    #define DefaultRunModel SNPEModel
-  #endif
+#ifdef USE_ONNX_MODEL
+#include "onnxmodel.h"
+#define DefaultRunModel ONNXModel
+#else
+#define DefaultRunModel SNPEModel
+#endif
 #endif
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
index d3889aaa..9eb7e1ea 100644
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -1,6 +1,4 @@
-#ifndef RUNMODEL_H
-#define RUNMODEL_H
-
+#pragma once
 class RunModel {
 public:
   virtual void addRecurrent(float *state, int state_size) {}
@@ -9,5 +7,3 @@ public:
   virtual void execute(float *net_input_buf, int buf_size) {}
 };
 
-#endif
-
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index cc9c92f3..9f26ad27 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -1,10 +1,13 @@
 #pragma clang diagnostic ignored "-Wexceptions"
 
-#include <cassert>
-#include <string.h>
+#include "selfdrive/modeld/runners/snpemodel.h"
+
 #include <stdlib.h>
-#include "common/util.h"
-#include "snpemodel.h"
+#include <string.h>
+
+#include <cassert>
+
+#include "selfdrive/common/util.h"
 
 void PrintErrorStringAndExit() {
   std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index 1c2ed2e2..6d3a7041 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -1,15 +1,14 @@
-#ifndef SNPEMODEL_H
-#define SNPEMODEL_H
+#pragma once
 
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
 #include <DlContainer/IDlContainer.hpp>
 #include <DlSystem/DlError.hpp>
 #include <DlSystem/ITensor.hpp>
 #include <DlSystem/ITensorFactory.hpp>
 #include <DlSystem/IUserBuffer.hpp>
 #include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>
 
 #include "runmodel.h"
 
@@ -18,7 +17,7 @@
 #define USE_DSP_RUNTIME 2
 
 #ifdef USE_THNEED
-#include "thneed/thneed.h"
+#include "selfdrive/modeld/thneed/thneed.h"
 #endif
 
 class SNPEModel : public RunModel {
@@ -63,6 +62,3 @@ private:
   float *desire;
   std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
 };
-
-#endif
-
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index 0ebe7226..c83a58b0 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -1,4 +1,5 @@
 #include "thneedmodel.h"
+
 #include <assert.h>
 
 ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
index 05cb2438..933c751d 100644
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "runmodel.h"
-#include "thneed/thneed.h"
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"
 
 class ThneedModel : public RunModel {
 public:
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index 63955a6f..cf15e9ce 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -1,6 +1,7 @@
 #include <string.h>
-#include "thneed.h"
-#include "../runners/snpemodel.h"
+
+#include "selfdrive/modeld/runners/snpemodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"
 
 #define TEMPORAL_SIZE 512
 #define DESIRE_LEN 8
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
index 7f22d631..e3aa099d 100644
--- a/selfdrive/modeld/thneed/serialize.cc
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -1,7 +1,9 @@
-#include <set>
 #include <assert.h>
-#include "thneed.h"
+
+#include <set>
+
 #include "json11.hpp"
+#include "selfdrive/modeld/thneed/thneed.h"
 using namespace json11;
 
 extern map<cl_program, string> g_program_source;
diff --git a/selfdrive/modeld/thneed/thneed.cc b/selfdrive/modeld/thneed/thneed.cc
index e11fcb8a..3b0138a1 100644
--- a/selfdrive/modeld/thneed/thneed.cc
+++ b/selfdrive/modeld/thneed/thneed.cc
@@ -1,13 +1,16 @@
-#include <cassert>
-#include <sys/mman.h>
+#include "selfdrive/modeld/thneed/thneed.h"
+
 #include <dlfcn.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/mman.h>
+
+#include <cassert>
 #include <map>
 #include <string>
-#include <string.h>
-#include <errno.h>
-#include "common/timing.h"
-#include "common/clutil.h"
-#include "thneed.h"
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/timing.h"
 
 //#define RUN_DISASSEMBLER
 //#define RUN_OPTIMIZER
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
index c36aaff7..eaea22e4 100644
--- a/selfdrive/modeld/thneed/thneed.h
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -1,16 +1,18 @@
 #pragma once
 
 #ifndef __user
-  #define __user __attribute__(())
+#define __user __attribute__(())
 #endif
 
-#include <stdlib.h>
+#include <CL/cl.h>
 #include <stdint.h>
-#include "include/msm_kgsl.h"
-#include <vector>
+#include <stdlib.h>
+
 #include <memory>
 #include <string>
-#include <CL/cl.h>
+#include <vector>
+
+#include "selfdrive/modeld/thneed/include/msm_kgsl.h"
 
 #define THNEED_RECORD 1
 #define THNEED_DEBUG 2
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
index fe84e6d2..d3686a66 100644
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -1,7 +1,8 @@
-#include <string.h>
-#include <assert.h>
 #include "loadyuv.h"
 
+#include <assert.h>
+#include <string.h>
+
 void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
   memset(s, 0, sizeof(*s));
 
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
index dbef4614..0153815c 100644
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -2,7 +2,8 @@
 
 #include <inttypes.h>
 #include <stdbool.h>
-#include "clutil.h"
+
+#include "selfdrive/common/clutil.h"
 
 typedef struct {
   int width, height;
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
index 056267ac..6cf48220 100644
--- a/selfdrive/modeld/transforms/transform.cc
+++ b/selfdrive/modeld/transforms/transform.cc
@@ -1,10 +1,10 @@
-#include <string.h>
-#include <assert.h>
-
-#include "clutil.h"
-
 #include "transform.h"
 
+#include <assert.h>
+#include <string.h>
+
+#include "selfdrive/common/clutil.h"
+
 void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
   memset(s, 0, sizeof(*s));
 
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
index 3bce6f8a..f46096bb 100644
--- a/selfdrive/modeld/transforms/transform.h
+++ b/selfdrive/modeld/transforms/transform.h
@@ -10,7 +10,7 @@
 #include <CL/cl.h>
 #endif
 
-#include "common/mat.h"
+#include "selfdrive/common/mat.h"
 
 typedef struct {
   cl_kernel krnl;
diff --git a/selfdrive/modeld/visiontest.c b/selfdrive/modeld/visiontest.c
index 25a36e4e..fcc35390 100644
--- a/selfdrive/modeld/visiontest.c
+++ b/selfdrive/modeld/visiontest.c
@@ -9,8 +9,8 @@
 #include <CL/cl.h>
 #endif
 
-#include "clutil.h"
-#include "transforms/transform.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/modeld/transforms/transform.h"
 
 typedef struct {
   int disable_model;
diff --git a/selfdrive/proclogd/proclogd.cc b/selfdrive/proclogd/proclogd.cc
index a9b4ac55..af7a6e3f 100644
--- a/selfdrive/proclogd/proclogd.cc
+++ b/selfdrive/proclogd/proclogd.cc
@@ -1,24 +1,22 @@
-#include <unistd.h>
 #include <dirent.h>
-#include <sys/time.h>
 #include <sys/resource.h>
+#include <sys/time.h>
 
+#include <algorithm>
+#include <cassert>
+#include <climits>
 #include <cstdio>
 #include <cstdlib>
-#include <climits>
-#include <cassert>
-#include <memory>
-#include <utility>
-#include <sstream>
 #include <fstream>
-#include <algorithm>
 #include <functional>
+#include <memory>
+#include <sstream>
 #include <unordered_map>
+#include <utility>
 
-#include "messaging.h"
-
-#include "common/timing.h"
-#include "common/util.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 ExitHandler do_exit;
 
diff --git a/selfdrive/sensord/libdiag.h b/selfdrive/sensord/libdiag.h
index ab3ee91b..03a59464 100644
--- a/selfdrive/sensord/libdiag.h
+++ b/selfdrive/sensord/libdiag.h
@@ -1,5 +1,4 @@
-#ifndef LIBDIAG_H
-#define LIBDIAG_H
+#pragma once
 
 #include <stdint.h>
 #include <stdbool.h>
@@ -36,5 +35,3 @@ int diag_send_dci_async_req(int client_id, unsigned char buf[], int bytes, unsig
 #ifdef __cplusplus
 }
 #endif
-
-#endif
diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc
index 5b0fadaf..590fa51e 100644
--- a/selfdrive/sensord/sensors/bmx055_accel.cc
+++ b/selfdrive/sensord/sensors/bmx055_accel.cc
@@ -1,9 +1,9 @@
-#include <cassert>
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "bmx055_accel.h"
 
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
 
 BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
 
diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h
index 085dcbbe..86ec419c 100644
--- a/selfdrive/sensord/sensors/bmx055_accel.h
+++ b/selfdrive/sensord/sensors/bmx055_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_ACCEL_I2C_ADDR       0x18
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc
index 7397d860..c8e9e356 100644
--- a/selfdrive/sensord/sensors/bmx055_gyro.cc
+++ b/selfdrive/sensord/sensors/bmx055_gyro.cc
@@ -1,8 +1,9 @@
+#include "bmx055_gyro.h"
+
 #include <cassert>
 #include <cmath>
-#include "common/swaglog.h"
 
-#include "bmx055_gyro.h"
+#include "selfdrive/common/swaglog.h"
 
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h
index 97efeea1..ed0c16ff 100644
--- a/selfdrive/sensord/sensors/bmx055_gyro.h
+++ b/selfdrive/sensord/sensors/bmx055_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_GYRO_I2C_ADDR        0x68
diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc
index 830865d0..438e5b49 100644
--- a/selfdrive/sensord/sensors/bmx055_magn.cc
+++ b/selfdrive/sensord/sensors/bmx055_magn.cc
@@ -1,12 +1,13 @@
-#include <cassert>
-#include <cstdio>
-#include <algorithm>
+#include "bmx055_magn.h"
+
 #include <unistd.h>
 
-#include "common/swaglog.h"
-#include "common/util.h"
+#include <algorithm>
+#include <cassert>
+#include <cstdio>
 
-#include "bmx055_magn.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 
 static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
   uint16_t process_comp_x0 = data_rhall;
diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h
index 3a0b7b2a..d60fd551 100644
--- a/selfdrive/sensord/sensors/bmx055_magn.h
+++ b/selfdrive/sensord/sensors/bmx055_magn.h
@@ -1,7 +1,7 @@
 #pragma once
 #include <tuple>
 
-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_MAGN_I2C_ADDR        0x10
diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc
index 520c4f68..b5cb893a 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.cc
+++ b/selfdrive/sensord/sensors/bmx055_temp.cc
@@ -1,10 +1,10 @@
-#include <cassert>
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "bmx055_temp.h"
-#include "bmx055_accel.h"
 
+#include <cassert>
+
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
 
 BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
 
diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/selfdrive/sensord/sensors/bmx055_temp.h
index c0fbf319..5ffaa8fb 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.h
+++ b/selfdrive/sensord/sensors/bmx055_temp.h
@@ -1,8 +1,7 @@
 #pragma once
 
-#include "sensors/i2c_sensor.h"
-#include "sensors/bmx055_accel.h"
-
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 class BMX055_Temp : public I2CSensor {
   uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc
index 869b8630..a0ec1d71 100644
--- a/selfdrive/sensord/sensors/file_sensor.cc
+++ b/selfdrive/sensord/sensors/file_sensor.cc
@@ -1,8 +1,8 @@
+#include "file_sensor.h"
+
 #include <iostream>
 #include <string>
 
-#include "file_sensor.h"
-
 FileSensor::FileSensor(std::string filename) : file(filename) {
 }
 
diff --git a/selfdrive/sensord/sensors/file_sensor.h b/selfdrive/sensord/sensors/file_sensor.h
index 34bf4b15..c5b4643e 100644
--- a/selfdrive/sensord/sensors/file_sensor.h
+++ b/selfdrive/sensord/sensors/file_sensor.h
@@ -4,8 +4,7 @@
 #include <string>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "sensors/sensor.h"
-
+#include "selfdrive/sensord/sensors/sensor.h"
 
 class FileSensor : public Sensor {
 protected:
diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/selfdrive/sensord/sensors/i2c_sensor.cc
index dcd6c5f6..64a970c5 100644
--- a/selfdrive/sensord/sensors/i2c_sensor.cc
+++ b/selfdrive/sensord/sensors/i2c_sensor.cc
@@ -1,6 +1,7 @@
-#include <iostream>
 #include "i2c_sensor.h"
 
+#include <iostream>
+
 int16_t read_12_bit(uint8_t lsb, uint8_t msb){
   uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
   return int16_t(combined) / (1 << 4);
diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h
index d1300370..98e2e2f8 100644
--- a/selfdrive/sensord/sensors/i2c_sensor.h
+++ b/selfdrive/sensord/sensors/i2c_sensor.h
@@ -1,10 +1,11 @@
 #pragma once
 
 #include <cstdint>
+
 #include "cereal/gen/cpp/log.capnp.h"
-#include "common/i2c.h"
-#include "sensors/sensor.h"
-#include "sensors/constants.h"
+#include "selfdrive/common/i2c.h"
+#include "selfdrive/sensord/sensors/constants.h"
+#include "selfdrive/sensord/sensors/sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb);
 int16_t read_16_bit(uint8_t lsb, uint8_t msb);
diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc
index 34b29939..80930e07 100644
--- a/selfdrive/sensord/sensors/light_sensor.cc
+++ b/selfdrive/sensord/sensors/light_sensor.cc
@@ -1,10 +1,10 @@
+#include "light_sensor.h"
+
 #include <iostream>
 #include <string>
 
-#include "common/timing.h"
-
-#include "light_sensor.h"
-#include "constants.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/sensord/sensors/constants.h"
 
 void LightSensor::get_event(cereal::SensorEventData::Builder &event){
   uint64_t start_time = nanos_since_boot();
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
index 9674d247..27b882a4 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
@@ -1,9 +1,9 @@
-#include <cassert>
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "lsm6ds3_accel.h"
 
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
 
 LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {}
 
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/selfdrive/sensord/sensors/lsm6ds3_accel.h
index 62f5087c..e5a949d4 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.h
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_ACCEL_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
index a04138b6..d38335eb 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
@@ -1,9 +1,10 @@
+#include "lsm6ds3_gyro.h"
+
 #include <cassert>
 #include <cmath>
-#include "common/swaglog.h"
-#include "common/timing.h"
 
-#include "lsm6ds3_gyro.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
 
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/selfdrive/sensord/sensors/lsm6ds3_gyro.h
index 89047421..cb8595e7 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_GYRO_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
index 32935cfb..3b9e90f5 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
@@ -1,9 +1,9 @@
-#include <cassert>
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "lsm6ds3_temp.h"
 
+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
 
 LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
 
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/selfdrive/sensord/sensors/lsm6ds3_temp.h
index 8bb7b30a..c556631d 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.h
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_TEMP_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors_qcom.cc b/selfdrive/sensord/sensors_qcom.cc
index 42a5cc61..81bb78e8 100644
--- a/selfdrive/sensord/sensors_qcom.cc
+++ b/selfdrive/sensord/sensors_qcom.cc
@@ -1,25 +1,24 @@
-#include <stdio.h>
+#include <assert.h>
+#include <cutils/log.h>
+#include <hardware/sensors.h>
 #include <stdint.h>
+#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <unistd.h>
-#include <assert.h>
-#include <sys/time.h>
 #include <sys/cdefs.h>
-#include <sys/types.h>
 #include <sys/resource.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <utils/Timers.h>
 
 #include <map>
 #include <set>
 
-#include <cutils/log.h>
-#include <hardware/sensors.h>
-#include <utils/Timers.h>
-
-#include "messaging.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "common/swaglog.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 
 // ACCELEROMETER_UNCALIBRATED is only in Android O
 // https://developer.android.com/reference/android/hardware/Sensor.html#STRING_TYPE_ACCELEROMETER_UNCALIBRATED
diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc
index 3e5b013c..d0f8cf00 100644
--- a/selfdrive/sensord/sensors_qcom2.cc
+++ b/selfdrive/sensord/sensors_qcom2.cc
@@ -1,27 +1,24 @@
-#include <vector>
-#include <chrono>
-#include <thread>
 #include <sys/resource.h>
 
-#include "messaging.h"
-#include "common/i2c.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "common/swaglog.h"
+#include <chrono>
+#include <thread>
+#include <vector>
 
-#include "sensors/sensor.h"
-#include "sensors/constants.h"
-
-#include "sensors/bmx055_accel.h"
-#include "sensors/bmx055_gyro.h"
-#include "sensors/bmx055_magn.h"
-#include "sensors/bmx055_temp.h"
-
-#include "sensors/lsm6ds3_accel.h"
-#include "sensors/lsm6ds3_gyro.h"
-#include "sensors/lsm6ds3_temp.h"
-
-#include "sensors/light_sensor.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/i2c.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/sensord/sensors/bmx055_gyro.h"
+#include "selfdrive/sensord/sensors/bmx055_magn.h"
+#include "selfdrive/sensord/sensors/bmx055_temp.h"
+#include "selfdrive/sensord/sensors/constants.h"
+#include "selfdrive/sensord/sensors/light_sensor.h"
+#include "selfdrive/sensord/sensors/lsm6ds3_accel.h"
+#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h"
+#include "selfdrive/sensord/sensors/lsm6ds3_temp.h"
+#include "selfdrive/sensord/sensors/sensor.h"
 
 #define I2C_BUS_IMU 1
 
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 3158fe87..325c50b7 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -63,8 +63,8 @@ if arch == 'x86_64' and os.path.exists(Dir("#tools/").get_abspath()):
   qt_env['CPPPATH'] += ["#tools/clib"]
   qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
-  replay_lib_src = ["replay/replay.cc", "replay/Unlogger.cc",
-                    "replay/FileReader.cc", "#tools/clib/FrameReader.cc"]
+  replay_lib_src = ["replay/replay.cc", "replay/unlogger.cc",
+                    "replay/filereader.cc", "#tools/clib/framereader.cc"]
 
   replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
   replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'swscale', 'bz2'] + qt_libs
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 26c59f67..dab8d665 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -1,9 +1,9 @@
 #include <QApplication>
 #include <QSslConfiguration>
 
-#include "qt/window.h"
-#include "qt/qt_window.h"
 #include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/window.h"
 
 int main(int argc, char *argv[]) {
   QSurfaceFormat fmt;
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index b1c6132a..e6a86869 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -1,7 +1,9 @@
+#include "paint.h"
+
 #include <assert.h>
+
 #include <algorithm>
 
-#include "ui.h"
 #ifdef __APPLE__
 #include <OpenGL/gl3.h>
 #define NANOVG_GL3_IMPLEMENTATION
@@ -12,15 +14,16 @@
 #define nvgCreate nvgCreateGLES3
 #endif
 
-#include "common/util.h"
-#include "common/timing.h"
-
 #define NANOVG_GLES3_IMPLEMENTATION
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-#include "paint.h"
+#include <nanovg_gl.h>
+#include <nanovg_gl_utils.h>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
 
+#include "selfdrive/ui/ui.h"
+
 // TODO: this is also hardcoded in common/transformations/camera.py
 // TODO: choose based on frame input size
 const float y_offset = Hardware::TICI() ? 150.0 : 0.0;
diff --git a/selfdrive/ui/paint.h b/selfdrive/ui/paint.h
index a9dc4166..b955a616 100644
--- a/selfdrive/ui/paint.h
+++ b/selfdrive/ui/paint.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "ui.h"
+#include "selfdrive/ui/ui.h"
 
 void ui_draw(UIState *s, int w, int h);
 void ui_draw_image(const UIState *s, const Rect &r, const char *name, float alpha);
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
index 586d0e3c..771af0fc 100644
--- a/selfdrive/ui/qt/api.cc
+++ b/selfdrive/ui/qt/api.cc
@@ -1,3 +1,5 @@
+#include "selfdrive/ui/qt/api.h"
+
 #include <QDateTime>
 #include <QDebug>
 #include <QFile>
@@ -5,14 +7,13 @@
 #include <QJsonObject>
 #include <QNetworkReply>
 #include <QNetworkRequest>
-#include <QString>
-#include <QWidget>
-#include <QTimer>
 #include <QRandomGenerator>
+#include <QString>
+#include <QTimer>
+#include <QWidget>
 
-#include "api.h"
-#include "common/params.h"
-#include "common/util.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 const std::string private_key_path =
diff --git a/selfdrive/ui/qt/api.h b/selfdrive/ui/qt/api.h
index 743c9771..71fd9b86 100644
--- a/selfdrive/ui/qt/api.h
+++ b/selfdrive/ui/qt/api.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include <openssl/bio.h>
+#include <openssl/pem.h>
+#include <openssl/rsa.h>
+
 #include <QCryptographicHash>
 #include <QJsonValue>
 #include <QNetworkReply>
@@ -8,11 +12,7 @@
 #include <QString>
 #include <QVector>
 #include <QWidget>
-
 #include <atomic>
-#include <openssl/bio.h>
-#include <openssl/pem.h>
-#include <openssl/rsa.h>
 
 class CommaApi : public QObject {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index e344ae3b..738804d5 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -1,16 +1,16 @@
+#include "selfdrive/ui/qt/home.h"
+
 #include <QDateTime>
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QVBoxLayout>
 
-#include "common/util.h"
-#include "common/params.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-
-#include "home.h"
-#include "widgets/drive_stats.h"
-#include "widgets/setup.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#include "selfdrive/ui/qt/widgets/setup.h"
 
 // HomeWindow: the container for the offroad and onroad UIs
 
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index f98ef9dd..bac2b2dc 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -7,10 +7,10 @@
 #include <QTimer>
 #include <QWidget>
 
-#include "sidebar.h"
-#include "onroad.h"
-#include "ui/ui.h"
-#include "widgets/offroad_alerts.h"
+#include "selfdrive/ui/qt/onroad.h"
+#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "selfdrive/ui/ui.h"
 
 class OffroadHome : public QFrame {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index be452830..dd3cd5ba 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -1,10 +1,11 @@
+#include "networking.h"
+
 #include <QDebug>
 #include <QHBoxLayout>
 #include <QLabel>
 #include <QPixmap>
 
-#include "networking.h"
-#include "widgets/scrollview.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
 
 void clearLayout(QLayout* layout) {
   while (QLayoutItem* item = layout->takeAt(0)) {
diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h
index 42d09039..9fa1cfe8 100644
--- a/selfdrive/ui/qt/offroad/networking.h
+++ b/selfdrive/ui/qt/offroad/networking.h
@@ -1,15 +1,15 @@
 #pragma once
 
-#include <QWidget>
 #include <QButtonGroup>
-#include <QVBoxLayout>
-#include <QStackedWidget>
 #include <QPushButton>
+#include <QStackedWidget>
+#include <QVBoxLayout>
+#include <QWidget>
 
-#include "wifiManager.h"
-#include "widgets/input.h"
-#include "widgets/ssh_keys.h"
-#include "widgets/toggle.h"
+#include "selfdrive/ui/qt/offroad/wifiManager.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
 
 class WifiUI : public QWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index c6d6166f..8ce48bec 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -1,15 +1,15 @@
+#include "onboarding.h"
+
+#include <QDesktopWidget>
 #include <QLabel>
 #include <QPainter>
-#include <QVBoxLayout>
-#include <QDesktopWidget>
 #include <QQmlContext>
 #include <QQuickWidget>
+#include <QVBoxLayout>
 
-#include "common/params.h"
-#include "onboarding.h"
-#include "home.h"
-#include "util.h"
-
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/qt/home.h"
 
 void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
   QPoint touch = QPoint(e->x(), e->y()) - imageCorner;
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 30bae2ea..987fad33 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include <QWidget>
-#include <QStackedWidget>
-#include <QTextEdit>
+#include <QImage>
 #include <QMouseEvent>
 #include <QPushButton>
-#include <QImage>
+#include <QStackedWidget>
+#include <QTextEdit>
+#include <QWidget>
 
 #include "selfdrive/common/params.h"
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 67561fa7..8907ce3e 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -1,22 +1,23 @@
-#include <string>
+#include "settings.h"
+
+#include <cassert>
 #include <iostream>
 #include <sstream>
-#include <cassert>
+#include <string>
 
 #ifndef QCOM
-#include "networking.h"
+#include "selfdrive/ui/qt/offroad/networking.h"
 #endif
-#include "settings.h"
-#include "widgets/input.h"
-#include "widgets/toggle.h"
-#include "widgets/offroad_alerts.h"
-#include "widgets/scrollview.h"
-#include "widgets/controls.h"
-#include "widgets/ssh_keys.h"
-#include "common/params.h"
-#include "common/util.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-#include "ui.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
+#include "selfdrive/ui/ui.h"
 
 TogglesPanel::TogglesPanel(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *toggles_list = new QVBoxLayout();
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 1b5e78ba..09a907c8 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -1,13 +1,13 @@
 #pragma once
 
-#include <QWidget>
+#include <QButtonGroup>
 #include <QFrame>
-#include <QTimer>
 #include <QLabel>
 #include <QPushButton>
-#include <QButtonGroup>
 #include <QScrollArea>
 #include <QStackedWidget>
+#include <QTimer>
+#include <QWidget>
 
 #include "selfdrive/ui/qt/widgets/controls.h"
 
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index f704bbac..d7ff5bdd 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -1,12 +1,14 @@
-#include <algorithm>
-#include <set>
-#include <stdlib.h>
-#include <iostream>
-
-#include "common/params.h"
-#include "common/swaglog.h"
 #include "wifiManager.h"
 
+#include <stdlib.h>
+
+#include <algorithm>
+#include <iostream>
+#include <set>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+
 /**
  * We are using a NetworkManager DBUS API : https://developer.gnome.org/NetworkManager/1.26/spec.html
  * */
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 83582e2c..f457d6c3 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -1,8 +1,9 @@
+#include "selfdrive/ui/qt/onroad.h"
+
 #include <iostream>
 
-#include "selfdrive/common/timing.h"
 #include "selfdrive/common/swaglog.h"
-#include "selfdrive/ui/qt/onroad.h"
+#include "selfdrive/common/timing.h"
 #include "selfdrive/ui/paint.h"
 #include "selfdrive/ui/qt/qt_window.h"
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 05de8a49..e81e61b6 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -1,4 +1,5 @@
 #pragma once
+
 #include <map>
 
 #include <QSoundEffect>
@@ -8,7 +9,6 @@
 #include "selfdrive/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
-
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 // ***** onroad widgets *****
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
index 8212cf79..295ab083 100644
--- a/selfdrive/ui/qt/qt_window.h
+++ b/selfdrive/ui/qt/qt_window.h
@@ -1,14 +1,18 @@
+#pragma once
+
 #include <string>
 
-#include <QWidget>
 #include <QApplication>
-#include "selfdrive/hardware/hw.h"
+#include <QWidget>
+
 #ifdef QCOM2
 #include <qpa/qplatformnativeinterface.h>
-#include <QPlatformSurfaceEvent>
 #include <wayland-client-protocol.h>
+#include <QPlatformSurfaceEvent>
 #endif
 
+#include "selfdrive/hardware/hw.h"
+
 const int vwp_w = Hardware::TICI() ? 2160 : 1920;
 const int vwp_h = 1080;
 
diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h
index ff80300f..c23bbbcf 100644
--- a/selfdrive/ui/qt/request_repeater.h
+++ b/selfdrive/ui/qt/request_repeater.h
@@ -1,5 +1,7 @@
-#include "api.h"
-#include "ui.h"
+#pragma once
+
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/ui.h"
 
 class RequestRepeater : public HttpRequest {
 public:
diff --git a/selfdrive/ui/qt/setup/installer.cc b/selfdrive/ui/qt/setup/installer.cc
index 281f912f..91909a1a 100644
--- a/selfdrive/ui/qt/setup/installer.cc
+++ b/selfdrive/ui/qt/setup/installer.cc
@@ -1,5 +1,6 @@
 #include <time.h>
 #include <unistd.h>
+
 #include <cstdlib>
 #include <fstream>
 #include <iostream>
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
index 4c246fc6..f7c9101c 100644
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -1,16 +1,15 @@
-#include <QLabel>
-#include <QWidget>
-#include <QPushButton>
-#include <QHBoxLayout>
-#include <QVBoxLayout>
 #include <QApplication>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPushButton>
+#include <QVBoxLayout>
+#include <QWidget>
 
-#include "qt_window.h"
+#include "selfdrive/ui/qt/qt_window.h"
 
 #define USERDATA "/dev/disk/by-partlabel/userdata"
 #define NVME "/dev/nvme0n1"
 
-
 bool do_reset() {
   std::vector<const char*> cmds = {
     "sudo umount " NVME,
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index cab18a4c..da5916ec 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -1,17 +1,20 @@
+#include "setup.h"
+
 #include <stdio.h>
 #include <stdlib.h>
-#include <curl/curl.h>
 
+#include <QApplication>
 #include <QLabel>
 #include <QVBoxLayout>
-#include <QApplication>
 
-#include "setup.h"
-#include "offroad/networking.h"
-#include "widgets/input.h"
-#include "qt_window.h"
+#include <curl/curl.h>
+
 #include "selfdrive/hardware/hw.h"
 
+#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt_window.h"
+
 #define USER_AGENT "AGNOSSetup-0.1"
 
 void Setup::download(QString url) {
diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h
index 7ae3dda1..251db56b 100644
--- a/selfdrive/ui/qt/setup/setup.h
+++ b/selfdrive/ui/qt/setup/setup.h
@@ -1,8 +1,8 @@
-#include <QString>
-#include <QWidget>
 #include <QLineEdit>
 #include <QPushButton>
 #include <QStackedWidget>
+#include <QString>
+#include <QWidget>
 
 class Setup : public QStackedWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/setup/wifi.cc b/selfdrive/ui/qt/setup/wifi.cc
index 222379fb..77916141 100644
--- a/selfdrive/ui/qt/setup/wifi.cc
+++ b/selfdrive/ui/qt/setup/wifi.cc
@@ -1,15 +1,16 @@
+#include "wifi.h"
+
+#include <curl/curl.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <curl/curl.h>
 
+#include <QApplication>
 #include <QLabel>
 #include <QVBoxLayout>
-#include <QApplication>
 
-#include "wifi.h"
-#include "offroad/networking.h"
-#include "widgets/input.h"
-#include "qt_window.h"
+#include "selfdrive/ui/qt/offroad/networking.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 void WifiSetup::finish() {
   qApp->exit();
diff --git a/selfdrive/ui/qt/setup/wifi.h b/selfdrive/ui/qt/setup/wifi.h
index bd0af236..faf6dfe4 100644
--- a/selfdrive/ui/qt/setup/wifi.h
+++ b/selfdrive/ui/qt/setup/wifi.h
@@ -1,7 +1,7 @@
-#include <QString>
-#include <QWidget>
 #include <QLineEdit>
 #include <QPushButton>
+#include <QString>
+#include <QWidget>
 
 class WifiSetup : public QWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index c3b8cb2f..5ff0c4a5 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -1,6 +1,7 @@
-#include "common/util.h"
-#include "sidebar.h"
-#include "qt_window.h"
+#include "selfdrive/ui/qt/sidebar.h"
+
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 void configFont(QPainter &p, QString family, int size, int weight) {
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index 6e2c7bb1..b91bd7bc 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -1,16 +1,17 @@
-#include <stdio.h>
-#include <string>
-#include <iostream>
+#include "spinner.h"
 
+#include <stdio.h>
+#include <iostream>
+#include <string>
+
+#include <QApplication>
+#include <QGridLayout>
+#include <QPainter>
 #include <QString>
 #include <QTransform>
-#include <QGridLayout>
-#include <QApplication>
-#include <QPainter>
 
-#include "spinner.h"
-#include "qt_window.h"
 #include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/qt_window.h"
 
 TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
   setFixedSize(spinner_size);
diff --git a/selfdrive/ui/qt/spinner.h b/selfdrive/ui/qt/spinner.h
index bd87ba56..c54aea10 100644
--- a/selfdrive/ui/qt/spinner.h
+++ b/selfdrive/ui/qt/spinner.h
@@ -1,12 +1,12 @@
 #include <array>
 
 #include <QLabel>
-#include <QWidget>
+#include <QOpenGLWidget>
 #include <QPixmap>
 #include <QProgressBar>
 #include <QSocketNotifier>
 #include <QVariantAnimation>
-#include <QOpenGLWidget>
+#include <QWidget>
 
 constexpr int spinner_fps = 30;
 constexpr QSize spinner_size = QSize(360, 360);
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
index 205b94ea..0708b30d 100644
--- a/selfdrive/ui/qt/text.cc
+++ b/selfdrive/ui/qt/text.cc
@@ -1,13 +1,13 @@
-#include <QLabel>
-#include <QWidget>
-#include <QScrollBar>
-#include <QPushButton>
-#include <QVBoxLayout>
 #include <QApplication>
+#include <QLabel>
+#include <QPushButton>
+#include <QScrollBar>
+#include <QVBoxLayout>
+#include <QWidget>
 
-#include "qt_window.h"
 #include "selfdrive/hardware/hw.h"
-#include "widgets/scrollview.h"
+#include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
 
 int main(int argc, char *argv[]) {
   QApplication a(argc, argv);
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 65800718..22e36ea4 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -6,8 +6,8 @@
 #include <QPushButton>
 #include <QVBoxLayout>
 
-#include "common/params.h"
-#include "toggle.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
 
 QFrame *horizontal_line(QWidget *parent = nullptr);
 
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
index 65064ea1..1395c150 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.cc
+++ b/selfdrive/ui/qt/widgets/drive_stats.cc
@@ -1,11 +1,12 @@
+#include "drive_stats.h"
+
 #include <QDebug>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QVBoxLayout>
 
-#include "common/params.h"
-#include "drive_stats.h"
-#include "request_repeater.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/request_repeater.h"
 
 const double MILE_TO_KM = 1.60934;
 
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 9c18e13d..4e9d2e66 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -1,7 +1,8 @@
+#include "input.h"
+
 #include <QPushButton>
 
-#include "input.h"
-#include "qt_window.h"
+#include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/hardware/hw.h"
 
 InputDialog::InputDialog(const QString &prompt_text, QWidget *parent) : QDialog(parent) {
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 9dab208a..4ffd0a9b 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -1,13 +1,13 @@
 #pragma once
 
-#include <QLabel>
-#include <QString>
-#include <QWidget>
 #include <QDialog>
+#include <QLabel>
 #include <QLineEdit>
+#include <QString>
 #include <QVBoxLayout>
+#include <QWidget>
 
-#include "keyboard.h"
+#include "selfdrive/ui/qt/widgets/keyboard.h"
 
 class InputDialog : public QDialog {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc
index ba2000eb..6613897b 100644
--- a/selfdrive/ui/qt/widgets/keyboard.cc
+++ b/selfdrive/ui/qt/widgets/keyboard.cc
@@ -1,11 +1,11 @@
+#include "keyboard.h"
+
+#include <QButtonGroup>
 #include <QDebug>
-#include <QVBoxLayout>
 #include <QHBoxLayout>
 #include <QPushButton>
-#include <QButtonGroup>
 #include <QStackedLayout>
-
-#include "keyboard.h"
+#include <QVBoxLayout>
 
 const int DEFAULT_STRETCH = 1;
 const int SPACEBAR_STRETCH = 3;
diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h
index 5ff50382..c89f4fc6 100644
--- a/selfdrive/ui/qt/widgets/keyboard.h
+++ b/selfdrive/ui/qt/widgets/keyboard.h
@@ -2,12 +2,11 @@
 
 #include <vector>
 
+#include <QAbstractButton>
 #include <QFrame>
+#include <QStackedLayout>
 #include <QString>
 #include <QWidget>
-#include <QStackedLayout>
-#include <QAbstractButton>
-
 class KeyboardLayout : public QWidget {
   Q_OBJECT
 
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index a67918e1..554ba6c2 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -1,11 +1,12 @@
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QJsonObject>
-#include <QJsonDocument>
-
 #include "offroad_alerts.h"
-#include "selfdrive/hardware/hw.h"
+
+#include <QHBoxLayout>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QVBoxLayout>
+
 #include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
 
 OffroadAlert::OffroadAlert(QWidget* parent) : QFrame(parent) {
   QVBoxLayout *layout = new QVBoxLayout;
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h
index 871f7197..88a69c8d 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.h
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.h
@@ -1,13 +1,14 @@
 #pragma once
+
 #include <map>
 
 #include <QFrame>
-#include <QPushButton>
 #include <QLabel>
+#include <QPushButton>
 #include <QVBoxLayout>
 
-#include "common/params.h"
-#include "widgets/scrollview.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
 
 class OffroadAlert : public QFrame {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
index e3abae44..31be17c7 100644
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -1,6 +1,7 @@
-#include <QScrollBar>
 #include "scrollview.h"
 
+#include <QScrollBar>
+
 ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent){
   setWidget(w);
   setWidgetResizable(true);
diff --git a/selfdrive/ui/qt/widgets/scrollview.h b/selfdrive/ui/qt/widgets/scrollview.h
index 54887aef..aaec224e 100644
--- a/selfdrive/ui/qt/widgets/scrollview.h
+++ b/selfdrive/ui/qt/widgets/scrollview.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include <QScroller>
 #include <QScrollArea>
+#include <QScroller>
 
 class ScrollView : public QScrollArea {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/widgets/setup.cc b/selfdrive/ui/qt/widgets/setup.cc
index c15301f5..07824d60 100644
--- a/selfdrive/ui/qt/widgets/setup.cc
+++ b/selfdrive/ui/qt/widgets/setup.cc
@@ -1,3 +1,5 @@
+#include "setup.h"
+
 #include <QDebug>
 #include <QJsonDocument>
 #include <QJsonObject>
@@ -6,11 +8,10 @@
 #include <QStackedWidget>
 #include <QTimer>
 #include <QVBoxLayout>
+#include <QrCode.hpp>
 
-#include "QrCode.hpp"
-#include "request_repeater.h"
-#include "common/params.h"
-#include "setup.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/request_repeater.h"
 
 using qrcodegen::QrCode;
 
diff --git a/selfdrive/ui/qt/widgets/setup.h b/selfdrive/ui/qt/widgets/setup.h
index 83a41530..ad6e0dc8 100644
--- a/selfdrive/ui/qt/widgets/setup.h
+++ b/selfdrive/ui/qt/widgets/setup.h
@@ -5,7 +5,7 @@
 #include <QVBoxLayout>
 #include <QWidget>
 
-#include "api.h"
+#include "selfdrive/ui/qt/api.h"
 
 class PairingQRWidget : public QWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 9c6ec5f3..d180d558 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -1,9 +1,11 @@
-#include <QHBoxLayout>
-#include "widgets/input.h"
-#include "widgets/ssh_keys.h"
-#include "api.h"
-#include "common/params.h"
+#include "ssh_keys.h"
 
+#include <QHBoxLayout>
+#include <QNetworkReply>
+
+#include "selfdrive/common/params.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 SshControl::SshControl() : AbstractControl("SSH Keys", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.", "") {
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 6ea56e7d..aaa7f80d 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -2,8 +2,8 @@
 
 #include <QPushButton>
 
-#include "widgets/controls.h"
 #include "selfdrive/hardware/hw.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
 
 // SSH enable toggle
 class SshToggle : public ToggleControl {
diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h
index 8d9c779d..d2773f20 100644
--- a/selfdrive/ui/qt/widgets/toggle.h
+++ b/selfdrive/ui/qt/widgets/toggle.h
@@ -1,4 +1,5 @@
 #pragma once
+
 #include <QtWidgets>
 
 class Toggle : public QAbstractButton {
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 52b9be16..864dabf1 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -1,4 +1,5 @@
 #include "window.h"
+
 #include "selfdrive/hardware/hw.h"
 
 MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index a079e1a6..9d3a2a89 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -1,12 +1,12 @@
 #pragma once
 
-#include <QWidget>
 #include <QStackedLayout>
+#include <QWidget>
 
-#include "offroad/settings.h"
-#include "offroad/onboarding.h"
-#include "home.h"
-#include "../ui.h"
+#include "selfdrive/ui/qt/home.h"
+#include "selfdrive/ui/qt/offroad/onboarding.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/ui.h"
 
 class MainWindow : public QWidget {
   Q_OBJECT
diff --git a/selfdrive/ui/replay/FileReader.cc b/selfdrive/ui/replay/filereader.cc
similarity index 97%
rename from selfdrive/ui/replay/FileReader.cc
rename to selfdrive/ui/replay/filereader.cc
index e5963fda..9b564bfe 100644
--- a/selfdrive/ui/replay/FileReader.cc
+++ b/selfdrive/ui/replay/filereader.cc
@@ -1,8 +1,9 @@
-#include "FileReader.h"
-#include "FrameReader.h"
+#include "selfdrive/ui/replay/filereader.h"
 
 #include <QtNetwork>
 
+#include "tools/clib/framereader.h"
+
 FileReader::FileReader(const QString& file_) : file(file_) {
 }
 
diff --git a/selfdrive/ui/replay/FileReader.h b/selfdrive/ui/replay/filereader.h
similarity index 97%
rename from selfdrive/ui/replay/FileReader.h
rename to selfdrive/ui/replay/filereader.h
index 30602530..d1d49018 100644
--- a/selfdrive/ui/replay/FileReader.h
+++ b/selfdrive/ui/replay/filereader.h
@@ -1,22 +1,21 @@
 #pragma once
 
-#include <QString>
-#include <QNetworkAccessManager>
-#include <QWidget>
-#include <QVector>
-#include <QMultiMap>
+#include <thread>
+
 #include <QElapsedTimer>
+#include <QMultiMap>
+#include <QNetworkAccessManager>
 #include <QReadWriteLock>
+#include <QString>
+#include <QVector>
+#include <QWidget>
 
 #include <bzlib.h>
-
-#include <kj/io.h>
 #include <capnp/serialize.h>
-
+#include <kj/io.h>
 #include "cereal/gen/cpp/log.capnp.h"
 
-#include <thread>
-#include "channel.h"
+#include "tools/clib/channel.h"
 
 class FileReader : public QObject {
   Q_OBJECT
diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc
index 88615806..4a4f76d3 100644
--- a/selfdrive/ui/replay/main.cc
+++ b/selfdrive/ui/replay/main.cc
@@ -1,6 +1,6 @@
 #include <QApplication>
 
-#include "replay.h"
+#include "selfdrive/ui/replay/replay.h"
 
 int main(int argc, char *argv[]){
   QApplication a(argc, argv);
diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h
index d2a68746..5fd88f0b 100644
--- a/selfdrive/ui/replay/replay.h
+++ b/selfdrive/ui/replay/replay.h
@@ -1,20 +1,19 @@
 #pragma once
 
 #include <QFile>
-#include <QQueue>
 #include <QJsonArray>
-#include <QJsonObject>
 #include <QJsonDocument>
+#include <QJsonObject>
+#include <QQueue>
 
 #include <capnp/dynamic.h>
 
-#include "qt/api.h"
-#include "Unlogger.h"
-#include "FileReader.h"
-#include "FrameReader.h"
-#include "visionipc_server.h"
-
-#include "common/util.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/ui/qt/api.h"
+#include "selfdrive/ui/replay/filereader.h"
+#include "selfdrive/ui/replay/unlogger.h"
+#include "tools/clib/framereader.h"
 
 class Replay : public QObject {
   Q_OBJECT
diff --git a/selfdrive/ui/replay/Unlogger.cc b/selfdrive/ui/replay/unlogger.cc
similarity index 98%
rename from selfdrive/ui/replay/Unlogger.cc
rename to selfdrive/ui/replay/unlogger.cc
index 9ee0fa2b..01ce43b2 100644
--- a/selfdrive/ui/replay/Unlogger.cc
+++ b/selfdrive/ui/replay/unlogger.cc
@@ -1,21 +1,21 @@
+#include "selfdrive/ui/replay/unlogger.h"
+
 #include <cmath>
 #include <string>
 #include <vector>
-#include <capnp/dynamic.h>
-#include <capnp/schema.h>
-
-// include the dynamic struct
-#include "cereal/gen/cpp/log.capnp.c++"
-#include "cereal/gen/cpp/car.capnp.c++"
-#include "cereal/gen/cpp/legacy.capnp.c++"
-#include "cereal/services.h"
-
-#include "Unlogger.h"
 
 #include <stdint.h>
 #include <time.h>
 
-#include "common/timing.h"
+// include the dynamic struct
+#include <capnp/dynamic.h>
+#include <capnp/schema.h>
+
+#include "cereal/gen/cpp/car.capnp.c++"
+#include "cereal/gen/cpp/legacy.capnp.c++"
+#include "cereal/gen/cpp/log.capnp.c++"
+#include "cereal/services.h"
+#include "selfdrive/common/timing.h"
 
 Unlogger::Unlogger(Events *events_, QReadWriteLock* events_lock_, QMap<int, FrameReader*> *frs_, int seek)
   : events(events_), events_lock(events_lock_), frs(frs_) {
diff --git a/selfdrive/ui/replay/Unlogger.h b/selfdrive/ui/replay/unlogger.h
similarity index 82%
rename from selfdrive/ui/replay/Unlogger.h
rename to selfdrive/ui/replay/unlogger.h
index ef207f61..d3e98076 100644
--- a/selfdrive/ui/replay/Unlogger.h
+++ b/selfdrive/ui/replay/unlogger.h
@@ -1,12 +1,13 @@
 #pragma once
 
-#include <QThread>
 #include <QReadWriteLock>
-#include "clutil.h"
-#include "messaging.h"
-#include "FileReader.h"
-#include "FrameReader.h"
-#include "visionipc_server.h"
+#include <QThread>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/ui/replay/filereader.h"
+#include "tools/clib/framereader.h"
 
 class Unlogger : public QObject {
 Q_OBJECT
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3bd59fba..1933d8f5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1,17 +1,19 @@
-#include <iostream>
-#include <stdio.h>
-#include <cmath>
-#include <unistd.h>
-#include <assert.h>
+#include "selfdrive/ui/ui.h"
 
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "common/visionimg.h"
-#include "common/watchdog.h"
+#include <assert.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <cmath>
+#include <iostream>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/visionimg.h"
+#include "selfdrive/common/watchdog.h"
 #include "selfdrive/hardware/hw.h"
-#include "ui.h"
-#include "paint.h"
-#include "qt_window.h"
+#include "selfdrive/ui/paint.h"
+#include "selfdrive/ui/qt/qt_window.h"
 
 #define BACKLIGHT_DT 0.25
 #define BACKLIGHT_TS 2.00
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 3c31540c..9c20d202 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -3,26 +3,26 @@
 #include <atomic>
 #include <map>
 #include <memory>
-#include <string>
 #include <sstream>
-
-#include "nanovg.h"
-
-#include "camerad/cameras/camera_common.h"
-#include "common/mat.h"
-#include "common/visionimg.h"
-#include "common/modeldata.h"
-#include "common/params.h"
-#include "common/glutil.h"
-#include "common/util.h"
-#include "common/transformations/orientation.hpp"
-#include "messaging.h"
-#include "visionipc.h"
-#include "visionipc_client.h"
+#include <string>
 
 #include <QObject>
 #include <QTimer>
 
+#include "nanovg.h"
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/transformations/orientation.hpp"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/glutil.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/visionimg.h"
+
 #define COLOR_BLACK nvgRGBA(0, 0, 0, 255)
 #define COLOR_BLACK_ALPHA(x) nvgRGBA(0, 0, 0, x)
 #define COLOR_WHITE nvgRGBA(255, 255, 255, 255)
diff --git a/tools/clib/SConscript b/tools/clib/SConscript
index 460eb224..278df025 100644
--- a/tools/clib/SConscript
+++ b/tools/clib/SConscript
@@ -4,5 +4,5 @@ env['CPPPATH'] += [get_paths()['include']]
 
 from Cython.Build import cythonize
 cythonize("cframereader.pyx")
-env.SharedLibrary(File('cframereader.so'), ['cframereader.cpp', 'FrameReader.cc'], LIBS=['avformat', 'avcodec', 'avutil', 'swscale'])
+env.SharedLibrary(File('cframereader.so'), ['cframereader.cpp', 'framereader.cc'], LIBS=['avformat', 'avcodec', 'avutil', 'swscale'])
 
diff --git a/tools/clib/cframereader.pyx b/tools/clib/cframereader.pyx
index cdbd65da..ecf5057b 100644
--- a/tools/clib/cframereader.pyx
+++ b/tools/clib/cframereader.pyx
@@ -1,7 +1,7 @@
 # distutils: language = c++
 # cython: language_level=3
 
-cdef extern from "FrameReader.h":
+cdef extern from "framereader.h":
   cdef cppclass CFrameReader "FrameReader":
     CFrameReader(const char *)
     char *get(int)
diff --git a/tools/clib/FrameReader.cc b/tools/clib/framereader.cc
similarity index 99%
rename from tools/clib/FrameReader.cc
rename to tools/clib/framereader.cc
index ef0e241c..4b5af446 100644
--- a/tools/clib/FrameReader.cc
+++ b/tools/clib/framereader.cc
@@ -1,4 +1,5 @@
-#include "FrameReader.h"
+#include "tools/clib/framereader.h"
+
 #include <assert.h>
 #include <unistd.h>
 
diff --git a/tools/clib/FrameReader.h b/tools/clib/framereader.h
similarity index 97%
rename from tools/clib/FrameReader.h
rename to tools/clib/framereader.h
index 40af60e5..e5870c25 100644
--- a/tools/clib/FrameReader.h
+++ b/tools/clib/framereader.h
@@ -9,7 +9,7 @@
 #include <list>
 #include <condition_variable>
 
-#include "channel.h"
+#include "tools/clib/channel.h"
 
 // independent of QT, needs ffmpeg
 extern "C" {