diff --git a/gazebo/CMakeLists.txt b/gazebo/CMakeLists.txt
index e4d5ebb..fc2d8bf 100644
--- a/gazebo/CMakeLists.txt
+++ b/gazebo/CMakeLists.txt
@@ -10,9 +10,23 @@ list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
 
 set(FLIX_SOURCE_DIR ../flix)
 include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCE_DIR ../flix)
+include_directories(${FLIX_SOURCE_DIR})
+set(FLIX_SOURCES
+  ${FLIX_SOURCE_DIR}/cli.cpp
+  ${FLIX_SOURCE_DIR}/control.cpp
+  ${FLIX_SOURCE_DIR}/estimate.cpp
+  ${FLIX_SOURCE_DIR}/safety.cpp
+  ${FLIX_SOURCE_DIR}/log.cpp
+  ${FLIX_SOURCE_DIR}/mavlink.cpp
+  ${FLIX_SOURCE_DIR}/motors.cpp
+  ${FLIX_SOURCE_DIR}/parameters.cpp
+  ${FLIX_SOURCE_DIR}/rc.cpp
+  ${FLIX_SOURCE_DIR}/time.cpp
+)
 
 set(CMAKE_BUILD_TYPE RelWithDebInfo)
-add_library(flix SHARED simulator.cpp)
+add_library(flix SHARED simulator.cpp ${FLIX_SOURCES})
 target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
 target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_compile_options(flix PRIVATE -Wno-address-of-packed-member) # disable unneeded mavlink warnings
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index b25e717..845b7a1 100644
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -18,18 +18,6 @@
 #include "Arduino.h"
 #include "flix.h"
 
-#include "cli.ino"
-#include "control.ino"
-#include "estimate.ino"
-#include "safety.ino"
-#include "log.ino"
-#include "lpf.h"
-#include "mavlink.ino"
-#include "motors.ino"
-#include "parameters.ino"
-#include "rc.ino"
-#include "time.ino"
-
 using ignition::math::Vector3d;
 using namespace gazebo;
 using namespace std;