diff --git a/firmware/src/imu/bmi160/math.rs b/firmware/src/imu/drivers/bmi160/math.rs
similarity index 100%
rename from firmware/src/imu/bmi160/math.rs
rename to firmware/src/imu/drivers/bmi160/math.rs
diff --git a/firmware/src/imu/bmi160/mod.rs b/firmware/src/imu/drivers/bmi160/mod.rs
similarity index 91%
rename from firmware/src/imu/bmi160/mod.rs
rename to firmware/src/imu/drivers/bmi160/mod.rs
index be21f6f3..6989b0fd 100644
--- a/firmware/src/imu/bmi160/mod.rs
+++ b/firmware/src/imu/drivers/bmi160/mod.rs
@@ -1,11 +1,11 @@
 mod math;
 
-use self::math::discrete_to_radians;
-use super::{Imu, Quat};
+use self::math::{discrete_to_radians, GyroFsr};
+use crate::aliases::I2c;
+use crate::imu::{FusedImu, Quat};
 use crate::utils;
-use crate::{aliases::I2c, imu::ඞ::math::GyroFsr};
 
-use bmi160::{AccelerometerPowerMode, GyroscopePowerMode, SensorSelector};
+use ::bmi160::{AccelerometerPowerMode, GyroscopePowerMode, SensorSelector};
 use defmt::{debug, trace};
 use embedded_hal::blocking::delay::DelayMs;
 use firmware_protocol::ImuType;
@@ -76,7 +76,7 @@ impl<I: I2c> Bmi160<I> {
 	}
 }
 
-impl<I: I2c> Imu for Bmi160<I> {
+impl<I: I2c> FusedImu for Bmi160<I> {
 	type Error = BmiError<I>;
 
 	const IMU_TYPE: ImuType = ImuType::Bmi160;
@@ -102,6 +102,6 @@ impl<I: I2c> Imu for Bmi160<I> {
 pub fn new_imu(
 	i2c: impl crate::aliases::I2c,
 	delay: &mut impl DelayMs<u32>,
-) -> impl crate::imu::Imu {
+) -> impl crate::imu::FusedImu {
 	Bmi160::new(i2c, delay).expect("Failed to initialize BMI160")
 }
diff --git a/firmware/src/imu/drivers/mod.rs b/firmware/src/imu/drivers/mod.rs
new file mode 100644
index 00000000..8e296a18
--- /dev/null
+++ b/firmware/src/imu/drivers/mod.rs
@@ -0,0 +1,14 @@
+mod stubbed;
+
+#[cfg(feature = "imu-stubbed")]
+pub mod ඞ {
+	pub use crate::imu::drivers::stubbed::*;
+}
+
+#[cfg(feature = "imu-mpu6050")]
+#[path = "mpu6050.rs"]
+pub mod ඞ;
+
+#[cfg(feature = "imu-bmi160")]
+#[path = "bmi160/mod.rs"]
+pub mod ඞ;
diff --git a/firmware/src/imu/mpu6050.rs b/firmware/src/imu/drivers/mpu6050.rs
similarity index 95%
rename from firmware/src/imu/mpu6050.rs
rename to firmware/src/imu/drivers/mpu6050.rs
index 431862b3..32ffd7a3 100644
--- a/firmware/src/imu/mpu6050.rs
+++ b/firmware/src/imu/drivers/mpu6050.rs
@@ -1,5 +1,5 @@
-use super::{Imu, Quat};
 use crate::aliases::I2c;
+use crate::imu::{FusedImu, Quat};
 use crate::utils;
 
 use defmt::{debug, trace, warn};
@@ -49,7 +49,7 @@ impl<I: I2c> Mpu6050<I> {
 	}
 }
 
-impl<I: I2c> Imu for Mpu6050<I> {
+impl<I: I2c> FusedImu for Mpu6050<I> {
 	type Error = mpu6050_dmp::error::Error<I>;
 
 	const IMU_TYPE: ImuType = ImuType::Mpu6050;
@@ -76,6 +76,6 @@ impl<I: I2c> Imu for Mpu6050<I> {
 pub fn new_imu(
 	i2c: impl crate::aliases::I2c,
 	delay: &mut impl DelayMs<u32>,
-) -> impl crate::imu::Imu {
+) -> impl crate::imu::FusedImu {
 	Mpu6050::new(i2c, delay).expect("Failed to initialize MPU6050")
 }
diff --git a/firmware/src/imu/stubbed.rs b/firmware/src/imu/drivers/stubbed.rs
similarity index 82%
rename from firmware/src/imu/stubbed.rs
rename to firmware/src/imu/drivers/stubbed.rs
index 95be420c..47f73e1a 100644
--- a/firmware/src/imu/stubbed.rs
+++ b/firmware/src/imu/drivers/stubbed.rs
@@ -1,4 +1,4 @@
-use super::{Imu, Quat};
+use crate::imu::{FusedImu, Quat};
 
 use defmt::debug;
 use embedded_hal::blocking::delay::DelayMs;
@@ -7,7 +7,7 @@ use firmware_protocol::ImuType;
 /// Fakes an IMU for easier testing.
 struct FakeImu;
 
-impl Imu for FakeImu {
+impl FusedImu for FakeImu {
 	type Error = ();
 
 	const IMU_TYPE: ImuType = ImuType::Unknown(0xFF);
@@ -21,7 +21,7 @@ impl Imu for FakeImu {
 pub fn new_imu(
 	_i2c: impl crate::aliases::I2c,
 	_delay: &mut impl DelayMs<u32>,
-) -> impl crate::imu::Imu {
+) -> impl crate::imu::FusedImu {
 	debug!("Created FakeImu");
 	FakeImu
 }
diff --git a/firmware/src/imu/fusion/mod.rs b/firmware/src/imu/fusion/mod.rs
new file mode 100644
index 00000000..359db1c2
--- /dev/null
+++ b/firmware/src/imu/fusion/mod.rs
@@ -0,0 +1 @@
+//! TODO: Add fusion
diff --git a/firmware/src/imu/mod.rs b/firmware/src/imu/mod.rs
index b2185e8f..9be4082f 100644
--- a/firmware/src/imu/mod.rs
+++ b/firmware/src/imu/mod.rs
@@ -1,17 +1,5 @@
-mod stubbed;
-
-#[cfg(feature = "imu-stubbed")]
-mod ඞ {
-	pub use crate::imu::stubbed::*;
-}
-
-#[cfg(feature = "imu-mpu6050")]
-#[path = "mpu6050.rs"]
-mod ඞ;
-
-#[cfg(feature = "imu-bmi160")]
-#[path = "bmi160/mod.rs"]
-mod ඞ;
+mod drivers;
+mod fusion;
 
 use defmt::{debug, info, trace, warn};
 use embassy_executor::task;
@@ -25,7 +13,7 @@ use crate::{
 
 pub type Quat = nalgebra::UnitQuaternion<f32>;
 
-pub trait Imu {
+pub trait FusedImu {
 	type Error: core::fmt::Debug;
 
 	const IMU_TYPE: ImuType;
@@ -51,7 +39,7 @@ async fn imu_task_inner(
 	mut delay: impl crate::aliases::Delay,
 ) -> ! {
 	debug!("Imu task");
-	let mut imu = ඞ::new_imu(i2c, &mut delay);
+	let mut imu = self::drivers::ඞ::new_imu(i2c, &mut delay);
 	info!("Initialized IMU!");
 
 	loop {