diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index c8ab9307f26..e1fbb386763 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -392,6 +392,7 @@ INCLUDEPATH += \
     src/ui/toolbar \
     src/ui/uas \
     src/Viewer3D \
+    src/Utilities
 
 #
 # Plugin API
@@ -440,9 +441,9 @@ HEADERS += \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
     src/Joystick/JoystickMavCommand.h \
-    src/JsonHelper.h \
-    src/KMLDomDocument.h \
-    src/KMLHelper.h \
+    src/Utilities/JsonHelper.h \
+    src/MissionManager/KMLDomDocument.h \
+    src/MissionManager/KMLHelper.h \
     src/MissionManager/CameraCalc.h \
     src/MissionManager/CameraSection.h \
     src/MissionManager/CameraSpec.h \
@@ -495,16 +496,16 @@ HEADERS += \
     src/Geo/MGRS.hpp \
     src/Geo/TransverseMercator.hpp \
     src/Geo/PolarStereographic.hpp \
-    src/QGC.h \
+    src/Utilities/QGC.h \
     src/QGCApplication.h \
-    src/QGCCachedFileDownload.h \
+    src/Utilities/QGCCachedFileDownload.h \
     src/QGCConfig.h \
-    src/QGCFileDownload.h \
-    src/QGCLoggingCategory.h \
-    src/QGCMapPalette.h \
-    src/QGCPalette.h \
-    src/QGCQGeoCoordinate.h \
-    src/QGCTemporaryFile.h \
+    src/Utilities/QGCFileDownload.h \
+    src/Utilities/QGCLoggingCategory.h \
+    src/QmlControls/QGCMapPalette.h \
+    src/QmlControls/QGCPalette.h \
+    src/Utilities/QGCQGeoCoordinate.h \
+    src/Utilities/QGCTemporaryFile.h \
     src/QGCToolbox.h \
     src/QmlControls/AppMessages.h \
     src/QmlControls/EditPositionDialogController.h \
@@ -543,10 +544,10 @@ HEADERS += \
     src/Settings/SettingsManager.h \
     src/Settings/UnitsSettings.h \
     src/Settings/VideoSettings.h \
-    src/ShapeFileHelper.h \
-    src/SHPFileHelper.h \
+    src/Utilities/ShapeFileHelper.h \
+    src/Utilities/SHPFileHelper.h \
     src/Terrain/TerrainQuery.h \
-    src/TerrainTile.h \
+    src/Terrain/TerrainTile.h \
     src/Vehicle/Actuators/ActuatorActions.h \
     src/Vehicle/Actuators/Actuators.h \
     src/Vehicle/Actuators/ActuatorOutputs.h \
@@ -607,7 +608,7 @@ HEADERS += \
     src/comm/TCPLink.h \
     src/comm/UDPLink.h \
     src/comm/UdpIODevice.h \
-    src/uas/UASMessageHandler.h \
+    src/Vehicle/UASMessageHandler.h \
     src/AnalyzeView/GeoTagController.h \
     src/AnalyzeView/ExifParser.h \
     src/Viewer3D/CityMapGeometry.h \
@@ -670,13 +671,15 @@ HEADERS += \
 
 iOSBuild {
     OBJECTIVE_SOURCES += \
-        src/MobileScreenMgr.mm \
+        src/Utilities/MobileScreenMgr.mm \
 }
 
 AndroidBuild {
     SOURCES += \
-        src/MobileScreenMgr.cc \
-        src/Joystick/JoystickAndroid.cc \
+        src/Utilities/MobileScreenMgr.cc \
+        src/Joystick/JoystickAndroid.cc
+
+    HEADERS += src/Utilities/MobileScreenMgr.h
 }
 
 SOURCES += \
@@ -700,9 +703,9 @@ SOURCES += \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
     src/Joystick/JoystickMavCommand.cc \
-    src/JsonHelper.cc \
-    src/KMLDomDocument.cc \
-    src/KMLHelper.cc \
+    src/Utilities/JsonHelper.cc \
+    src/MissionManager/KMLDomDocument.cc \
+    src/MissionManager/KMLHelper.cc \
     src/MissionManager/CameraCalc.cc \
     src/MissionManager/CameraSection.cc \
     src/MissionManager/CameraSpec.cc \
@@ -753,15 +756,15 @@ SOURCES += \
     src/Geo/MGRS.cpp \
     src/Geo/TransverseMercator.cpp \
     src/Geo/PolarStereographic.cpp \
-    src/QGC.cc \
+    src/Utilities/QGC.cc \
     src/QGCApplication.cc \
-    src/QGCCachedFileDownload.cc \
-    src/QGCFileDownload.cc \
-    src/QGCLoggingCategory.cc \
-    src/QGCMapPalette.cc \
-    src/QGCPalette.cc \
-    src/QGCQGeoCoordinate.cc \
-    src/QGCTemporaryFile.cc \
+    src/Utilities/QGCCachedFileDownload.cc \
+    src/Utilities/QGCFileDownload.cc \
+    src/Utilities/QGCLoggingCategory.cc \
+    src/QmlControls/QGCMapPalette.cc \
+    src/QmlControls/QGCPalette.cc \
+    src/Utilities/QGCQGeoCoordinate.cc \
+    src/Utilities/QGCTemporaryFile.cc \
     src/QGCToolbox.cc \
     src/QmlControls/AppMessages.cc \
     src/QmlControls/EditPositionDialogController.cc \
@@ -800,10 +803,10 @@ SOURCES += \
     src/Settings/SettingsManager.cc \
     src/Settings/UnitsSettings.cc \
     src/Settings/VideoSettings.cc \
-    src/ShapeFileHelper.cc \
-    src/SHPFileHelper.cc \
+    src/Utilities/ShapeFileHelper.cc \
+    src/Utilities/SHPFileHelper.cc \
     src/Terrain/TerrainQuery.cc \
-    src/TerrainTile.cc\
+    src/Terrain/TerrainTile.cc \
     src/Vehicle/Actuators/ActuatorActions.cc \
     src/Vehicle/Actuators/Actuators.cc \
     src/Vehicle/Actuators/ActuatorOutputs.cc \
@@ -865,7 +868,7 @@ SOURCES += \
     src/comm/UDPLink.cc \
     src/comm/UdpIODevice.cc \
     src/main.cc \
-    src/uas/UASMessageHandler.cc \
+    src/Vehicle/UASMessageHandler.cc \
     src/AnalyzeView/GeoTagController.cc \
     src/AnalyzeView/ExifParser.cc \
     src/Viewer3D/CityMapGeometry.cc \
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 341a69b0a7d..2eb7b740879 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -11,62 +11,20 @@ include_directories(
         ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-#######################################################
-#               Mobile Specific Sources
-#######################################################
-set(EXTRA_SRC)
-
-if (MOBILE)
-    list(APPEND EXTRA_SRC
-            MobileScreenMgr.cc
-            MobileScreenMgr.h
-    )
-endif ()
-
 #######################################################
 #             Source Files
 #######################################################
 qt_add_library(${PROJECT_NAME} STATIC
-        ${EXTRA_SRC}
-
         CmdLineOptParser.cc
         CmdLineOptParser.h
-        JsonHelper.cc
-        JsonHelper.h
-        KMLDomDocument.cc
-        KMLDomDocument.h
-        KMLHelper.cc
-        KMLHelper.h
         main.cc
-        QGC.cc
-        QGC.h
         QGCApplication.cc
         QGCApplication.h
-        QGCCachedFileDownload.cc
-        QGCCachedFileDownload.h
         QGCConfig.h
-        QGCFileDownload.cc
-        QGCFileDownload.h
-        QGCLoggingCategory.cc
-        QGCLoggingCategory.h
-        QGCMapPalette.cc
-        QGCMapPalette.h
-        QGCPalette.cc
-        QGCPalette.h
-        QGCQGeoCoordinate.cc
-        QGCQGeoCoordinate.h
-        QGCTemporaryFile.cc
-        QGCTemporaryFile.h
         QGCToolbox.cc
         QGCToolbox.h
         RunGuard.cc
         RunGuard.h
-        ShapeFileHelper.cc
-        ShapeFileHelper.h
-        SHPFileHelper.cc
-        SHPFileHelper.h
-        TerrainTile.cc
-        TerrainTile.h
 )
 
 target_precompile_headers(${PROJECT_NAME} PRIVATE pch.h)
@@ -103,7 +61,7 @@ if (NOT ${QGC_AIRLINK_DISABLED})
     add_subdirectory(AirLink)
 endif()
 add_subdirectory(Terrain)
-add_subdirectory(uas)
+add_subdirectory(Utilities)
 add_subdirectory(UTMSP)
 add_subdirectory(Vehicle)
 add_subdirectory(VehicleSetup)
@@ -116,7 +74,6 @@ add_subdirectory(Viewer3D)
 #######################################################
 target_link_libraries(${PROJECT_NAME}
         PRIVATE
-            shp
             Qt6::QuickControls2
         PUBLIC
             Qt6::QuickWidgets
@@ -145,7 +102,7 @@ target_link_libraries(${PROJECT_NAME}
             QGCLocation
             Settings
             Terrain
-            uas
+            Utilities
             UTMSP
             Vehicle
             VehicleSetup
@@ -162,5 +119,4 @@ endif()
 target_include_directories(${PROJECT_NAME}
     PUBLIC
         ${CMAKE_CURRENT_SOURCE_DIR}
-        ${CMAKE_SOURCE_DIR}/libs/shapelib
 )
diff --git a/src/MissionManager/CMakeLists.txt b/src/MissionManager/CMakeLists.txt
index e429ff884e7..f0488927e2b 100644
--- a/src/MissionManager/CMakeLists.txt
+++ b/src/MissionManager/CMakeLists.txt
@@ -20,6 +20,10 @@ qt_add_library(MissionManager STATIC
 	GeoFenceController.h
 	GeoFenceManager.cc
 	GeoFenceManager.h
+    KMLDomDocument.cc
+    KMLDomDocument.h
+    KMLHelper.cc
+    KMLHelper.h
 	KMLPlanDomDocument.cc
 	KMLPlanDomDocument.h
 	LandingComplexItem.cc
@@ -83,8 +87,6 @@ qt_add_library(MissionManager STATIC
 	VisualMissionItem.h
 	VTOLLandingComplexItem.cc
 	VTOLLandingComplexItem.h
-
-	Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC
 )
 
 add_custom_Target(MisionManagerQml
@@ -101,4 +103,7 @@ target_link_libraries(MissionManager
 		qgc
 )
 
-target_include_directories(MissionManager INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
+target_include_directories(MissionManager
+	PUBLIC
+		${CMAKE_CURRENT_SOURCE_DIR}
+)
diff --git a/src/KMLDomDocument.cc b/src/MissionManager/KMLDomDocument.cc
similarity index 100%
rename from src/KMLDomDocument.cc
rename to src/MissionManager/KMLDomDocument.cc
diff --git a/src/KMLDomDocument.h b/src/MissionManager/KMLDomDocument.h
similarity index 100%
rename from src/KMLDomDocument.h
rename to src/MissionManager/KMLDomDocument.h
diff --git a/src/KMLHelper.cc b/src/MissionManager/KMLHelper.cc
similarity index 100%
rename from src/KMLHelper.cc
rename to src/MissionManager/KMLHelper.cc
diff --git a/src/KMLHelper.h b/src/MissionManager/KMLHelper.h
similarity index 100%
rename from src/KMLHelper.h
rename to src/MissionManager/KMLHelper.h
diff --git a/src/PositionManager/CMakeLists.txt b/src/PositionManager/CMakeLists.txt
index 216792fff8a..7d616046ade 100644
--- a/src/PositionManager/CMakeLists.txt
+++ b/src/PositionManager/CMakeLists.txt
@@ -1,7 +1,9 @@
 
 qt_add_library(PositionManager STATIC
 	PositionManager.cpp
+	PositionManager.h
 	SimulatedPosition.cc
+	SimulatedPosition.h
 )
 
 target_link_libraries(PositionManager
diff --git a/src/QmlControls/CMakeLists.txt b/src/QmlControls/CMakeLists.txt
index ecf4a3c647d..39250433461 100644
--- a/src/QmlControls/CMakeLists.txt
+++ b/src/QmlControls/CMakeLists.txt
@@ -11,6 +11,10 @@ qt_add_library(QmlControls STATIC
 	HorizontalFactValueGrid.h
 	InstrumentValueData.cc
 	InstrumentValueData.h
+    QGCMapPalette.cc
+    QGCMapPalette.h
+    QGCPalette.cc
+    QGCPalette.h
 	ParameterEditorController.cc
 	ParameterEditorController.h
 	QGCFileDialogController.cc
diff --git a/src/QGCMapPalette.cc b/src/QmlControls/QGCMapPalette.cc
similarity index 100%
rename from src/QGCMapPalette.cc
rename to src/QmlControls/QGCMapPalette.cc
diff --git a/src/QGCMapPalette.h b/src/QmlControls/QGCMapPalette.h
similarity index 100%
rename from src/QGCMapPalette.h
rename to src/QmlControls/QGCMapPalette.h
diff --git a/src/QGCPalette.cc b/src/QmlControls/QGCPalette.cc
similarity index 100%
rename from src/QGCPalette.cc
rename to src/QmlControls/QGCPalette.cc
diff --git a/src/QGCPalette.h b/src/QmlControls/QGCPalette.h
similarity index 100%
rename from src/QGCPalette.h
rename to src/QmlControls/QGCPalette.h
diff --git a/src/Terrain/CMakeLists.txt b/src/Terrain/CMakeLists.txt
index 108d2c68c32..b3d0549e5f5 100644
--- a/src/Terrain/CMakeLists.txt
+++ b/src/Terrain/CMakeLists.txt
@@ -1,6 +1,9 @@
 
 qt_add_library(Terrain STATIC
 	TerrainQuery.cc
+	TerrainQuery.h
+    TerrainTile.cc
+    TerrainTile.h
 )
 
 target_link_libraries(Terrain
diff --git a/src/TerrainTile.cc b/src/Terrain/TerrainTile.cc
similarity index 100%
rename from src/TerrainTile.cc
rename to src/Terrain/TerrainTile.cc
diff --git a/src/TerrainTile.h b/src/Terrain/TerrainTile.h
similarity index 100%
rename from src/TerrainTile.h
rename to src/Terrain/TerrainTile.h
diff --git a/src/Utilities/CMakeLists.txt b/src/Utilities/CMakeLists.txt
new file mode 100644
index 00000000000..db172255ab1
--- /dev/null
+++ b/src/Utilities/CMakeLists.txt
@@ -0,0 +1,46 @@
+find_package(Qt6 REQUIRED COMPONENTS Core Positioning Qml)
+
+qt_add_library(Utilities STATIC
+    JsonHelper.cc
+    JsonHelper.h
+    QGC.cc
+    QGC.h
+    QGCCachedFileDownload.cc
+	QGCCachedFileDownload.h
+    QGCFileDownload.cc
+    QGCFileDownload.h
+    QGCLoggingCategory.cc
+    QGCLoggingCategory.h
+    QGCQGeoCoordinate.cc
+    QGCQGeoCoordinate.h
+    QGCTemporaryFile.cc
+    QGCTemporaryFile.h
+    ShapeFileHelper.cc
+    ShapeFileHelper.h
+    SHPFileHelper.cc
+    SHPFileHelper.h
+)
+
+if(MOBILE)
+	target_sources(Utilities
+		PRIVATE
+			MobileScreenMgr.cc
+        	MobileScreenMgr.h
+	)
+endif()
+
+target_link_libraries(Utilities
+	PRIVATE
+		Qt6::Qml
+		shp
+	PUBLIC
+		Qt6::Core
+		Qt6::Positioning
+		qgc
+)
+
+target_include_directories(Utilities
+	PUBLIC
+		${CMAKE_CURRENT_SOURCE_DIR}
+        ${CMAKE_SOURCE_DIR}/libs/shapelib
+)
diff --git a/src/JsonHelper.cc b/src/Utilities/JsonHelper.cc
similarity index 100%
rename from src/JsonHelper.cc
rename to src/Utilities/JsonHelper.cc
diff --git a/src/JsonHelper.h b/src/Utilities/JsonHelper.h
similarity index 100%
rename from src/JsonHelper.h
rename to src/Utilities/JsonHelper.h
diff --git a/src/MobileScreenMgr.cc b/src/Utilities/MobileScreenMgr.cc
similarity index 100%
rename from src/MobileScreenMgr.cc
rename to src/Utilities/MobileScreenMgr.cc
diff --git a/src/MobileScreenMgr.h b/src/Utilities/MobileScreenMgr.h
similarity index 100%
rename from src/MobileScreenMgr.h
rename to src/Utilities/MobileScreenMgr.h
diff --git a/src/MobileScreenMgr.mm b/src/Utilities/MobileScreenMgr.mm
similarity index 100%
rename from src/MobileScreenMgr.mm
rename to src/Utilities/MobileScreenMgr.mm
diff --git a/src/QGC.cc b/src/Utilities/QGC.cc
similarity index 100%
rename from src/QGC.cc
rename to src/Utilities/QGC.cc
diff --git a/src/QGC.h b/src/Utilities/QGC.h
similarity index 100%
rename from src/QGC.h
rename to src/Utilities/QGC.h
diff --git a/src/QGCCachedFileDownload.cc b/src/Utilities/QGCCachedFileDownload.cc
similarity index 100%
rename from src/QGCCachedFileDownload.cc
rename to src/Utilities/QGCCachedFileDownload.cc
diff --git a/src/QGCCachedFileDownload.h b/src/Utilities/QGCCachedFileDownload.h
similarity index 100%
rename from src/QGCCachedFileDownload.h
rename to src/Utilities/QGCCachedFileDownload.h
diff --git a/src/QGCFileDownload.cc b/src/Utilities/QGCFileDownload.cc
similarity index 100%
rename from src/QGCFileDownload.cc
rename to src/Utilities/QGCFileDownload.cc
diff --git a/src/QGCFileDownload.h b/src/Utilities/QGCFileDownload.h
similarity index 100%
rename from src/QGCFileDownload.h
rename to src/Utilities/QGCFileDownload.h
diff --git a/src/QGCLoggingCategory.cc b/src/Utilities/QGCLoggingCategory.cc
similarity index 100%
rename from src/QGCLoggingCategory.cc
rename to src/Utilities/QGCLoggingCategory.cc
diff --git a/src/QGCLoggingCategory.h b/src/Utilities/QGCLoggingCategory.h
similarity index 100%
rename from src/QGCLoggingCategory.h
rename to src/Utilities/QGCLoggingCategory.h
diff --git a/src/QGCQGeoCoordinate.cc b/src/Utilities/QGCQGeoCoordinate.cc
similarity index 100%
rename from src/QGCQGeoCoordinate.cc
rename to src/Utilities/QGCQGeoCoordinate.cc
diff --git a/src/QGCQGeoCoordinate.h b/src/Utilities/QGCQGeoCoordinate.h
similarity index 100%
rename from src/QGCQGeoCoordinate.h
rename to src/Utilities/QGCQGeoCoordinate.h
diff --git a/src/QGCTemporaryFile.cc b/src/Utilities/QGCTemporaryFile.cc
similarity index 100%
rename from src/QGCTemporaryFile.cc
rename to src/Utilities/QGCTemporaryFile.cc
diff --git a/src/QGCTemporaryFile.h b/src/Utilities/QGCTemporaryFile.h
similarity index 100%
rename from src/QGCTemporaryFile.h
rename to src/Utilities/QGCTemporaryFile.h
diff --git a/src/SHPFileHelper.cc b/src/Utilities/SHPFileHelper.cc
similarity index 100%
rename from src/SHPFileHelper.cc
rename to src/Utilities/SHPFileHelper.cc
diff --git a/src/SHPFileHelper.h b/src/Utilities/SHPFileHelper.h
similarity index 100%
rename from src/SHPFileHelper.h
rename to src/Utilities/SHPFileHelper.h
diff --git a/src/ShapeFileHelper.cc b/src/Utilities/ShapeFileHelper.cc
similarity index 100%
rename from src/ShapeFileHelper.cc
rename to src/Utilities/ShapeFileHelper.cc
diff --git a/src/ShapeFileHelper.h b/src/Utilities/ShapeFileHelper.h
similarity index 100%
rename from src/ShapeFileHelper.h
rename to src/Utilities/ShapeFileHelper.h
diff --git a/src/Vehicle/CMakeLists.txt b/src/Vehicle/CMakeLists.txt
index d6361176574..582a4f070db 100644
--- a/src/Vehicle/CMakeLists.txt
+++ b/src/Vehicle/CMakeLists.txt
@@ -50,6 +50,8 @@ qt_add_library(Vehicle STATIC
 	TerrainProtocolHandler.h
 	TrajectoryPoints.cc
 	TrajectoryPoints.h
+	UASMessageHandler.cc
+	UASMessageHandler.h
 	VehicleBatteryFactGroup.cc
 	VehicleBatteryFactGroup.h
 	Vehicle.cc
diff --git a/src/uas/UASMessageHandler.cc b/src/Vehicle/UASMessageHandler.cc
similarity index 100%
rename from src/uas/UASMessageHandler.cc
rename to src/Vehicle/UASMessageHandler.cc
diff --git a/src/uas/UASMessageHandler.h b/src/Vehicle/UASMessageHandler.h
similarity index 100%
rename from src/uas/UASMessageHandler.h
rename to src/Vehicle/UASMessageHandler.h
diff --git a/src/VideoReceiver/CMakeLists.txt b/src/VideoReceiver/CMakeLists.txt
index d043b806236..c280e6cdb3e 100644
--- a/src/VideoReceiver/CMakeLists.txt
+++ b/src/VideoReceiver/CMakeLists.txt
@@ -25,6 +25,7 @@ target_link_libraries(VideoReceiver
         Qt6::OpenGL
         Qt6::Quick
         ${EXTRA_LIBRARIES}
+        Utilities
 )
 
 target_include_directories(VideoReceiver INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/uas/CMakeLists.txt b/src/uas/CMakeLists.txt
deleted file mode 100644
index ee50a4dd5c8..00000000000
--- a/src/uas/CMakeLists.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-
-add_library(uas
-	UASMessageHandler.cc
-	UASMessageHandler.h
-)
-
-target_link_libraries(uas
-	PRIVATE
-		qgc
-)
-
-target_include_directories(uas INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
-