diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 5bd9acc200..fedeaa734b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -310,7 +310,7 @@ jobs:
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
diff --git a/Jenkinsfile b/Jenkinsfile
index 279716d7cf..dba1f257d6 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -139,8 +139,8 @@ pipeline {
           steps {
             phone_steps("tici-party", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-              ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
           }
         }
diff --git a/SConstruct b/SConstruct
index b5c4edc99b..b243a4dc45 100644
--- a/SConstruct
+++ b/SConstruct
@@ -94,7 +94,7 @@ if arch == "larch64":
     "/usr/lib/aarch64-linux-gnu"
   ]
   cpppath += [
-    "#selfdrive/camerad/include",
+    "#system/camerad/include",
   ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -379,6 +379,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
 ])
@@ -396,7 +397,6 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 218cd5a7d9..4e1e8a247a 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -28,11 +28,11 @@ selfdrive
 camerad
 ^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_camerad_cameras
+   :project: system_camerad_cameras
 .. autodoxygenindex::
-   :project: selfdrive_camerad_transforms
+   :project: system_camerad_transforms
 .. autodoxygenindex::
-   :project: selfdrive_camerad_imgproc
+   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^
diff --git a/release/files_common b/release/files_common
index e84c668732..ecb71b4e69 100644
--- a/release/files_common
+++ b/release/files_common
@@ -182,6 +182,7 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
+selfdrive/hardware
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -298,24 +299,24 @@ selfdrive/ui/replay/*.h
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
-selfdrive/camerad/SConscript
-selfdrive/camerad/main.cc
+system/camerad/SConscript
+system/camerad/main.cc
 
-selfdrive/camerad/snapshot/*
-selfdrive/camerad/include/*
-selfdrive/camerad/cameras/camera_common.h
-selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/sensor2_i2c.h
+system/camerad/snapshot/*
+system/camerad/include/*
+system/camerad/cameras/camera_common.h
+system/camerad/cameras/camera_common.cc
+system/camerad/cameras/sensor2_i2c.h
 
-selfdrive/camerad/transforms/rgb_to_yuv.cc
-selfdrive/camerad/transforms/rgb_to_yuv.h
-selfdrive/camerad/transforms/rgb_to_yuv.cl
-selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+system/camerad/transforms/rgb_to_yuv.cc
+system/camerad/transforms/rgb_to_yuv.h
+system/camerad/transforms/rgb_to_yuv.cl
+system/camerad/transforms/rgb_to_yuv_test.cc
 
-selfdrive/camerad/imgproc/conv.cl
-selfdrive/camerad/imgproc/pool.cl
-selfdrive/camerad/imgproc/utils.cc
-selfdrive/camerad/imgproc/utils.h
+system/camerad/imgproc/conv.cl
+system/camerad/imgproc/pool.cl
+system/camerad/imgproc/utils.cc
+system/camerad/imgproc/utils.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py
diff --git a/release/files_tici b/release/files_tici
index 485a898799..f8c0a27959 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -7,9 +7,9 @@ system/timezoned.py
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
 
-selfdrive/camerad/cameras/camera_qcom2.cc
-selfdrive/camerad/cameras/camera_qcom2.h
-selfdrive/camerad/cameras/real_debayer.cl
+system/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/real_debayer.cl
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 26220dfa99..b0e138c495 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -493,7 +493,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot():
-  from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
diff --git a/selfdrive/loggerd/encoder/encoder.h b/selfdrive/loggerd/encoder/encoder.h
index 312b68ba19..21ef65cf12 100644
--- a/selfdrive/loggerd/encoder/encoder.h
+++ b/selfdrive/loggerd/encoder/encoder.h
@@ -8,7 +8,7 @@
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "selfdrive/loggerd/video_writer.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #define V4L2_BUF_FLAG_KEYFRAME 8
 
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 7e13e90e63..2c4990086a 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -15,7 +15,7 @@
 #include "cereal/services.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index a9a5c78a7f..7e4029664d 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -18,6 +18,8 @@ def logging(started, params, CP: car.CarParams) -> bool:
   return started and run
 
 procs = [
+  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
+  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
@@ -25,8 +27,6 @@ procs = [
   PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
 
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
-  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
index eff77fc479..1b3e0f112e 100755
--- a/selfdrive/test/process_replay/test_debayer.py
+++ b/selfdrive/test/process_replay/test_debayer.py
@@ -10,7 +10,7 @@ from system.hardware import PC, TICI
 from common.basedir import BASEDIR
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from system.version import get_commit
-from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb
+from system.camerad.snapshot.snapshot import yuv_to_rgb
 from tools.lib.logreader import LogReader
 from tools.lib.filereader import FileReader
 
@@ -62,7 +62,7 @@ def unbzip_frames(url):
 def init_kernels(frame_offset=0):
   ctx = cl.create_some_context(interactive=False)
 
-  with open(os.path.join(BASEDIR, 'selfdrive/camerad/cameras/real_debayer.cl')) as f:
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f:
     build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \
       f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0'
     if PC:
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index ddc3fc253b..42e9043602 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -17,7 +17,7 @@
 #endif
 
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/ui.h"
 
 const int FRAME_BUFFER_SIZE = 5;
diff --git a/selfdrive/ui/replay/logreader.h b/selfdrive/ui/replay/logreader.h
index 7ada20605e..b4a38a5721 100644
--- a/selfdrive/ui/replay/logreader.h
+++ b/selfdrive/ui/replay/logreader.h
@@ -6,7 +6,7 @@
 #endif
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
diff --git a/selfdrive/camerad/SConscript b/system/camerad/SConscript
similarity index 100%
rename from selfdrive/camerad/SConscript
rename to system/camerad/SConscript
diff --git a/selfdrive/camerad/__init__.py b/system/camerad/__init__.py
similarity index 100%
rename from selfdrive/camerad/__init__.py
rename to system/camerad/__init__.py
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
similarity index 98%
rename from selfdrive/camerad/cameras/camera_common.cc
rename to system/camerad/cameras/camera_common.cc
index a94cfedf1a..34dde9389c 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <unistd.h>
 
@@ -10,7 +10,7 @@
 #include "libyuv.h"
 #include <jpeglib.h>
 
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
 #include "common/modeldata.h"
 #include "common/swaglog.h"
@@ -20,9 +20,9 @@
 
 #ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 #else
-#include "selfdrive/camerad/test/camera_test.h"
+#include "system/camerad/test/camera_test.h"
 #endif
 
 ExitHandler do_exit;
diff --git a/selfdrive/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
similarity index 98%
rename from selfdrive/camerad/cameras/camera_common.h
rename to system/camerad/cameras/camera_common.h
index e9c7ccd757..6b483372bb 100644
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -9,7 +9,7 @@
 #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 "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
similarity index 99%
rename from selfdrive/camerad/cameras/camera_qcom2.cc
rename to system/camerad/cameras/camera_qcom2.cc
index c1ffc1275a..f001009b9a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 
 #include <fcntl.h>
 #include <poll.h>
@@ -20,7 +20,7 @@
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 #include "common/swaglog.h"
-#include "selfdrive/camerad/cameras/sensor2_i2c.h"
+#include "system/camerad/cameras/sensor2_i2c.h"
 
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
diff --git a/selfdrive/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
similarity index 98%
rename from selfdrive/camerad/cameras/camera_qcom2.h
rename to system/camerad/cameras/camera_qcom2.h
index 88766a68e9..57fef8d49a 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -6,7 +6,7 @@
 
 #include <media/cam_req_mgr.h>
 
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4
diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
similarity index 100%
rename from selfdrive/camerad/cameras/real_debayer.cl
rename to system/camerad/cameras/real_debayer.cl
diff --git a/selfdrive/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h
similarity index 100%
rename from selfdrive/camerad/cameras/sensor2_i2c.h
rename to system/camerad/cameras/sensor2_i2c.h
diff --git a/selfdrive/camerad/imgproc/conv.cl b/system/camerad/imgproc/conv.cl
similarity index 100%
rename from selfdrive/camerad/imgproc/conv.cl
rename to system/camerad/imgproc/conv.cl
diff --git a/selfdrive/camerad/imgproc/pool.cl b/system/camerad/imgproc/pool.cl
similarity index 100%
rename from selfdrive/camerad/imgproc/pool.cl
rename to system/camerad/imgproc/pool.cl
diff --git a/selfdrive/camerad/imgproc/utils.cc b/system/camerad/imgproc/utils.cc
similarity index 98%
rename from selfdrive/camerad/imgproc/utils.cc
rename to system/camerad/imgproc/utils.cc
index a88b8f4bb1..a7bbeb9e86 100644
--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/system/camerad/imgproc/utils.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 
 #include <algorithm>
 #include <cassert>
diff --git a/selfdrive/camerad/imgproc/utils.h b/system/camerad/imgproc/utils.h
similarity index 100%
rename from selfdrive/camerad/imgproc/utils.h
rename to system/camerad/imgproc/utils.h
diff --git a/selfdrive/camerad/include/media/cam_cpas.h b/system/camerad/include/media/cam_cpas.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_cpas.h
rename to system/camerad/include/media/cam_cpas.h
diff --git a/selfdrive/camerad/include/media/cam_defs.h b/system/camerad/include/media/cam_defs.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_defs.h
rename to system/camerad/include/media/cam_defs.h
diff --git a/selfdrive/camerad/include/media/cam_fd.h b/system/camerad/include/media/cam_fd.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_fd.h
rename to system/camerad/include/media/cam_fd.h
diff --git a/selfdrive/camerad/include/media/cam_icp.h b/system/camerad/include/media/cam_icp.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_icp.h
rename to system/camerad/include/media/cam_icp.h
diff --git a/selfdrive/camerad/include/media/cam_isp.h b/system/camerad/include/media/cam_isp.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp.h
rename to system/camerad/include/media/cam_isp.h
diff --git a/selfdrive/camerad/include/media/cam_isp_ife.h b/system/camerad/include/media/cam_isp_ife.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp_ife.h
rename to system/camerad/include/media/cam_isp_ife.h
diff --git a/selfdrive/camerad/include/media/cam_isp_vfe.h b/system/camerad/include/media/cam_isp_vfe.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_isp_vfe.h
rename to system/camerad/include/media/cam_isp_vfe.h
diff --git a/selfdrive/camerad/include/media/cam_jpeg.h b/system/camerad/include/media/cam_jpeg.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_jpeg.h
rename to system/camerad/include/media/cam_jpeg.h
diff --git a/selfdrive/camerad/include/media/cam_lrme.h b/system/camerad/include/media/cam_lrme.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_lrme.h
rename to system/camerad/include/media/cam_lrme.h
diff --git a/selfdrive/camerad/include/media/cam_req_mgr.h b/system/camerad/include/media/cam_req_mgr.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_req_mgr.h
rename to system/camerad/include/media/cam_req_mgr.h
diff --git a/selfdrive/camerad/include/media/cam_sensor.h b/system/camerad/include/media/cam_sensor.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sensor.h
rename to system/camerad/include/media/cam_sensor.h
diff --git a/selfdrive/camerad/include/media/cam_sensor_cmn_header.h b/system/camerad/include/media/cam_sensor_cmn_header.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sensor_cmn_header.h
rename to system/camerad/include/media/cam_sensor_cmn_header.h
diff --git a/selfdrive/camerad/include/media/cam_sync.h b/system/camerad/include/media/cam_sync.h
similarity index 100%
rename from selfdrive/camerad/include/media/cam_sync.h
rename to system/camerad/include/media/cam_sync.h
diff --git a/selfdrive/camerad/include/msm_cam_sensor.h b/system/camerad/include/msm_cam_sensor.h
similarity index 100%
rename from selfdrive/camerad/include/msm_cam_sensor.h
rename to system/camerad/include/msm_cam_sensor.h
diff --git a/selfdrive/camerad/include/msm_camsensor_sdk.h b/system/camerad/include/msm_camsensor_sdk.h
similarity index 100%
rename from selfdrive/camerad/include/msm_camsensor_sdk.h
rename to system/camerad/include/msm_camsensor_sdk.h
diff --git a/selfdrive/camerad/include/msmb_camera.h b/system/camerad/include/msmb_camera.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_camera.h
rename to system/camerad/include/msmb_camera.h
diff --git a/selfdrive/camerad/include/msmb_isp.h b/system/camerad/include/msmb_isp.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_isp.h
rename to system/camerad/include/msmb_isp.h
diff --git a/selfdrive/camerad/include/msmb_ispif.h b/system/camerad/include/msmb_ispif.h
similarity index 100%
rename from selfdrive/camerad/include/msmb_ispif.h
rename to system/camerad/include/msmb_ispif.h
diff --git a/selfdrive/camerad/main.cc b/system/camerad/main.cc
similarity index 89%
rename from selfdrive/camerad/main.cc
rename to system/camerad/main.cc
index 32899a8547..c1f38f2224 100644
--- a/selfdrive/camerad/main.cc
+++ b/system/camerad/main.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <cassert>
 
diff --git a/selfdrive/camerad/snapshot/__init__.py b/system/camerad/snapshot/__init__.py
similarity index 100%
rename from selfdrive/camerad/snapshot/__init__.py
rename to system/camerad/snapshot/__init__.py
diff --git a/selfdrive/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
similarity index 98%
rename from selfdrive/camerad/snapshot/snapshot.py
rename to system/camerad/snapshot/snapshot.py
index fa88849b69..9a81937eec 100755
--- a/selfdrive/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -13,7 +13,7 @@ from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
-LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
+LM_THRESH = 120  # defined in system/camerad/imgproc/utils.h
 
 VISION_STREAMS = {
   "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
diff --git a/selfdrive/camerad/test/.gitignore b/system/camerad/test/.gitignore
similarity index 100%
rename from selfdrive/camerad/test/.gitignore
rename to system/camerad/test/.gitignore
diff --git a/selfdrive/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc
similarity index 97%
rename from selfdrive/camerad/test/ae_gray_test.cc
rename to system/camerad/test/ae_gray_test.cc
index 69ef2ac6de..aabd7534ee 100644
--- a/selfdrive/camerad/test/ae_gray_test.cc
+++ b/system/camerad/test/ae_gray_test.cc
@@ -8,7 +8,7 @@
 #include <cstring>
 
 #include "common/util.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 int main() {
   // set up fake camerabuf
diff --git a/selfdrive/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h
similarity index 100%
rename from selfdrive/camerad/test/ae_gray_test.h
rename to system/camerad/test/ae_gray_test.h
diff --git a/selfdrive/camerad/test/camera_test.h b/system/camerad/test/camera_test.h
similarity index 100%
rename from selfdrive/camerad/test/camera_test.h
rename to system/camerad/test/camera_test.h
diff --git a/selfdrive/camerad/test/check_skips.py b/system/camerad/test/check_skips.py
similarity index 100%
rename from selfdrive/camerad/test/check_skips.py
rename to system/camerad/test/check_skips.py
diff --git a/selfdrive/camerad/test/frame_test.py b/system/camerad/test/frame_test.py
similarity index 100%
rename from selfdrive/camerad/test/frame_test.py
rename to system/camerad/test/frame_test.py
diff --git a/selfdrive/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
similarity index 100%
rename from selfdrive/camerad/test/get_thumbnails_for_segment.py
rename to system/camerad/test/get_thumbnails_for_segment.py
diff --git a/selfdrive/camerad/test/stress_restart.sh b/system/camerad/test/stress_restart.sh
similarity index 100%
rename from selfdrive/camerad/test/stress_restart.sh
rename to system/camerad/test/stress_restart.sh
diff --git a/selfdrive/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
similarity index 100%
rename from selfdrive/camerad/test/test_camerad.py
rename to system/camerad/test/test_camerad.py
diff --git a/selfdrive/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
similarity index 96%
rename from selfdrive/camerad/test/test_exposure.py
rename to system/camerad/test/test_exposure.py
index f42d0bfbe3..8cce7e7ffa 100755
--- a/selfdrive/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -4,7 +4,7 @@ import unittest
 import numpy as np
 
 from selfdrive.test.helpers import with_processes
-from selfdrive.camerad.snapshot.snapshot import get_snapshots
+from system.camerad.snapshot.snapshot import get_snapshots
 
 from system.hardware import TICI
 
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc
similarity index 96%
rename from selfdrive/camerad/transforms/rgb_to_yuv.cc
rename to system/camerad/transforms/rgb_to_yuv.cc
index 63e032e2dc..5e51579cf9 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/system/camerad/transforms/rgb_to_yuv.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 
 #include <cassert>
 #include <cstdio>
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.cl b/system/camerad/transforms/rgb_to_yuv.cl
similarity index 100%
rename from selfdrive/camerad/transforms/rgb_to_yuv.cl
rename to system/camerad/transforms/rgb_to_yuv.cl
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h
similarity index 100%
rename from selfdrive/camerad/transforms/rgb_to_yuv.h
rename to system/camerad/transforms/rgb_to_yuv.h
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc
similarity index 99%
rename from selfdrive/camerad/transforms/rgb_to_yuv_test.cc
rename to system/camerad/transforms/rgb_to_yuv_test.cc
index c960d168de..2f909e3b73 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/system/camerad/transforms/rgb_to_yuv_test.cc
@@ -30,7 +30,7 @@
 #include <CL/cl.h>
 
 #include "libyuv.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/clutil.h"
 
 static inline double millis_since_boot() {
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 48e5accb2a..1e07bdbbe6 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -23,14 +23,14 @@ git clone https://github.com/commaai/openpilot.git
 ```
 cd ~/openpilot
 ```
-- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
+- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
 ```
 USE_WEBCAM=1 scons -j$(nproc)
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
+- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO