diff --git a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
index 2888d5d10..bc1163dd0 100644
--- a/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
+++ b/aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/Src/main.c
@@ -35,8 +35,8 @@
 #include <spinal/Imu.h>
 
 #include "flashmemory/flashmemory.h"
-#include "sensors/imu/imu_mpu9250.h"
-#include "sensors/imu/icm_20948.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/imu/imu_ros_cmd.h"
 #include "sensors/baro/baro_ms5611.h"
 #include "sensors/gps/gps_ublox.h"
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/icm_20948.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/icm20948/icm_20948.cpp
similarity index 99%
rename from aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/icm_20948.cpp
rename to aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/icm20948/icm_20948.cpp
index e40782119..3092ea202 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/icm_20948.cpp
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/icm20948/icm_20948.cpp
@@ -10,7 +10,7 @@
 #error "Please define __cplusplus, because this is a c++ based file "
 #endif
 
-#include "sensors/imu/icm_20948.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 
 void ICM20948::init(SPI_HandleTypeDef* hspi, I2C_HandleTypeDef* hi2c, ros::NodeHandle* nh,
                       GPIO_TypeDef* spi_cs_port, uint16_t spi_cs_pin,
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/icm_20948.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/icm20948/icm_20948.h
similarity index 99%
rename from aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/icm_20948.h
rename to aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/icm20948/icm_20948.h
index 8b97b2c58..644d00e74 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/icm_20948.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/icm20948/icm_20948.h
@@ -14,7 +14,7 @@
 #define __IMU_ICM_H
 
 #include "config.h"
-#include "imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
 
 
 #define SENSOR_DATA_LENGTH 7
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/imu_mpu9250.cpp b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/mpu9250/imu_mpu9250.cpp
similarity index 99%
rename from aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/imu_mpu9250.cpp
rename to aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/mpu9250/imu_mpu9250.cpp
index b772aa6f5..87bc975bf 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/imu_mpu9250.cpp
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/mpu9250/imu_mpu9250.cpp
@@ -8,8 +8,7 @@
 #ifndef __cplusplus
 #error "Please define __cplusplus, because this is a c++ based file "
 #endif
-
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
 
 uint8_t IMUOnboard::adc_[SENSOR_DATA_LENGTH];
 uint32_t IMUOnboard::last_mag_time_;
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/imu_mpu9250.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/mpu9250/imu_mpu9250.h
similarity index 99%
rename from aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/imu_mpu9250.h
rename to aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/mpu9250/imu_mpu9250.h
index 3c1c6577b..2e879a5cc 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/imu_mpu9250.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/sensors/imu/drivers/mpu9250/imu_mpu9250.h
@@ -14,7 +14,7 @@
 
 #include "config.h"
 #include "math/AP_Math.h"
-#include "imu_basic.h"
+#include "sensors/imu/imu_basic.h"
 
 #define SENSOR_DATA_LENGTH 7
 
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/altitude/altitude_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/altitude/altitude_estimate.h
index 0789270eb..38ba2e9d1 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/altitude/altitude_estimate.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/altitude/altitude_estimate.h
@@ -21,7 +21,8 @@
 ////////////////////////////////////////
 //TODO: should include the super class//
 ////////////////////////////////////////
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/baro/baro_ms5611.h"
 
 
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h
index f9cf37518..b21f029b8 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h
@@ -30,7 +30,8 @@
 #ifdef SIMULATION
 #include <tf/LinearMath/Matrix3x3.h>
 #else
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/gps/gps_ublox.h"
 #endif
 
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/pos/pos_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/pos/pos_estimate.h
index bb01e80c3..0e2dc43bb 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/pos/pos_estimate.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/pos/pos_estimate.h
@@ -20,7 +20,8 @@
 ////////////////////////////////////////
 //TODO: should include the super class//
 ////////////////////////////////////////
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/gps/gps_ublox.h"
 
 class PosEstimate
diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/state_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/state_estimate.h
index dffd32702..0ff14f987 100644
--- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/state_estimate.h
+++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/state_estimate.h
@@ -18,7 +18,8 @@
 #include <spinal/MagDeclination.h>
 
 /* sensors */
-#include "sensors/imu/imu_mpu9250.h"
+#include "sensors/imu/drivers/mpu9250/imu_mpu9250.h"
+#include "sensors/imu/drivers/icm20948/icm_20948.h"
 #include "sensors/baro/baro_ms5611.h"
 #include "sensors/gps/gps_ublox.h"
 #endif