diff --git a/src/drivers/pwm_out/CMakeLists.txt b/src/drivers/pwm_out/CMakeLists.txt
index b377447045..017865fdb4 100644
--- a/src/drivers/pwm_out/CMakeLists.txt
+++ b/src/drivers/pwm_out/CMakeLists.txt
@@ -37,10 +37,6 @@ px4_add_module(
 	SRCS
 		PWMOut.cpp
 		PWMOut.hpp
-	MODULE_CONFIG
-		pwm_main_params.yaml
-		pwm_aux_params.yaml
-		pwm_extra_params.yaml
 	DEPENDS
 		arch_io_pins
 		mixer
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index b844cda724..472e62f50b 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -58,6 +58,7 @@ add_subdirectory(motion_planning)
 add_subdirectory(output_limit)
 add_subdirectory(perf)
 add_subdirectory(pid)
+add_subdirectory(pwm)
 add_subdirectory(rc)
 add_subdirectory(sensor_calibration)
 add_subdirectory(slew_rate)
diff --git a/src/lib/pwm/CMakeLists.txt b/src/lib/pwm/CMakeLists.txt
new file mode 100644
index 0000000000..cde11992f1
--- /dev/null
+++ b/src/lib/pwm/CMakeLists.txt
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_main_params.yaml)
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_aux_params.yaml)
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_extra_params.yaml)
diff --git a/src/drivers/pwm_out/pwm_aux_params.yaml b/src/lib/pwm/pwm_aux_params.yaml
similarity index 100%
rename from src/drivers/pwm_out/pwm_aux_params.yaml
rename to src/lib/pwm/pwm_aux_params.yaml
diff --git a/src/drivers/pwm_out/pwm_extra_params.yaml b/src/lib/pwm/pwm_extra_params.yaml
similarity index 100%
rename from src/drivers/pwm_out/pwm_extra_params.yaml
rename to src/lib/pwm/pwm_extra_params.yaml
diff --git a/src/drivers/pwm_out/pwm_main_params.yaml b/src/lib/pwm/pwm_main_params.yaml
similarity index 100%
rename from src/drivers/pwm_out/pwm_main_params.yaml
rename to src/lib/pwm/pwm_main_params.yaml